Add asset desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordance/affordance_annot.json +304 -0
- dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.urdf +1 -0
.gitattributes
CHANGED
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@@ -6692,3 +6692,4 @@ dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordanc
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| 6692 |
dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6693 |
dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6694 |
dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6692 |
dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6693 |
dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6694 |
dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6695 |
+
dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
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"mask_color": "Green",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the side wall to pick up and reposition the pen holder",
|
| 10 |
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"confidence": 0.95
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the side wall to stabilize the pen holder while inserting or removing pens",
|
| 14 |
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"confidence": 0.82
|
| 15 |
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}
|
| 16 |
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],
|
| 17 |
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"functional_labels": [
|
| 18 |
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"contain pens and pencils",
|
| 19 |
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"provide the main grasp surface",
|
| 20 |
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"form the side wall",
|
| 21 |
+
"support upright storage"
|
| 22 |
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],
|
| 23 |
+
"semantic_description": "Tall tapered cylindrical body with a light tan bamboo-like wooden appearance, matte to satin finish, hard slightly textured ribbed surface, open at the top with irregular rim chips, forming most of the holder.",
|
| 24 |
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"id": 1,
|
| 25 |
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| 26 |
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| 41 |
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-0.0007369141734954658
|
| 231 |
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]
|
| 232 |
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}
|
| 233 |
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},
|
| 234 |
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|
| 235 |
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"confidence": 0.9512534141540527,
|
| 236 |
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"position": [
|
| 237 |
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|
| 238 |
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|
| 239 |
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| 240 |
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],
|
| 241 |
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"orientation": {
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| 242 |
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"w": 0.13800123217496363,
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| 243 |
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"xyz": [
|
| 244 |
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|
| 245 |
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| 246 |
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|
| 247 |
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]
|
| 248 |
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}
|
| 249 |
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},
|
| 250 |
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"grasp_18": {
|
| 251 |
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"confidence": 0.9508205056190491,
|
| 252 |
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"position": [
|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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],
|
| 257 |
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"orientation": {
|
| 258 |
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"w": 0.0830604934579921,
|
| 259 |
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"xyz": [
|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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]
|
| 264 |
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|
| 265 |
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},
|
| 266 |
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"grasp_19": {
|
| 267 |
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|
| 268 |
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"position": [
|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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],
|
| 273 |
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"orientation": {
|
| 274 |
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"w": 0.3424735765354837,
|
| 275 |
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"xyz": [
|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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]
|
| 280 |
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}
|
| 281 |
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}
|
| 282 |
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}
|
| 283 |
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},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "bottom base",
|
| 286 |
+
"mask_color": "Red",
|
| 287 |
+
"graspable": false,
|
| 288 |
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"grasp_scenarios": [],
|
| 289 |
+
"functional_labels": [
|
| 290 |
+
"support the container on a desk",
|
| 291 |
+
"close the bottom",
|
| 292 |
+
"stabilize upright placement",
|
| 293 |
+
"bear stored-item weight"
|
| 294 |
+
],
|
| 295 |
+
"semantic_description": "Flat circular dark brown base with a matte hard surface and subtle radial grain-like pattern, located underneath the holder and sized to match the bottom footprint.",
|
| 296 |
+
"id": 0,
|
| 297 |
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"grasp_group": {}
|
| 298 |
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}
|
| 299 |
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],
|
| 300 |
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"quality_check": {
|
| 301 |
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"success": true,
|
| 302 |
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"message": "YES"
|
| 303 |
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}
|
| 304 |
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}
|
dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:968bff783351aa63739a98407921b272b9ecde28441fa81da342ae2d7b1bc5e6
|
| 3 |
+
size 2263020
|
dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|