Add asset desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/affordance_annot.json +315 -0
- dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/staples_box_009.urdf +4 -3
.gitattributes
CHANGED
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@@ -8228,3 +8228,4 @@ dataset/desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091/affo
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| 8228 |
dataset/desktop_supplies/office_stationery/ff760e8f41105b30a5ea6551ccf2a702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8229 |
dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8230 |
dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8228 |
dataset/desktop_supplies/office_stationery/ff760e8f41105b30a5ea6551ccf2a702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8229 |
dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8230 |
dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8231 |
+
dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hinged lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the container",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while closing it",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the container opening",
|
| 19 |
+
"open and close access",
|
| 20 |
+
"protect enclosed contents",
|
| 21 |
+
"retain contents when shut"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A large light gray circular plastic lid with a smooth matte finish, attached by a small hinge tab at the rim and spanning most of the top opening.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.8518525958061218,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.054273734174785204,
|
| 30 |
+
-0.05275294091552496,
|
| 31 |
+
0.14465817529708147
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.0038732888184639415,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.70214009498012,
|
| 37 |
+
0.6109604714747426,
|
| 38 |
+
0.3656659499466659
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_10": {
|
| 43 |
+
"confidence": 0.8288647532463074,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.03788924061518628,
|
| 46 |
+
-0.04505205433815718,
|
| 47 |
+
0.15791113395243883
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.06668640517999334,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.7928918143138524,
|
| 53 |
+
-0.5527573271096629,
|
| 54 |
+
-0.24765869959449965
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "push button stem",
|
| 62 |
+
"mask_color": "Blue",
|
| 63 |
+
"graspable": false,
|
| 64 |
+
"grasp_scenarios": [],
|
| 65 |
+
"functional_labels": [
|
| 66 |
+
"actuated center button",
|
| 67 |
+
"transmit pressing motion to the internal mechanism",
|
| 68 |
+
"control or release the internal assembly"
|
| 69 |
+
],
|
| 70 |
+
"semantic_description": "A small blue-gray cylindrical plastic stem with a narrowed middle and rounded ends, located at the center under the lid above the gold-toned top plate.",
|
| 71 |
+
"id": 2,
|
| 72 |
+
"grasp_group": {}
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"part_name": "top actuator disc",
|
| 76 |
+
"mask_color": "Green",
|
| 77 |
+
"graspable": false,
|
| 78 |
+
"grasp_scenarios": [],
|
| 79 |
+
"functional_labels": [
|
| 80 |
+
"support the center button",
|
| 81 |
+
"cover the top of the internal mechanism",
|
| 82 |
+
"interface with the button stem"
|
| 83 |
+
],
|
| 84 |
+
"semantic_description": "A medium-sized round gold-toned disc with a smooth slightly glossy surface surrounding the central button stem inside the container.",
|
| 85 |
+
"id": 1,
|
| 86 |
+
"grasp_group": {}
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"part_name": "container body",
|
| 90 |
+
"mask_color": "Orange",
|
| 91 |
+
"graspable": true,
|
| 92 |
+
"grasp_scenarios": [
|
| 93 |
+
{
|
| 94 |
+
"scenario": "grasp the cylindrical body to pick up the container",
|
| 95 |
+
"confidence": 0.96
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"scenario": "hold the body steady while opening the lid",
|
| 99 |
+
"confidence": 0.94
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "stabilize the container during use",
|
| 103 |
+
"confidence": 0.9
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"contain the internal contents",
|
| 108 |
+
"support the lid and internal assembly",
|
| 109 |
+
"provide the main grasp surface",
|
| 110 |
+
"protect contents",
|
| 111 |
+
"rest on a surface"
|
| 112 |
+
],
|
| 113 |
+
"semantic_description": "A short white cylindrical plastic housing with a smooth matte exterior and a dark gray inner rim, forming the main bulk of the object.",
|
| 114 |
+
"id": 4,
|
| 115 |
+
"grasp_group": {
|
| 116 |
+
"grasp_20": {
|
| 117 |
+
"confidence": 0.9371433258056641,
|
| 118 |
+
"position": [
|
| 119 |
+
0.03361424214381259,
|
| 120 |
+
-0.13905143272131681,
|
| 121 |
+
-0.021154123358428478
|
| 122 |
+
],
|
| 123 |
+
"orientation": {
|
| 124 |
+
"w": 0.47843225517655347,
|
| 125 |
+
"xyz": [
|
| 126 |
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-0.5060324186970837,
|
| 127 |
+
0.3817514073945041,
|
| 128 |
+
0.6077002808840652
|
| 129 |
+
]
|
| 130 |
+
}
|
| 131 |
+
},
|
| 132 |
+
"grasp_23": {
|
| 133 |
+
"confidence": 0.92891925573349,
|
| 134 |
+
"position": [
|
| 135 |
+
-0.04330982112151105,
|
| 136 |
+
-0.13703768979758024,
|
| 137 |
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-0.010828661732375622
|
| 138 |
+
],
|
| 139 |
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"orientation": {
|
| 140 |
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"w": 0.41359140601027,
|
| 141 |
+
"xyz": [
|
| 142 |
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|
| 143 |
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|
| 144 |
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-0.6115149398873585
|
| 145 |
+
]
|
| 146 |
+
}
|
| 147 |
+
},
|
| 148 |
+
"grasp_24": {
|
| 149 |
+
"confidence": 0.9283914566040039,
|
| 150 |
+
"position": [
|
| 151 |
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-0.04514869146805722,
|
| 152 |
+
-0.13319302629679441,
|
| 153 |
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-0.008131411857903004
|
| 154 |
+
],
|
| 155 |
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"orientation": {
|
| 156 |
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"w": 0.6063916802507068,
|
| 157 |
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"xyz": [
|
| 158 |
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-0.388765982822004,
|
| 159 |
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0.5593518062698619,
|
| 160 |
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|
| 161 |
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]
|
| 162 |
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}
|
| 163 |
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},
|
| 164 |
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"grasp_25": {
|
| 165 |
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"confidence": 0.9273830056190491,
|
| 166 |
+
"position": [
|
| 167 |
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-0.012376416780170985,
|
| 168 |
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-0.14314537774771452,
|
| 169 |
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-0.01837333757430315
|
| 170 |
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],
|
| 171 |
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"orientation": {
|
| 172 |
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"w": 0.519235270022594,
|
| 173 |
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"xyz": [
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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]
|
| 178 |
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}
|
| 179 |
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},
|
| 180 |
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"grasp_26": {
|
| 181 |
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"confidence": 0.926006555557251,
|
| 182 |
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"position": [
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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],
|
| 187 |
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"orientation": {
|
| 188 |
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"w": 0.339595262763242,
|
| 189 |
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"xyz": [
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| 190 |
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|
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|
| 192 |
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|
| 193 |
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]
|
| 194 |
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}
|
| 195 |
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},
|
| 196 |
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"grasp_28": {
|
| 197 |
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"confidence": 0.9238113760948181,
|
| 198 |
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"position": [
|
| 199 |
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-0.01156825695943553,
|
| 200 |
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|
| 201 |
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|
| 202 |
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],
|
| 203 |
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"orientation": {
|
| 204 |
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"w": 0.5282465236469324,
|
| 205 |
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"xyz": [
|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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]
|
| 210 |
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}
|
| 211 |
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},
|
| 212 |
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"grasp_29": {
|
| 213 |
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"confidence": 0.923521876335144,
|
| 214 |
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"position": [
|
| 215 |
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0.0037528671527979895,
|
| 216 |
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|
| 217 |
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|
| 218 |
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],
|
| 219 |
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"orientation": {
|
| 220 |
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"w": 0.517395272291688,
|
| 221 |
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"xyz": [
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|
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|
| 224 |
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|
| 225 |
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]
|
| 226 |
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|
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|
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|
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|
dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5449d9ee2ab2992f8cf8210866d151a20514d59bcc93ff8da1e30b09665759ee
|
| 3 |
+
size 3681916
|
dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/staples_box_009.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
-
<mesh filename="
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
-
<PartSegChecker>
|
| 60 |
</quality>
|
| 61 |
</custom_data>
|
| 62 |
</robot>
|
|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
+
<part_count>4</part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
+
<PartSegChecker>YES</PartSegChecker>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
|