Add asset desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/affordance_annot.json +350 -0
- dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/e6592bd269bf5d139437e7ca619b7f96.urdf +1 -0
.gitattributes
CHANGED
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@@ -8215,3 +8215,4 @@ dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affo
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| 8215 |
dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8216 |
dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8217 |
dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8215 |
dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8216 |
dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8217 |
dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8218 |
+
dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,350 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front conical tip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"provide contact end",
|
| 10 |
+
"enable precise pointing or touch contact",
|
| 11 |
+
"indicate front end"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Small dark gray to black conical tip at one end of the object, smooth and slightly matte, tapering to a rounded point and bordered by a thin metallic gold ring at its base.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "front barrel",
|
| 19 |
+
"mask_color": "Blue",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the front barrel to pick up the object from a table",
|
| 24 |
+
"confidence": 0.82
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the front barrel to orient the tip toward a target surface",
|
| 28 |
+
"confidence": 0.76
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"scenario": "stabilize the object near the tip for precise positioning",
|
| 32 |
+
"confidence": 0.72
|
| 33 |
+
}
|
| 34 |
+
],
|
| 35 |
+
"functional_labels": [
|
| 36 |
+
"provide grasp surface",
|
| 37 |
+
"support precise control",
|
| 38 |
+
"connect tip to main body",
|
| 39 |
+
"stabilize front end"
|
| 40 |
+
],
|
| 41 |
+
"semantic_description": "Short cylindrical body section directly behind the front conical tip, appearing black or very dark gray with a smooth matte finish and a slim pen-like shape.",
|
| 42 |
+
"id": 2,
|
| 43 |
+
"grasp_group": {
|
| 44 |
+
"grasp_1": {
|
| 45 |
+
"confidence": 0.9937127232551575,
|
| 46 |
+
"position": [
|
| 47 |
+
-0.020052905892953277,
|
| 48 |
+
-0.0976611537480494,
|
| 49 |
+
-0.013101924618240446
|
| 50 |
+
],
|
| 51 |
+
"orientation": {
|
| 52 |
+
"w": 0.5032461673453259,
|
| 53 |
+
"xyz": [
|
| 54 |
+
-0.487823966839245,
|
| 55 |
+
-0.44176149638277995,
|
| 56 |
+
-0.5600159397223533
|
| 57 |
+
]
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
"grasp_3": {
|
| 61 |
+
"confidence": 0.9929494857788086,
|
| 62 |
+
"position": [
|
| 63 |
+
-0.015971211483702064,
|
| 64 |
+
-0.09785901136638131,
|
| 65 |
+
-0.009376144444104284
|
| 66 |
+
],
|
| 67 |
+
"orientation": {
|
| 68 |
+
"w": 0.5119557357370078,
|
| 69 |
+
"xyz": [
|
| 70 |
+
-0.49291315419149434,
|
| 71 |
+
0.4713531032969259,
|
| 72 |
+
0.5222683209647403
|
| 73 |
+
]
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
"grasp_6": {
|
| 77 |
+
"confidence": 0.9925971031188965,
|
| 78 |
+
"position": [
|
| 79 |
+
0.018159672850742936,
|
| 80 |
+
-0.09148024894238915,
|
| 81 |
+
0.0002498486719559878
|
| 82 |
+
],
|
| 83 |
+
"orientation": {
|
| 84 |
+
"w": 0.5930497723638388,
|
| 85 |
+
"xyz": [
|
| 86 |
+
-0.39770063522719895,
|
| 87 |
+
-0.5939555678470779,
|
| 88 |
+
-0.37059810531428283
|
| 89 |
+
]
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"grasp_8": {
|
| 93 |
+
"confidence": 0.9925383925437927,
|
| 94 |
+
"position": [
|
| 95 |
+
-0.008199421456083655,
|
| 96 |
+
-0.09916754193545785,
|
| 97 |
+
0.005334537068847567
|
| 98 |
+
],
|
| 99 |
+
"orientation": {
|
| 100 |
+
"w": 0.4863460633946287,
|
| 101 |
+
"xyz": [
|
| 102 |
+
-0.5211912580766448,
|
| 103 |
+
0.5074998907973911,
|
| 104 |
+
0.4840155369052401
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"grasp_11": {
|
| 109 |
+
"confidence": 0.9923987984657288,
|
| 110 |
+
"position": [
|
| 111 |
+
0.003238453413359821,
|
| 112 |
+
0.09460640572069678,
|
| 113 |
+
-0.006692982686217874
|
| 114 |
+
],
|
| 115 |
+
"orientation": {
|
| 116 |
+
"w": 0.4819323121934363,
|
| 117 |
+
"xyz": [
|
| 118 |
+
0.5359582931299784,
|
| 119 |
+
0.4328609647242687,
|
| 120 |
+
-0.541406815349663
|
| 121 |
+
]
|
| 122 |
+
}
|
| 123 |
+
}
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"part_name": "main barrel",
|
| 128 |
+
"mask_color": "Yellow",
|
| 129 |
+
"graspable": true,
|
| 130 |
+
"grasp_scenarios": [
|
| 131 |
+
{
|
| 132 |
+
"scenario": "grasp the main barrel to lift and carry the object",
|
| 133 |
+
"confidence": 0.93
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"scenario": "hold the main barrel as the primary manipulation grip",
|
| 137 |
+
"confidence": 0.87
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"scenario": "grasp the main barrel to rotate or reposition the object",
|
| 141 |
+
"confidence": 0.88
|
| 142 |
+
}
|
| 143 |
+
],
|
| 144 |
+
"functional_labels": [
|
| 145 |
+
"provide main grasp surface",
|
| 146 |
+
"form main body",
|
| 147 |
+
"support manipulation",
|
| 148 |
+
"house internal structure"
|
| 149 |
+
],
|
| 150 |
+
"semantic_description": "Longer main cylindrical body section behind the front barrel, black or very dark gray with a smooth matte finish, forming most of the object's length.",
|
| 151 |
+
"id": 3,
|
| 152 |
+
"grasp_group": {
|
| 153 |
+
"grasp_23": {
|
| 154 |
+
"confidence": 0.993046224117279,
|
| 155 |
+
"position": [
|
| 156 |
+
0.008354036835953593,
|
| 157 |
+
0.09766153864620719,
|
| 158 |
+
-0.003827338747214526
|
| 159 |
+
],
|
| 160 |
+
"orientation": {
|
| 161 |
+
"w": 0.5132731099109338,
|
| 162 |
+
"xyz": [
|
| 163 |
+
0.48387219972303086,
|
| 164 |
+
-0.4951684381231629,
|
| 165 |
+
0.5071751441703558
|
| 166 |
+
]
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"grasp_26": {
|
| 170 |
+
"confidence": 0.9928591251373291,
|
| 171 |
+
"position": [
|
| 172 |
+
-0.03761108568869531,
|
| 173 |
+
0.08679159604071174,
|
| 174 |
+
0.0015128725790418684
|
| 175 |
+
],
|
| 176 |
+
"orientation": {
|
| 177 |
+
"w": 0.35117484277428646,
|
| 178 |
+
"xyz": [
|
| 179 |
+
0.6110428315589161,
|
| 180 |
+
-0.36606100103088246,
|
| 181 |
+
0.6077024200438775
|
| 182 |
+
]
|
| 183 |
+
}
|
| 184 |
+
},
|
| 185 |
+
"grasp_27": {
|
| 186 |
+
"confidence": 0.9928389191627502,
|
| 187 |
+
"position": [
|
| 188 |
+
-0.029520079260692,
|
| 189 |
+
0.08763476334570441,
|
| 190 |
+
-0.019350456481333822
|
| 191 |
+
],
|
| 192 |
+
"orientation": {
|
| 193 |
+
"w": 0.4232739289484355,
|
| 194 |
+
"xyz": [
|
| 195 |
+
0.5436869877671402,
|
| 196 |
+
-0.32469920838079647,
|
| 197 |
+
0.6479306015941312
|
| 198 |
+
]
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
"grasp_28": {
|
| 202 |
+
"confidence": 0.9928129315376282,
|
| 203 |
+
"position": [
|
| 204 |
+
0.00864320038817823,
|
| 205 |
+
-0.09599056966544595,
|
| 206 |
+
0.02304441254818812
|
| 207 |
+
],
|
| 208 |
+
"orientation": {
|
| 209 |
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{
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"message": "Front and rear part identities/colors are swapped with visible RGB appearance."
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|
dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:3bfe7ceb7a51b73e05d456f837f265472bd345be046c266a107eb35dc51d0e6b
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| 3 |
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size 642156
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dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/e6592bd269bf5d139437e7ca619b7f96.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>
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|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
|
| 58 |
</robot>
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