Add asset desktop_supplies/office_stationery/c39f72b1deae5e43bf4bdf7befe9a2d0
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/c39f72b1deae5e43bf4bdf7befe9a2d0/affordance/affordance_annot.json +558 -0
- dataset/desktop_supplies/office_stationery/c39f72b1deae5e43bf4bdf7befe9a2d0/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/c39f72b1deae5e43bf4bdf7befe9a2d0/c39f72b1deae5e43bf4bdf7befe9a2d0.urdf +1 -0
.gitattributes
CHANGED
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@@ -6490,4 +6490,4 @@ dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affo
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| 6490 |
dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6491 |
dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6492 |
dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6493 |
-
dataset/desktop_supplies/office_stationery/
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| 6490 |
dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6491 |
dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6492 |
dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6493 |
+
dataset/desktop_supplies/office_stationery/c39f72b1deae5e43bf4bdf7befe9a2d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/c39f72b1deae5e43bf4bdf7befe9a2d0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,558 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main marker body and rear end",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and move the marker",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body during writing or drawing",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the rear/body to orient the tip toward a surface",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the ink reservoir",
|
| 24 |
+
"provide structural body",
|
| 25 |
+
"support writing manipulation",
|
| 26 |
+
"form the rear end of the marker"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long marker body that is mostly blue with a smooth plastic finish and a slightly tapered cylindrical shape, widening toward a rounded pink rear end with a yellow band near the back.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9837189316749573,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.02339934464544058,
|
| 35 |
+
0.09525383153231815,
|
| 36 |
+
-0.02374240933568217
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.554195663671517,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.43074177366161304,
|
| 42 |
+
-0.44145876732876776,
|
| 43 |
+
0.5589658733224233
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9833994507789612,
|
| 49 |
+
"position": [
|
| 50 |
+
0.0008261362090706825,
|
| 51 |
+
0.09792488702805713,
|
| 52 |
+
-0.0022104903182480484
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5045651934147516,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.4818897604089227,
|
| 58 |
+
-0.5069519322572839,
|
| 59 |
+
0.5061580413151329
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9828186631202698,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.018869278021156788,
|
| 67 |
+
0.09505004325183108,
|
| 68 |
+
-0.021340733306715265
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5439504545695453,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.4443144138633925,
|
| 74 |
+
-0.4459197546729431,
|
| 75 |
+
0.5548496886538165
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9825762510299683,
|
| 81 |
+
"position": [
|
| 82 |
+
0.003920626826584339,
|
| 83 |
+
0.02951355540426448,
|
| 84 |
+
0.0931305495032575
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.10471087494113775,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.6841579510618042,
|
| 90 |
+
-0.7119882277445471,
|
| 91 |
+
0.11847486746628433
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9824488162994385,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.011195720173418522,
|
| 99 |
+
0.07289194205077365,
|
| 100 |
+
0.06545679093687795
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.3050836493911708,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.6601566375039176,
|
| 106 |
+
0.6294485607380628,
|
| 107 |
+
-0.2737000003991
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_7": {
|
| 112 |
+
"confidence": 0.9823328852653503,
|
| 113 |
+
"position": [
|
| 114 |
+
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+
-0.04148140727193095
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.6458617794693872,
|
| 529 |
+
"xyz": [
|
| 530 |
+
-0.26445584752465173,
|
| 531 |
+
-0.46429328350101207,
|
| 532 |
+
0.5453048811687856
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
}
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"part_name": "marker tip",
|
| 540 |
+
"mask_color": "Red",
|
| 541 |
+
"graspable": false,
|
| 542 |
+
"grasp_scenarios": [],
|
| 543 |
+
"functional_labels": [
|
| 544 |
+
"write on surfaces",
|
| 545 |
+
"make marks",
|
| 546 |
+
"contact the drawing surface",
|
| 547 |
+
"dispense ink"
|
| 548 |
+
],
|
| 549 |
+
"semantic_description": "Small black pointed felt-like tip at the extreme front, with a matte slightly fibrous appearance and narrow conical shape for precise surface contact.",
|
| 550 |
+
"id": 0,
|
| 551 |
+
"grasp_group": {}
|
| 552 |
+
}
|
| 553 |
+
],
|
| 554 |
+
"quality_check": {
|
| 555 |
+
"success": false,
|
| 556 |
+
"message": "Main body description incorrectly includes separate pink/yellow rear colors not in green mask part."
|
| 557 |
+
}
|
| 558 |
+
}
|
dataset/desktop_supplies/office_stationery/c39f72b1deae5e43bf4bdf7befe9a2d0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5fe05173655912bf1e619c8c237e388fa4ceea09fc89fca7256be23a9af50aff
|
| 3 |
+
size 773964
|
dataset/desktop_supplies/office_stationery/c39f72b1deae5e43bf4bdf7befe9a2d0/c39f72b1deae5e43bf4bdf7befe9a2d0.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>
|