Add asset desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/affordance/affordance_annot.json +302 -0
- dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/d3ef0c336d9e50eb9d8954e48b0cf6a0.urdf +1 -0
.gitattributes
CHANGED
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@@ -6508,4 +6508,5 @@ dataset/desktop_supplies/office_stationery/d036ab39a3445b6a8b56e818486833de/affo
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| 6508 |
dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6509 |
dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6510 |
dataset/desktop_supplies/office_stationery/d263cb9be98b5fa7b60e900b96e20482/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6511 |
-
dataset/desktop_supplies/office_stationery/
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| 6508 |
dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6509 |
dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6510 |
dataset/desktop_supplies/office_stationery/d263cb9be98b5fa7b60e900b96e20482/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6511 |
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dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6512 |
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dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main body / barrel section",
|
| 5 |
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"mask_color": "Red",
|
| 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 central body to pick up and reposition the object",
|
| 10 |
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"confidence": 0.97
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the body to stabilize the object during placement or alignment",
|
| 14 |
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"confidence": 0.93
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "grasp the middle of the body to move the object into or out of storage",
|
| 18 |
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"confidence": 0.89
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"central structural body",
|
| 24 |
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"connects the two end sections",
|
| 25 |
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"stabilizes the object during manipulation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long blue plastic central body forming most of the object, with a smooth hard surface, mostly matte to satin finish, and a slightly faceted cylindrical shape.",
|
| 28 |
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"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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| 31 |
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| 32 |
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| 36 |
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],
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"orientation": {
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| 45 |
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},
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| 46 |
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"grasp_1": {
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| 47 |
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"grasp_15": {
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| 225 |
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0.019019909028429538,
|
| 226 |
+
0.09548990371695254,
|
| 227 |
+
0.02177212672540918
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.4494815475453485,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.5457496249319682,
|
| 233 |
+
0.553858905473045,
|
| 234 |
+
-0.43973173427790624
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_19": {
|
| 239 |
+
"confidence": 0.9869592785835266,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.02685710060177371,
|
| 242 |
+
0.09031700286141131,
|
| 243 |
+
0.004727189021650702
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.3585820785725116,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.5913411429700708,
|
| 249 |
+
-0.4082626356011828,
|
| 250 |
+
0.5958658959274676
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"part_name": "end section / tapered tip housing",
|
| 258 |
+
"mask_color": "Yellow",
|
| 259 |
+
"graspable": true,
|
| 260 |
+
"grasp_scenarios": [
|
| 261 |
+
{
|
| 262 |
+
"scenario": "delicately grasp one tapered end to orient the object during fine manipulation when the body is obstructed",
|
| 263 |
+
"confidence": 0.4
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"scenario": "grasp an end section to pull the object from a tight holder when only the end is accessible",
|
| 267 |
+
"confidence": 0.33
|
| 268 |
+
}
|
| 269 |
+
],
|
| 270 |
+
"functional_labels": [
|
| 271 |
+
"defines one end of the object",
|
| 272 |
+
"tapered transition to the pointed tip",
|
| 273 |
+
"helps with end-first insertion or orientation",
|
| 274 |
+
"secondary contact region for precise positioning"
|
| 275 |
+
],
|
| 276 |
+
"semantic_description": "Short blue tapered end section at either end of the object, slightly wider than the exposed gray pointed tip and smoothly blended into the central body, made of smooth hard plastic with a matte to satin finish.",
|
| 277 |
+
"id": 3,
|
| 278 |
+
"grasp_group": {
|
| 279 |
+
"grasp_20": {
|
| 280 |
+
"confidence": 0.9846989512443542,
|
| 281 |
+
"position": [
|
| 282 |
+
-0.026596022944431752,
|
| 283 |
+
-0.08144129869469907,
|
| 284 |
+
0.058151074743364006
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.3286239391939632,
|
| 288 |
+
"xyz": [
|
| 289 |
+
-0.6263933513671996,
|
| 290 |
+
-0.6362610688245947,
|
| 291 |
+
-0.30791155913637736
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
}
|
| 295 |
+
}
|
| 296 |
+
}
|
| 297 |
+
],
|
| 298 |
+
"quality_check": {
|
| 299 |
+
"success": false,
|
| 300 |
+
"message": "Yellow mask marks one full tapered end, not both ends or just tip housing; descriptions/functions are inaccurate."
|
| 301 |
+
}
|
| 302 |
+
}
|
dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:63ffd3630267e6e307f407af656a12097d0e6c24399d54260f36e337f617f67d
|
| 3 |
+
size 340104
|
dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/d3ef0c336d9e50eb9d8954e48b0cf6a0.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>
|