Add asset desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/affordance/affordance_annot.json +669 -0
- dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/stamp_018.urdf +1 -0
.gitattributes
CHANGED
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@@ -6517,3 +6517,4 @@ dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/affo
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| 6517 |
dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6518 |
dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6519 |
dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6517 |
dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6518 |
dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6519 |
dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6520 |
+
dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,669 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle knob",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the knob to lift and position the stamp",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the knob to press the stamp onto a surface",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the knob to rotate and orient the stamp face",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a top grip",
|
| 23 |
+
"lift the stamp",
|
| 24 |
+
"press the stamp downward",
|
| 25 |
+
"orient the stamp face"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Rounded white plastic knob and short stem with a matte smooth hard surface, centered on top and sized as the primary handhold for the stamp.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9655764102935791,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.043819706042995676,
|
| 34 |
+
0.006790155719500035,
|
| 35 |
+
0.14822913380339742
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.16409678531701735,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.7013602036879597,
|
| 41 |
+
0.6760070291989375,
|
| 42 |
+
0.1555011453495807
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9580973386764526,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.02349303019582294,
|
| 50 |
+
0.0024817445664666593,
|
| 51 |
+
0.15320022078230977
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.10560379239169372,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.7021917228490768,
|
| 57 |
+
0.6986284945713048,
|
| 58 |
+
-0.0877088933219973
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9574739336967468,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.04358832453726791,
|
| 66 |
+
-0.00011540885316208005,
|
| 67 |
+
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},
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| 649 |
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{
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| 650 |
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"part_name": "stamp face",
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| 651 |
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| 652 |
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| 654 |
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| 655 |
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"carry the raised text pattern",
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| 658 |
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"define the stamped mark"
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| 659 |
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],
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| 660 |
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"semantic_description": "Flat bottom stamping face with dark recessed and raised character shapes, hard and likely rubber or inked polymer, slightly textured, located on the underside of the square body.",
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| 661 |
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"id": 2,
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| 662 |
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"success": true,
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}
|
dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:a7628860407df01d729c7f3343d3117c0de741e4ef73ea510c98d2e22e9e94bb
|
| 3 |
+
size 3781764
|
dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/stamp_018.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|