Add asset desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/affordance/affordance_annot.json +528 -0
- dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/stapler_009.urdf +1 -0
.gitattributes
CHANGED
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@@ -6496,3 +6496,4 @@ dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affo
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| 6496 |
dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6497 |
dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6498 |
dataset/desktop_supplies/office_stationery/c88fdb3b0bd453a9860705fb9f097e2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6496 |
dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6497 |
dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6498 |
dataset/desktop_supplies/office_stationery/c88fdb3b0bd453a9860705fb9f097e2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6499 |
+
dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,528 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top cover",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top cover to pick up and reposition the stapler",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top cover while opening the stapler for loading or tacking",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the stapler by pinching the upper body during placement",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"press to actuate stapling",
|
| 23 |
+
"cover the staple channel",
|
| 24 |
+
"provide main upper grip surface",
|
| 25 |
+
"open for reloading access"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large mint-green and light gray plastic upper housing with a matte smooth hard surface, rounded wedge shape, and dominant top position over the stapler body.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.987828254699707,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.006222581346520428,
|
| 34 |
+
0.05850063730031252,
|
| 35 |
+
0.0925576452864334
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.30850559719016546,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.9508904703092479,
|
| 41 |
+
0.0032524686240528733,
|
| 42 |
+
0.02492050210661805
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9847579002380371,
|
| 48 |
+
"position": [
|
| 49 |
+
0.007208785186520572,
|
| 50 |
+
0.07063074130564928,
|
| 51 |
+
0.08563946082722396
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.32819711846576244,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.9442446894585093,
|
| 57 |
+
-0.025957538433548977,
|
| 58 |
+
-0.0038502024160003362
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9844604134559631,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.00029377610306369206,
|
| 66 |
+
0.026484510861337185,
|
| 67 |
+
0.1075604100478813
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.02070751610973805,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.013774977536091935,
|
| 73 |
+
0.997099873243982,
|
| 74 |
+
-0.07192559730221477
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9839410185813904,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0028864246839646057,
|
| 82 |
+
0.07571880239993334,
|
| 83 |
+
0.08719268336426467
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.02539559959052884,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.022568396058355002,
|
| 89 |
+
-0.9501666238312955,
|
| 90 |
+
0.309885653068721
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9832572340965271,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.0073518849397089525,
|
| 98 |
+
0.01155626168474555,
|
| 99 |
+
0.11012402817141265
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.027275355439463498,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.022464669763277413,
|
| 105 |
+
0.9977511408244503,
|
| 106 |
+
-0.056956602616249
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9827354550361633,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.018298099604436402,
|
| 114 |
+
0.06037608254700899,
|
| 115 |
+
0.09462183609139174
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.2560403211061764,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.9626174148491791,
|
| 121 |
+
0.05876381440542083,
|
| 122 |
+
0.06601424629165198
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.981741726398468,
|
| 128 |
+
"position": [
|
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|
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| 502 |
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|
| 503 |
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| 505 |
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|
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|
| 513 |
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|
| 518 |
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| 519 |
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| 520 |
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| 521 |
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| 524 |
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|
| 525 |
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"success": true,
|
| 526 |
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"message": "YES"
|
| 527 |
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|
| 528 |
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}
|
dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/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:d434316902816b0fa2c4605b80deea64baadbfb76db86a0ad307bef36000ae1a
|
| 3 |
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size 3784936
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dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/stapler_009.urdf
CHANGED
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@@ -54,6 +54,7 @@
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<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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</geometry>
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</visual_seg>
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</affordance>
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<quality>
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<PartSegChecker>YES</PartSegChecker>
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| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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</geometry>
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</visual_seg>
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+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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</affordance>
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<quality>
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| 60 |
<PartSegChecker>YES</PartSegChecker>
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