Add asset desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/affordance_annot.json +632 -0
- dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/correction_tape_007.urdf +1 -0
.gitattributes
CHANGED
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@@ -6424,4 +6424,4 @@ dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/affo
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| 6424 |
dataset/desktop_supplies/office_stationery/95c5382c15585f7db80de38e7e85ba11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6425 |
dataset/desktop_supplies/office_stationery/960b345e73835a318c15f7015bdd72e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6426 |
dataset/desktop_supplies/office_stationery/9647eb53f2ff5028b3659cf5ca59542a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6427 |
-
dataset/desktop_supplies/office_stationery/
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| 6424 |
dataset/desktop_supplies/office_stationery/95c5382c15585f7db80de38e7e85ba11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6425 |
dataset/desktop_supplies/office_stationery/960b345e73835a318c15f7015bdd72e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6426 |
dataset/desktop_supplies/office_stationery/9647eb53f2ff5028b3659cf5ca59542a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6427 |
+
dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,632 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "housing",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the housing around its sides to pick up and move the correction tape",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing to stabilize the dispenser while applying tape",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"enclose internal tape mechanism",
|
| 20 |
+
"support dispensing",
|
| 21 |
+
"provide structural body"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large dark gray plastic body with a matte smooth hard surface, teardrop-shaped and slightly tapered toward the tip, forming the main outer shell with white printed branding on the side.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9458009004592896,
|
| 28 |
+
"position": [
|
| 29 |
+
0.027070551877841353,
|
| 30 |
+
-0.0014646202544099651,
|
| 31 |
+
0.09776824596337974
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.11655985679970694,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.6856600521392061,
|
| 37 |
+
-0.7089072413418787,
|
| 38 |
+
0.1171947774277502
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9439986348152161,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.06391357094980776,
|
| 46 |
+
0.005715062121453229,
|
| 47 |
+
0.07960491511039436
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.2143324610573854,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6924136721803947,
|
| 53 |
+
0.6557993017227238,
|
| 54 |
+
0.21107386994778254
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9437004327774048,
|
| 60 |
+
"position": [
|
| 61 |
+
0.026603726437315345,
|
| 62 |
+
-0.0035862247677869163,
|
| 63 |
+
0.09671746077947319
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.13065411764004475,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.6866699326358685,
|
| 69 |
+
-0.7070277296991853,
|
| 70 |
+
0.1073577877658104
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.9427101016044617,
|
| 76 |
+
"position": [
|
| 77 |
+
0.028080584248527884,
|
| 78 |
+
-0.0048483701175427996,
|
| 79 |
+
0.0963228854816407
|
| 80 |
+
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| 532 |
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}
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},
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|
| 580 |
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|
| 581 |
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|
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0.002068184759991709,
|
| 584 |
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|
| 585 |
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],
|
| 586 |
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"orientation": {
|
| 587 |
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|
| 588 |
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"xyz": [
|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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]
|
| 593 |
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}
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| 594 |
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}
|
| 595 |
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}
|
| 596 |
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},
|
| 597 |
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{
|
| 598 |
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"part_name": "outer reel cover",
|
| 599 |
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"mask_color": "Purple",
|
| 600 |
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"graspable": false,
|
| 601 |
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"grasp_scenarios": [],
|
| 602 |
+
"functional_labels": [
|
| 603 |
+
"cover the tape reel",
|
| 604 |
+
"protect internal mechanism",
|
| 605 |
+
"support spool alignment",
|
| 606 |
+
"indicate reel location"
|
| 607 |
+
],
|
| 608 |
+
"semantic_description": "Oval light-colored insert around the side reel area, appearing as a smooth hard plastic ring recessed into the housing near the wide rear portion.",
|
| 609 |
+
"id": 5,
|
| 610 |
+
"grasp_group": {}
|
| 611 |
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},
|
| 612 |
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{
|
| 613 |
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"part_name": "inner spool hub",
|
| 614 |
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"mask_color": "Lime Green",
|
| 615 |
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"graspable": false,
|
| 616 |
+
"grasp_scenarios": [],
|
| 617 |
+
"functional_labels": [
|
| 618 |
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"anchor the tape spool",
|
| 619 |
+
"enable reel rotation",
|
| 620 |
+
"transfer tape movement",
|
| 621 |
+
"support internal winding"
|
| 622 |
+
],
|
| 623 |
+
"semantic_description": "Small circular gray plastic hub with a hard smooth slightly toothed appearance, centered inside the visible reel opening on the side of the dispenser.",
|
| 624 |
+
"id": 9,
|
| 625 |
+
"grasp_group": {}
|
| 626 |
+
}
|
| 627 |
+
],
|
| 628 |
+
"quality_check": {
|
| 629 |
+
"success": true,
|
| 630 |
+
"message": "YES"
|
| 631 |
+
}
|
| 632 |
+
}
|
dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8fb9cdd6c88e668c531273e776188a6b36981e867b2972cb06136a8dc2ece678
|
| 3 |
+
size 3785024
|
dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/correction_tape_007.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|