Add asset desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/affordance/affordance_annot.json +654 -0
- dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.urdf +3 -2
.gitattributes
CHANGED
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@@ -6367,3 +6367,4 @@ dataset/desktop_supplies/office_stationery/6ec54b87d0aa58b3805a82fe470f37ad/affo
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| 6367 |
dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6368 |
dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6369 |
dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6367 |
dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6368 |
dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6369 |
dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6370 |
+
dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,654 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "inner cavity",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"hold pens and pencils",
|
| 10 |
+
"contain small desk items",
|
| 11 |
+
"provide storage volume",
|
| 12 |
+
"receive inserted objects"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Open hollow interior with a white-looking visible inner surface, likely hard plastic, smooth and glossy, forming the top storage space inside the square tapered holder.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "outer body",
|
| 20 |
+
"mask_color": "Blue",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the side walls to pick up and move the pen holder",
|
| 25 |
+
"confidence": 0.94
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the body to reposition or rotate the pen holder on a desk",
|
| 29 |
+
"confidence": 0.9
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "stabilize the container while inserting or removing pens",
|
| 33 |
+
"confidence": 0.78
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"support the structure",
|
| 38 |
+
"enclose contents",
|
| 39 |
+
"provide main grasp surface",
|
| 40 |
+
"stand on a desk",
|
| 41 |
+
"protect stored items"
|
| 42 |
+
],
|
| 43 |
+
"semantic_description": "Main tapered square body with translucent purple-tinted plastic, glossy smooth hard surfaces, softly rounded edges, and a medium-sized hollow form that makes up nearly the entire pen holder.",
|
| 44 |
+
"id": 2,
|
| 45 |
+
"grasp_group": {
|
| 46 |
+
"grasp_0": {
|
| 47 |
+
"confidence": 0.9592574834823608,
|
| 48 |
+
"position": [
|
| 49 |
+
0.00012111110845580697,
|
| 50 |
+
-0.11749364691786468,
|
| 51 |
+
0.0018204168882220984
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6988935078254258,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.715068885367957,
|
| 57 |
+
-0.01092890309257466,
|
| 58 |
+
-0.010242703514798324
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_1": {
|
| 63 |
+
"confidence": 0.9585162997245789,
|
| 64 |
+
"position": [
|
| 65 |
+
0.002133539237547666,
|
| 66 |
+
-0.11538646626286209,
|
| 67 |
+
0.0027053828816860914
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6960985219021291,
|
| 71 |
+
"xyz": [
|
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dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/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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oid sha256:8a796015771b5952b3b128eee4495b8906f9e558a4c6bd0b24bf9c1413a7b25a
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| 3 |
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size 3781992
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dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
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| 51 |
<visual_seg>
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| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
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| 53 |
<geometry>
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| 54 |
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| 55 |
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| 56 |
</visual_seg>
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|
|
|
| 57 |
</affordance>
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| 58 |
<quality>
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| 59 |
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<PartSegChecker>
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| 60 |
</quality>
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| 61 |
</custom_data>
|
| 62 |
</robot>
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|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
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| 49 |
<affordance>
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| 50 |
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<part_count>3</part_count>
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| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
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<PartSegChecker>YES</PartSegChecker>
|
| 61 |
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|
| 62 |
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|
| 63 |
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