Add asset desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/affordance/affordance_annot.json +688 -0
- dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.urdf +1 -0
.gitattributes
CHANGED
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@@ -6405,3 +6405,4 @@ dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/affo
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| 6405 |
dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6406 |
dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6407 |
dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6405 |
dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6406 |
dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6407 |
dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6408 |
+
dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,688 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and move the container",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while removing or replacing the cap",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the container by gripping the body during handling",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"structural housing",
|
| 24 |
+
"contain internal contents",
|
| 25 |
+
"stabilize during cap removal"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall black plastic body with a mostly matte to satin finish, smooth sides, and a tapered hexagonal lower end with gold printed decorative markings near the upper and middle areas.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9862311482429504,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.08175245707388967,
|
| 34 |
+
-0.060143940383568406,
|
| 35 |
+
-0.014804913196712732
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6244930294257159,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.63159914384207,
|
| 41 |
+
0.31859288274475406,
|
| 42 |
+
-0.3310431282492412
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9859238862991333,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.09582809393759817,
|
| 50 |
+
-0.034594021970406175,
|
| 51 |
+
-0.014262808952480555
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5763450118419208,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.5729974022982455,
|
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dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3781564
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dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.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>
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|
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|
| 60 |
</affordance>
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| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
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|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
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| 59 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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