Add asset desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/61f6233fd1b650b9aa81cfc411cd0939.urdf +1 -0
- dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/affordance_annot.json +506 -0
- dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -6577,4 +6577,5 @@ dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/affordanc
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| 6577 |
dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6578 |
dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6579 |
dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6580 |
-
dataset/desktop_supplies/office_tools/
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| 6577 |
dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6578 |
dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6579 |
dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6580 |
+
dataset/desktop_supplies/office_tools/635729653e465f2eb2892f17b6ce2b1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6581 |
+
dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/61f6233fd1b650b9aa81cfc411cd0939.urdf
CHANGED
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@@ -52,6 +52,7 @@
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
</affordance>
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| 56 |
</custom_data>
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| 57 |
</robot>
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
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| 58 |
</robot>
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dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,506 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer cylindrical body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical wall to pick up and move the hollow cylinder",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sidewall to stabilize or reorient the object during placement",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main structural body",
|
| 19 |
+
"provide external gripping surface",
|
| 20 |
+
"form the outer wall of the hollow cylinder",
|
| 21 |
+
"protect and support the overall shape"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large cylindrical amber-brown translucent plastic outer wall with a smooth somewhat glossy surface, thick sidewall, and rounded rims visible around the hollow center.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9428773522377014,
|
| 28 |
+
"position": [
|
| 29 |
+
0.10133465356193483,
|
| 30 |
+
-0.002815900996210985,
|
| 31 |
+
-0.003891789252520539
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.13759802732652698,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.6852570394479024,
|
| 37 |
+
-0.15383363219158175,
|
| 38 |
+
0.6984445478129883
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9419877529144287,
|
| 44 |
+
"position": [
|
| 45 |
+
0.1068382856901735,
|
| 46 |
+
-0.004342562679084949,
|
| 47 |
+
-0.00482169481983874
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.11554737287754797,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.6939612350438001,
|
| 53 |
+
-0.1358620194881297,
|
| 54 |
+
0.6975730216530647
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9337537884712219,
|
| 60 |
+
"position": [
|
| 61 |
+
0.09955250448547304,
|
| 62 |
+
0.002778400041279383,
|
| 63 |
+
-0.00801568514725659
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7007640317550601,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.18786206633248276,
|
| 69 |
+
-0.6673024628098758,
|
| 70 |
+
-0.1683598496066002
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_5": {
|
| 75 |
+
"confidence": 0.9311072826385498,
|
| 76 |
+
"position": [
|
| 77 |
+
0.10079820430837572,
|
| 78 |
+
0.0015563460328849033,
|
| 79 |
+
-0.006598347230465151
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.08103220575828661,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.6892731028771031,
|
| 85 |
+
-0.09780487108602776,
|
| 86 |
+
0.7132815562398644
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_6": {
|
| 91 |
+
"confidence": 0.9307884573936462,
|
| 92 |
+
"position": [
|
| 93 |
+
0.09727581567130983,
|
| 94 |
+
0.00010652555647538975,
|
| 95 |
+
-0.0007433255814248696
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.15260293369183747,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.6914980506846413,
|
| 101 |
+
-0.1663762689501581,
|
| 102 |
+
0.6861936517180922
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_7": {
|
| 107 |
+
"confidence": 0.9294783473014832,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.04603688814677298,
|
| 110 |
+
0.07881223161530215,
|
| 111 |
+
0.06845738981792238
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.4272630401584514,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.5543992924589861,
|
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|
dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/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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| 3 |
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size 1002576
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