Add asset desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/affordance_annot.json +238 -0
- dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.urdf +1 -0
.gitattributes
CHANGED
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@@ -6685,3 +6685,4 @@ dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/affordanc
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| 6685 |
dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6686 |
dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6687 |
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6685 |
dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6686 |
dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6687 |
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6688 |
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dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,238 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical body to pick up and move the tape roll",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the side of the roll to stabilize it while dispensing tape",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the roll body to reorient it for placing onto a spindle or surface",
|
| 18 |
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"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"main structure",
|
| 23 |
+
"support winding of tape material",
|
| 24 |
+
"provide outer grasp surface",
|
| 25 |
+
"stabilize during dispensing",
|
| 26 |
+
"protect inner core"
|
| 27 |
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],
|
| 28 |
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"semantic_description": "Large yellow-orange cylindrical roll body made of wound tape material, with a smooth slightly glossy surface, firm texture, rounded edges, and the central hole running through the middle.",
|
| 29 |
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"id": 1,
|
| 30 |
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"grasp_group": {}
|
| 31 |
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},
|
| 32 |
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{
|
| 33 |
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"part_name": "inner core opening",
|
| 34 |
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"mask_color": "Red",
|
| 35 |
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"graspable": true,
|
| 36 |
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"grasp_scenarios": [
|
| 37 |
+
{
|
| 38 |
+
"scenario": "insert narrow gripper fingers into the center hole to lift or manipulate the tape roll",
|
| 39 |
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"confidence": 0.72
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"scenario": "use an internal grip in the core opening to orient the roll for mounting",
|
| 43 |
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"confidence": 0.68
|
| 44 |
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}
|
| 45 |
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],
|
| 46 |
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"functional_labels": [
|
| 47 |
+
"mount on spindle",
|
| 48 |
+
"provide central alignment",
|
| 49 |
+
"allow internal gripping",
|
| 50 |
+
"enable rotation around an axle"
|
| 51 |
+
],
|
| 52 |
+
"semantic_description": "Small circular center opening with an orange-brown inner rim and smooth hard-looking surface, positioned through the middle of the tape roll and much smaller than the outer cylinder.",
|
| 53 |
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"id": 0,
|
| 54 |
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"grasp_group": {
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| 55 |
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"grasp_0": {
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"confidence": 0.7250304818153381,
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"position": [
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],
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"orientation": {
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]
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}
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},
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"grasp_2": {
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"confidence": 0.6920332312583923,
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"position": [
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"orientation": {
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"grasp_6": {
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"confidence": 0.6773554682731628,
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}
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| 233 |
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],
|
| 234 |
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"quality_check": {
|
| 235 |
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"success": true,
|
| 236 |
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"message": "YES"
|
| 237 |
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}
|
| 238 |
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}
|
dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e7fe6c689f907fd75c1b71b7cf1ea7ab829dc0b8eba5e53433c34ea27d6c7889
|
| 3 |
+
size 2143436
|
dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
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|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
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|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|