Add asset desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/affordance/affordance_annot.json +603 -0
- dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/marker_039.urdf +1 -0
.gitattributes
CHANGED
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@@ -6500,3 +6500,4 @@ dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/affo
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| 6500 |
dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6501 |
dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6502 |
dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6500 |
dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6501 |
dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6502 |
dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6503 |
+
dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,603 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "marker barrel",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and reposition the marker",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel while removing or replacing the cap",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the barrel to orient the writing tip toward a surface",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the ink reservoir",
|
| 24 |
+
"support writing control",
|
| 25 |
+
"connect cap and tip sections"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long cylindrical red plastic body with a smooth slightly glossy hard surface, medium thickness, centered along the marker, with white printed branding on the side.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9856579899787903,
|
| 32 |
+
"position": [
|
| 33 |
+
0.07238632396001776,
|
| 34 |
+
0.04715566791128367,
|
| 35 |
+
0.04382123005234462
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.21235654198155884,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.8359107315420998,
|
| 41 |
+
0.15357158584821562,
|
| 42 |
+
-0.4822589719128612
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9847908616065979,
|
| 48 |
+
"position": [
|
| 49 |
+
0.018658199833225808,
|
| 50 |
+
-0.05990287952590734,
|
| 51 |
+
-0.08190846118486661
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.03374798157104547,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.08633099180748152,
|
| 57 |
+
0.26666193159522333,
|
| 58 |
+
0.9593223899353758
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9841538071632385,
|
| 64 |
+
"position": [
|
| 65 |
+
0.00166679024368932,
|
| 66 |
+
-0.04246983223129064,
|
| 67 |
+
0.08577365752898913
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.2458084402288329,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.9693110681698284,
|
| 73 |
+
0.003601115299254498,
|
| 74 |
+
0.0011383340179514818
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9799918532371521,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0833376716091152,
|
| 82 |
+
0.06016715324949473,
|
| 83 |
+
-0.008061296784944716
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7027382715321301,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.19365632295288013,
|
| 89 |
+
-0.6573393495443673,
|
| 90 |
+
0.19120964893276687
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9790580868721008,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.0021168489274714375,
|
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dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:44623e2e2198f04464840cbf4aa8f9b0616ed67c3123cec7df36fffc1f050a46
|
| 3 |
+
size 3785524
|
dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/marker_039.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>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|