Add asset desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/affordance_annot.json +395 -0
- dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.urdf +1 -0
.gitattributes
CHANGED
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@@ -6490,4 +6490,5 @@ dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affo
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| 6490 |
dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6491 |
dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6492 |
dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6493 |
-
dataset/desktop_supplies/office_stationery/
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| 6490 |
dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6491 |
dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6492 |
dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6493 |
+
dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6494 |
+
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "holder body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body from the side to pick up the pen holder",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to reposition or rotate the pen holder on a desk",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the holder body while inserting or removing pens",
|
| 18 |
+
"confidence": 0.67
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain pens and tools",
|
| 23 |
+
"provide main structure",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"define the storage cavity"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large dark gray plastic cylindrical cup body with a matte smooth hard surface, slightly tapered walls, an open top, and small red printed logo markings on the side.",
|
| 28 |
+
"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9704599380493164,
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| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.00615409737768902,
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| 39 |
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"xyz": [
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| 42 |
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| 43 |
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]
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| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.967013955116272,
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| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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"orientation": {
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"w": 0.09666021065287937,
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| 55 |
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"xyz": [
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| 59 |
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]
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| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_2": {
|
| 63 |
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"confidence": 0.9669098258018494,
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| 64 |
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"position": [
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| 66 |
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"orientation": {
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"xyz": [
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| 75 |
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| 76 |
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}
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| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9660447239875793,
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| 80 |
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"position": [
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| 84 |
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],
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| 85 |
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"orientation": {
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| 86 |
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"w": 0.008083656154237435,
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"xyz": [
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| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.9657541513442993,
|
| 96 |
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"position": [
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| 97 |
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"orientation": {
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"grasp_5": {
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| 111 |
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"confidence": 0.965546727180481,
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"orientation": {
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},
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"grasp_6": {
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| 127 |
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"orientation": {
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},
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"grasp_7": {
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"position": [
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},
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"grasp_8": {
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| 159 |
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"confidence": 0.9648656845092773,
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"orientation": {
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}
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},
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"grasp_9": {
|
| 175 |
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"confidence": 0.9644959568977356,
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],
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"semantic_description": "Flat circular black plastic bottom panel with a smooth matte hard surface, located on the underside and sized to span the base opening.",
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| 387 |
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| 388 |
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],
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"success": true,
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| 393 |
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"message": "YES"
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| 394 |
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}
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| 395 |
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}
|
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/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 sha256:3e2ad4d09c013472f0a37c644abb3666dbb67663778a57cdb1d26a31d8e934e2
|
| 3 |
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size 3784100
|
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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