Add asset desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/affordance/affordance_annot.json +276 -0
- dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/sticky_notes_021.urdf +1 -0
.gitattributes
CHANGED
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@@ -6534,3 +6534,4 @@ dataset/desktop_supplies/office_tools/2241bc322fac53e1b90d88d44e02e6b5/affordanc
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| 6534 |
dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6535 |
dataset/desktop_supplies/office_tools/230e97eec7db5cc28dfc28df0f5cec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6536 |
dataset/desktop_supplies/office_tools/22540a6b064859cc8572e6775ae386a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6534 |
dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6535 |
dataset/desktop_supplies/office_tools/230e97eec7db5cc28dfc28df0f5cec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6536 |
dataset/desktop_supplies/office_tools/22540a6b064859cc8572e6775ae386a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6537 |
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dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "apple-shaped wooden piece with attached leaf",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the main apple-shaped portion from opposite sides to pick up and reposition the piece",
|
| 10 |
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"confidence": 0.95
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the piece against a table or in-hand while aligning or placing it",
|
| 14 |
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"confidence": 0.84
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "use a light pinch near the attached leaf side to rotate or orient the piece",
|
| 18 |
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"confidence": 0.68
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"serve as the main wooden puzzle or toy piece",
|
| 23 |
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"provide the overall shape and contact surface for handling",
|
| 24 |
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"include an attached leaf-shaped protrusion as part of the piece silhouette"
|
| 25 |
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],
|
| 26 |
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"semantic_description": "Small apple-shaped wooden piece with an attached leaf-shaped protrusion, light natural wood sides with visible grain and a smooth matte finish. The top face is divided into pastel pink, blue, and yellow sections, with a few small decorative seed-like markings visible on one side. The outline is rounded with lobes and a shallow bite-like notch on one edge.",
|
| 27 |
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"id": 1,
|
| 28 |
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"grasp_group": {
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| 29 |
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| 30 |
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],
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0.0186009825556539,
|
| 241 |
+
-0.11452463426394388,
|
| 242 |
+
-0.0031603663264831994
|
| 243 |
+
],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.5508729075270398,
|
| 246 |
+
"xyz": [
|
| 247 |
+
-0.44521781648845016,
|
| 248 |
+
-0.5449598194739069,
|
| 249 |
+
-0.4487080685623212
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
"grasp_18": {
|
| 254 |
+
"confidence": 0.9838042855262756,
|
| 255 |
+
"position": [
|
| 256 |
+
0.015808437892701477,
|
| 257 |
+
-0.11569787719054148,
|
| 258 |
+
-0.002227843742730329
|
| 259 |
+
],
|
| 260 |
+
"orientation": {
|
| 261 |
+
"w": 0.5343522939805218,
|
| 262 |
+
"xyz": [
|
| 263 |
+
-0.4620863481531181,
|
| 264 |
+
-0.5338340619411773,
|
| 265 |
+
-0.46472037515010295
|
| 266 |
+
]
|
| 267 |
+
}
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
],
|
| 272 |
+
"quality_check": {
|
| 273 |
+
"success": true,
|
| 274 |
+
"message": "YES"
|
| 275 |
+
}
|
| 276 |
+
}
|
dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4fad96128fbe6e7fa70631fc753935b478cbafe55fb94dcb5bddd3385df1b779
|
| 3 |
+
size 3776276
|
dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/sticky_notes_021.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>
|