Add asset desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affordance/affordance_annot.json +624 -0
- dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/glue_stick_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -6376,4 +6376,5 @@ dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affo
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| 6376 |
dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6377 |
dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6378 |
dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6379 |
-
dataset/desktop_supplies/office_stationery/
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| 6376 |
dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6377 |
dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6378 |
dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6379 |
+
dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6380 |
+
dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,624 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glue stick body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and move the glue stick",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while removing or replacing the cap",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to apply glue to a surface",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain glue mechanism",
|
| 24 |
+
"support application",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall tapered light-purple plastic body with a mostly matte smooth hard surface, medium-sized and forming most of the container, with printed white GLUE STICK text on the front and a small white slider/opening feature near the lower front.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9778978228569031,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.09505516666831682,
|
| 34 |
+
-0.006448172382079065,
|
| 35 |
+
0.043676643195794895
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.43823168025093895,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5775026727174534,
|
| 41 |
+
0.5595563682657513,
|
| 42 |
+
-0.40167191607315544
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9775566458702087,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.034365322477242444,
|
| 50 |
+
-0.08797887980472296,
|
| 51 |
+
0.035167886439012364
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5694156193401622,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.8008426228180353,
|
| 57 |
+
0.14681278782548746,
|
| 58 |
+
-0.1134149516611353
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_23": {
|
| 63 |
+
"confidence": 0.9770053625106812,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.09380007166328141,
|
| 66 |
+
-0.01031917694490403,
|
| 67 |
+
0.04034153980319388
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4645422122582067,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.5647501483805853,
|
| 73 |
+
0.5357933688473405,
|
| 74 |
+
-0.42211760071522314
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_24": {
|
| 79 |
+
"confidence": 0.9768744111061096,
|
| 80 |
+
"position": [
|
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| 603 |
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}
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| 604 |
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},
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| 605 |
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{
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| 606 |
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"part_name": "top face of cap",
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| 607 |
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| 608 |
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| 609 |
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| 610 |
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| 611 |
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| 612 |
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"provide top contact surface",
|
| 613 |
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"help indicate orientation"
|
| 614 |
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],
|
| 615 |
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"semantic_description": "Flat rounded-rectangular purple top panel inset into the cap, with a smooth slightly matte plastic surface, forming the small uppermost face of the glue stick.",
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| 616 |
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"id": 1,
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| 617 |
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"grasp_group": {}
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| 618 |
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}
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| 619 |
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],
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| 620 |
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"quality_check": {
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| 621 |
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"success": true,
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| 622 |
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"message": "YES"
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| 623 |
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| 624 |
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|
dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:faba8813cef400089deac6ca42de4c2f9b34c3565cda377d99a379427b8255b1
|
| 3 |
+
size 3782544
|
dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/glue_stick_002.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|