Add asset desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/affordance_annot.json +461 -0
- dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/magnifier_025.urdf +1 -0
.gitattributes
CHANGED
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@@ -6672,4 +6672,4 @@ dataset/desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb/affordanc
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| 6672 |
dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6673 |
dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6674 |
dataset/desktop_supplies/office_tools/df8450421228510f802d6fe8d541f448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6675 |
-
dataset/desktop_supplies/office_tools/
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| 6672 |
dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6673 |
dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6674 |
dataset/desktop_supplies/office_tools/df8450421228510f802d6fe8d541f448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6675 |
+
dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,461 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "magnifier frame",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the frame rim to pick up or reposition the magnifier when the handle is obstructed",
|
| 10 |
+
"confidence": 0.46
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the frame edge to stabilize the magnifier during inspection",
|
| 14 |
+
"confidence": 0.38
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"hold the lens",
|
| 19 |
+
"protect the lens edge",
|
| 20 |
+
"define viewing area",
|
| 21 |
+
"support the head of the magnifier"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Oval light tan wooden frame with a matte to satin finish, hard smooth texture, and medium thickness surrounding the clear lens at the front of the magnifier.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9789035320281982,
|
| 28 |
+
"position": [
|
| 29 |
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|
| 30 |
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|
| 31 |
+
-0.005932284344453365
|
| 32 |
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],
|
| 33 |
+
"orientation": {
|
| 34 |
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"w": 0.27908662477535345,
|
| 35 |
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"xyz": [
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
+
"confidence": 0.9779556393623352,
|
| 44 |
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"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.19128469710083515,
|
| 51 |
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"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_3": {
|
| 59 |
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"confidence": 0.9778643250465393,
|
| 60 |
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"position": [
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.2232553924493228,
|
| 67 |
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"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_4": {
|
| 75 |
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"confidence": 0.9776341915130615,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.5172970044307549,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.9775243997573853,
|
| 92 |
+
"position": [
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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],
|
| 97 |
+
"orientation": {
|
| 98 |
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"w": 0.5287128878001258,
|
| 99 |
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"xyz": [
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_7": {
|
| 107 |
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"confidence": 0.9773203134536743,
|
| 108 |
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"position": [
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.34582514538502046,
|
| 115 |
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"xyz": [
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_10": {
|
| 123 |
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"confidence": 0.9769822359085083,
|
| 124 |
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"position": [
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.1725027566804727,
|
| 131 |
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"xyz": [
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| 132 |
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|
| 133 |
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| 134 |
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|
| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_11": {
|
| 139 |
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"confidence": 0.976902961730957,
|
| 140 |
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"position": [
|
| 141 |
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-0.00633549434132874,
|
| 142 |
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|
| 143 |
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|
| 144 |
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],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.5007487521434888,
|
| 147 |
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"xyz": [
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| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_12": {
|
| 155 |
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"confidence": 0.976896345615387,
|
| 156 |
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"position": [
|
| 157 |
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| 158 |
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|
| 159 |
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| 160 |
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],
|
| 161 |
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|
dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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size 3784128
|
dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/magnifier_025.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>
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|
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|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
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|
| 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>
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| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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