Add asset desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27/affordance/affordance_annot.json +384 -0
- dataset/desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27/marker_019.urdf +1 -0
.gitattributes
CHANGED
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@@ -6379,4 +6379,5 @@ dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/affo
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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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| 6381 |
dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6382 |
-
dataset/desktop_supplies/office_stationery/
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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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| 6381 |
dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6382 |
+
dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6383 |
+
dataset/desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,384 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "marker barrel",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up the marker",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel while writing or drawing with the tip",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the marker body during cap removal",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support writing motion",
|
| 24 |
+
"house internal ink reservoir",
|
| 25 |
+
"connect tip section and cap"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long black plastic barrel with a smooth matte-to-satin finish, cylindrical shape, medium size, located between the white tip section and the black cap, with white printed branding/text visible on the side.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_4": {
|
| 31 |
+
"confidence": 0.9894439578056335,
|
| 32 |
+
"position": [
|
| 33 |
+
0.0346054018009454,
|
| 34 |
+
0.01231813058257103,
|
| 35 |
+
0.08894313836935908
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.05960083889939232,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.9806083911961015,
|
| 41 |
+
0.014614841807016443,
|
| 42 |
+
0.18612181365234498
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_7": {
|
| 47 |
+
"confidence": 0.9893653392791748,
|
| 48 |
+
"position": [
|
| 49 |
+
0.08105304022319615,
|
| 50 |
+
0.026408241130411625,
|
| 51 |
+
0.053498282679356635
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.04961974435819298,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.8768691851252259,
|
| 57 |
+
0.01921623795439431,
|
| 58 |
+
-0.47777510331381895
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_8": {
|
| 63 |
+
"confidence": 0.9893480539321899,
|
| 64 |
+
"position": [
|
| 65 |
+
0.0532942668069154,
|
| 66 |
+
-0.006584133021533489,
|
| 67 |
+
0.07758478040341288
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.1421925963617269,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.9393611332114654,
|
| 73 |
+
0.057347243242927726,
|
| 74 |
+
0.30674618277008636
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_9": {
|
| 79 |
+
"confidence": 0.9892827272415161,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.002449918072670698,
|
| 82 |
+
0.004554481245577335,
|
| 83 |
+
-0.09885221754666418
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.00984672214699889,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.013677784622553209,
|
| 89 |
+
-0.019499488359090544,
|
| 90 |
+
-0.9996678099371374
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_14": {
|
| 95 |
+
"confidence": 0.9889523386955261,
|
| 96 |
+
"position": [
|
| 97 |
+
0.07891155709512532,
|
| 98 |
+
0.020888526923954487,
|
| 99 |
+
0.05669139663223177
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.059217077332591066,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.8877164350962828,
|
| 105 |
+
0.038577328505006836,
|
| 106 |
+
-0.45493368564830394
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_18": {
|
| 111 |
+
"confidence": 0.9886694550514221,
|
| 112 |
+
"position": [
|
| 113 |
+
0.05894937296397984,
|
| 114 |
+
0.027584216557443142,
|
| 115 |
+
0.07709953899029642
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.34322700292147945,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.0215502345006458,
|
| 121 |
+
-0.9389982269104256,
|
| 122 |
+
0.003625150697934178
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"part_name": "cap",
|
| 130 |
+
"mask_color": "Cyan",
|
| 131 |
+
"graspable": true,
|
| 132 |
+
"grasp_scenarios": [
|
| 133 |
+
{
|
| 134 |
+
"scenario": "grasp the cap to pull it off the marker",
|
| 135 |
+
"confidence": 0.94
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "hold the capped end to reposition the marker",
|
| 139 |
+
"confidence": 0.71
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"scenario": "grasp the cap to place it back over the tip",
|
| 143 |
+
"confidence": 0.83
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"functional_labels": [
|
| 147 |
+
"cover the tip",
|
| 148 |
+
"prevent ink drying",
|
| 149 |
+
"protect from contact",
|
| 150 |
+
"enable cap removal and replacement"
|
| 151 |
+
],
|
| 152 |
+
"semantic_description": "Black plastic cap with a smooth slightly glossy finish, rounded cylindrical form, medium size, attached on one end of the marker; a pocket clip shape is suggested in some views.",
|
| 153 |
+
"id": 6,
|
| 154 |
+
"grasp_group": {
|
| 155 |
+
"grasp_20": {
|
| 156 |
+
"confidence": 0.9862426519393921,
|
| 157 |
+
"position": [
|
| 158 |
+
0.09486834635026753,
|
| 159 |
+
-0.016742252744734287,
|
| 160 |
+
0.011557685793377459
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.02819338985545279,
|
| 164 |
+
"xyz": [
|
| 165 |
+
0.7510325439541723,
|
| 166 |
+
0.04375737746789332,
|
| 167 |
+
-0.6582101052151318
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_21": {
|
| 172 |
+
"confidence": 0.9849233627319336,
|
| 173 |
+
"position": [
|
| 174 |
+
0.056457213358953595,
|
| 175 |
+
0.018723553977906704,
|
| 176 |
+
0.07151228899601847
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.33470223677897887,
|
| 180 |
+
"xyz": [
|
| 181 |
+
0.06964582386085494,
|
| 182 |
+
-0.9219287418240213,
|
| 183 |
+
0.18212980786425118
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
"grasp_24": {
|
| 188 |
+
"confidence": 0.9819143414497375,
|
| 189 |
+
"position": [
|
| 190 |
+
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| 352 |
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|
| 353 |
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|
| 354 |
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| 355 |
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| 356 |
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| 358 |
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| 359 |
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],
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"semantic_description": "Short white plastic collar with a matte finish, tapered conical shape, small size, located between the black barrel and the dark writing tip.",
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| 361 |
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| 362 |
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| 363 |
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},
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| 364 |
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{
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| 368 |
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| 369 |
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| 373 |
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| 374 |
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],
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"semantic_description": "Small dark felt-like tip with a matte appearance and pointed bullet shape at the writing end of the marker.",
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| 376 |
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| 377 |
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| 378 |
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| 379 |
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],
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| 380 |
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"quality_check": {
|
| 381 |
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"success": true,
|
| 382 |
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"message": "YES"
|
| 383 |
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}
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| 384 |
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}
|
dataset/desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:5005f9f9b490afa8b0922d44fd8204e83913f91a49aeb93df0f1eb1d21ad60b7
|
| 3 |
+
size 3784664
|
dataset/desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27/marker_019.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|