Add asset desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/affordance_annot.json +659 -0
- dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.urdf +4 -3
.gitattributes
CHANGED
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@@ -6407,4 +6407,4 @@ dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affo
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| 6407 |
dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6408 |
dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6409 |
dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6410 |
-
dataset/desktop_supplies/office_stationery/
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| 6407 |
dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6408 |
dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6409 |
dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6410 |
+
dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,659 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Maroon",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical sidewall to pick up and reposition the pen holder",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the pen holder while inserting or removing pens",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain pens and tools",
|
| 19 |
+
"form the main structure",
|
| 20 |
+
"provide side grasp surface",
|
| 21 |
+
"enclose the interior cavity"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large white plastic cup body with a hard smooth matte surface, cylindrical shape, and upright central position forming most of the pen holder with raised decorative details attached outside.",
|
| 24 |
+
"id": 12,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.7048569321632385,
|
| 28 |
+
"position": [
|
| 29 |
+
0.034751901257550344,
|
| 30 |
+
0.11302687379065901,
|
| 31 |
+
-0.009333575959317386
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.10797303282567483,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.08545463130013459,
|
| 37 |
+
-0.6944858750688034,
|
| 38 |
+
0.7062072638409361
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.6793363094329834,
|
| 44 |
+
"position": [
|
| 45 |
+
0.03734122388414107,
|
| 46 |
+
0.11626076849643141,
|
| 47 |
+
-0.01106796960812062
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7104810746733062,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6909113230930821,
|
| 53 |
+
-0.10873502821324255,
|
| 54 |
+
-0.07768448874965976
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.6664369106292725,
|
| 60 |
+
"position": [
|
| 61 |
+
0.007149999815737829,
|
| 62 |
+
0.11340723338071257,
|
| 63 |
+
-0.017246125149540603
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7216065298446038,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.6922826884363417,
|
| 69 |
+
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dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/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 sha256:7fae99bf1341c971167c6a80dae941bbd73f7bfb05f484a532bf8f01c9dc4ec5
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| 3 |
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size 3839780
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dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
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| 51 |
<visual_seg>
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| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
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| 54 |
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<mesh filename="
|
| 55 |
</geometry>
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| 56 |
</visual_seg>
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|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
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| 59 |
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| 60 |
</quality>
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| 61 |
</custom_data>
|
| 62 |
</robot>
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|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
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| 50 |
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<part_count>3</part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
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<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
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<PartSegChecker>YES</PartSegChecker>
|
| 61 |
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|
| 62 |
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| 63 |
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