Add asset desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/affordance/affordance_annot.json +641 -0
- dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/stapler_005.urdf +1 -0
.gitattributes
CHANGED
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@@ -6381,3 +6381,4 @@ dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affo
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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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| 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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| 6384 |
+
dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,641 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stapler base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the base from the sides to pick up and reposition the stapler",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the stapler while the top arm is actuated",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the base to place the stapler into storage or onto a work surface",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support the stapler on a desk",
|
| 23 |
+
"stabilize during stapling",
|
| 24 |
+
"provide the lower support and contact surface",
|
| 25 |
+
"provide a main grasping surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Rectangular light gray to translucent lower body with a smooth glossy finish, broad and thick at the bottom of the stapler, with rounded edges and a visible side label/branding mark.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9691529273986816,
|
| 32 |
+
"position": [
|
| 33 |
+
0.00951017445186153,
|
| 34 |
+
0.035701519809663296,
|
| 35 |
+
-0.10782155534252524
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.9980730269421643,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.05945048077176128,
|
| 41 |
+
-0.0172622024112824,
|
| 42 |
+
-0.004229609251880191
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9679040908813477,
|
| 48 |
+
"position": [
|
| 49 |
+
0.020433799421880394,
|
| 50 |
+
-0.0034507066011428833,
|
| 51 |
+
-0.10722314706072211
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.9886632299813483,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.12499530129177679,
|
| 57 |
+
-0.08160809837803562,
|
| 58 |
+
-0.016165104916032732
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9671869874000549,
|
| 64 |
+
"position": [
|
| 65 |
+
0.0021984305349178612,
|
| 66 |
+
0.03260011877864599,
|
| 67 |
+
-0.11030765017494559
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.9998215929392856,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.008625744209218892,
|
| 73 |
+
0.015043534025492189,
|
| 74 |
+
0.007488051362679851
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
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},
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| 621 |
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{
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| 622 |
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| 623 |
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| 626 |
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| 629 |
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| 630 |
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|
| 631 |
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],
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| 632 |
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"semantic_description": "Small shiny silver metal assembly with a reflective smooth finish, visible inside between the top arm and base near the staple channel and hinge area, narrow and partially recessed.",
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| 633 |
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| 634 |
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"success": true,
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|
dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/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 sha256:0ec9a0295ce35e417c1b9584d78b18776ac2a351135789aa9c703363dc1a0af1
|
| 3 |
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size 3781248
|
dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/stapler_005.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|