Add asset desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/affordance/affordance_annot.json +467 -0
- dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/staples_box_001.urdf +1 -0
.gitattributes
CHANGED
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@@ -6618,3 +6618,4 @@ dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordanc
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| 6618 |
dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6619 |
dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6620 |
dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6618 |
dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6619 |
dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6620 |
dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6621 |
+
dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,467 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "box lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edges to open the staples box",
|
| 10 |
+
"confidence": 0.83
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the top panel to stabilize the box during manipulation",
|
| 14 |
+
"confidence": 0.56
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the contents",
|
| 19 |
+
"open for access",
|
| 20 |
+
"protect stored staples",
|
| 21 |
+
"provide top support"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large flat white paperboard top panel with a matte smooth surface, bright pink printed branding and text, and a small central slit/cutout near the middle.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_8": {
|
| 27 |
+
"confidence": 0.9890102744102478,
|
| 28 |
+
"position": [
|
| 29 |
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0.13396469748113304,
|
| 30 |
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-0.002301702741533518,
|
| 31 |
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0.007818138226866722
|
| 32 |
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],
|
| 33 |
+
"orientation": {
|
| 34 |
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"w": 0.6743518059609794,
|
| 35 |
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"xyz": [
|
| 36 |
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-0.02127803783700757,
|
| 37 |
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-0.7379508903563118,
|
| 38 |
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0.015012339101517827
|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
+
},
|
| 42 |
+
"grasp_12": {
|
| 43 |
+
"confidence": 0.9957215785980225,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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-0.07071989611722529,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.6650096661833907,
|
| 51 |
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"xyz": [
|
| 52 |
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-0.1758524564018998,
|
| 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_13": {
|
| 59 |
+
"confidence": 0.995448648929596,
|
| 60 |
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"position": [
|
| 61 |
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0.005463075474835932,
|
| 62 |
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-0.12667075381614268,
|
| 63 |
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-0.0015951443347148597
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.4850708494621022,
|
| 67 |
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"xyz": [
|
| 68 |
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-0.5193345539204374,
|
| 69 |
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0.47980987927904495,
|
| 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_14": {
|
| 75 |
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"confidence": 0.9954462647438049,
|
| 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": 0.5191433457910624,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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-0.5079592258524047,
|
| 86 |
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-0.4888190769708878
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_15": {
|
| 91 |
+
"confidence": 0.9954158067703247,
|
| 92 |
+
"position": [
|
| 93 |
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0.009040084318257868,
|
| 94 |
+
-0.127695923903957,
|
| 95 |
+
-0.0010618711457937025
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.5196817869229468,
|
| 99 |
+
"xyz": [
|
| 100 |
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-0.48880561096311786,
|
| 101 |
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-0.5038670684768081,
|
| 102 |
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-0.48694752523874085
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_16": {
|
| 107 |
+
"confidence": 0.9953511953353882,
|
| 108 |
+
"position": [
|
| 109 |
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6.07313122600317e-05,
|
| 110 |
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-0.12518109963275492,
|
| 111 |
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0.00032278173603117466
|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.48240150823535366,
|
| 115 |
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"xyz": [
|
| 116 |
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-0.5145942309107523,
|
| 117 |
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0.48552362259277404,
|
| 118 |
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|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
+
"grasp_17": {
|
| 123 |
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"confidence": 0.9953402280807495,
|
| 124 |
+
"position": [
|
| 125 |
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0.016642898903228343,
|
| 126 |
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-0.12777460203506052,
|
| 127 |
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-0.005440757609903812
|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.5040764242152866,
|
| 131 |
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"xyz": [
|
| 132 |
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-0.5027887057383685,
|
| 133 |
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0.47889189390392106,
|
| 134 |
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0.5135883856605233
|
| 135 |
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]
|
| 136 |
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}
|
| 137 |
+
},
|
| 138 |
+
"grasp_18": {
|
| 139 |
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"confidence": 0.995298445224762,
|
| 140 |
+
"position": [
|
| 141 |
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-0.008904815069399774,
|
| 142 |
+
-0.12645033583976328,
|
| 143 |
+
0.0008920859545469284
|
| 144 |
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],
|
| 145 |
+
"orientation": {
|
| 146 |
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"w": 0.4881242089489176,
|
| 147 |
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"xyz": [
|
| 148 |
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-0.5182669236654297,
|
| 149 |
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|
| 150 |
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|
| 151 |
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]
|
| 152 |
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}
|
| 153 |
+
}
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"part_name": "wire pull tab",
|
| 158 |
+
"mask_color": "Blue",
|
| 159 |
+
"graspable": true,
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| 160 |
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|
dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/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:cd76ce64bdc8531aa52b756fe1019999af2d25852d8afb3908b58dd053af9a1c
|
| 3 |
+
size 3782392
|
dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/staples_box_001.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|