This is the dataset of our RA-L work 'Learning Affordance Segmentation for Real-world Robotic Manipulation via Synthetic Images'. The detector jointly learns detection and affordance map prediction in an unsupervised manner via synthetic data. The original paper can be found here. The final version will be updated after publication process.
If you find it helpful for your research, please consider citing:
@inproceedings{chu2019learning,
title = {Learning Affordance Segmentation for Real-world Robotic Manipulation via Synthetic Images},
author = {F. Chu and R. Xu and P. A. Vela},
journal = {IEEE Robotics and Automation Letters},
year = {2019},
volume = {4},
number = {2},
pages = {1140-1147},
DOI = {10.1109/LRA.2019.2894439},
ISSN = {2377-3766},
month = {April}
}
Please follow the instructions in Image Saver
This repo contains sketchup 3D models from 3D warehouse, compatible with UMD affordance dataset. This dataset is collected for simulation in Gazebo to automatically generate affordance annotations.
If you simply want to use the dataset directly:
Note: dataset with segmentation/classification/bounding box groundtruth in VOC2012 format
- put the .dae model under
~/.gazebo/models/MODEL_NAME/meshes/ - create a
model.configas below in~/.gazebo/models/MODEL_NAME/
<?xml version="1.0"?>
<model>
<version>1.0</version>
<name>scissors</name>
<sdf version="1.4">model.sdf</sdf>
<description>
A model of for testing
</description>
</model>
- create a
model.sdfas below in~/.gazebo/models/MODEL_NAME/
<?xml version='1.0'?>
<sdf version="1.4">
<model name="MODEL_NAME">
<pose>0 0 0.0 0 0 0</pose>
<static>true</static>
<link name="link">
<inertial>
<mass>1.0</mass>
<inertia> <!-- inertias are tricky to compute -->
<!-- http://gazebosim.org/tutorials?tut=inertia&cat=build_robot -->
<ixx>0.083</ixx> <!-- for a box: ixx = 0.083 * mass * (y*y z*z) -->
<ixy>0.0</ixy> <!-- for a box: ixy = 0 -->
<ixz>0.0</ixz> <!-- for a box: ixz = 0 -->
<iyy>0.083</iyy> <!-- for a box: iyy = 0.083 * mass * (x*x z*z) -->
<iyz>0.0</iyz> <!-- for a box: iyz = 0 -->
<izz>0.083</izz> <!-- for a box: izz = 0.083 * mass * (x*x y*y) -->
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://MODEL_NAME/meshes/model.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>
- open Gazebo
roscore&rosrun gazebo_ros gazeboand you can insert the model
- follow step 1&2&3 as above to prepare the model
- open an empty world
roscore&rosrun gazebo_ros gazebo - add model
rosrun gazebo_ros spawn_model -sdf -z 1 -file /home/USERNAME/.gazebo/models/MODEL_NAME/model.sdf -model MODEL_NAME
- delete model
rosservice call gazebo/delete_model '{model_name: MODEL_NAME}'
arg in spawn_model can be used to specify 6DOF of the position for placing
please follow this post
If you encounter any questions, please contact me at fujenchu[at]gatech[dot]edu