Add asset desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/affordance_annot.json +326 -0
- dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.urdf +1 -0
.gitattributes
CHANGED
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@@ -6372,3 +6372,4 @@ dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/affo
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| 6372 |
dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6373 |
dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6374 |
dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6372 |
dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6373 |
dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6374 |
dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6375 |
+
dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,326 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sharpener body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the body to pick up and reposition the sharpener",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while inserting and twisting a pencil in the sharpening hole",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to open or inspect the shavings container area",
|
| 18 |
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"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the blade mechanism",
|
| 24 |
+
"support sharpening",
|
| 25 |
+
"stabilize during use",
|
| 26 |
+
"enclose shavings reservoir"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Rounded bear-shaped main body made of smooth glossy plastic, predominantly medium brown with a lighter beige muzzle area and black facial details. It is a compact, bulky single body forming nearly the entire sharpener, with a metal-lined pencil hole on the top of the head.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9669715762138367,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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| 39 |
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"w": 0.178278211009332,
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| 40 |
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"xyz": [
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9667357802391052,
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| 49 |
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"position": [
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| 50 |
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| 51 |
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],
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},
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"grasp_2": {
|
| 64 |
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},
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"grasp_3": {
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| 80 |
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"orientation": {
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| 93 |
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}
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| 94 |
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},
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| 95 |
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"grasp_5": {
|
| 96 |
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"confidence": 0.9605220556259155,
|
| 97 |
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"orientation": {
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"grasp_6": {
|
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"orientation": {
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},
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"grasp_7": {
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| 128 |
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"orientation": {
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"grasp_8": {
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"orientation": {
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"grasp_12": {
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},
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"grasp_13": {
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| 208 |
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dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/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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oid sha256:6e0522c6768cf6a2dab497b9766f6f3a0fca67d6f45217cbe4f517e68505c347
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| 3 |
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size 3777008
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dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
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|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
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|
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|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 58 |
</geometry>
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| 59 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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