Add asset desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/affordance/affordance_annot.json +562 -0
- dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/eraser_009.urdf +1 -0
.gitattributes
CHANGED
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@@ -6516,4 +6516,4 @@ dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/affo
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| 6516 |
dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6517 |
dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6518 |
dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6519 |
-
dataset/desktop_supplies/office_stationery/
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| 6516 |
dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6517 |
dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6518 |
dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6519 |
+
dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,562 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "paper sleeve",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sleeve sides to pick up and reposition the eraser",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sleeve to stabilize the eraser while rubbing",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the sleeve to pull the eraser from a surface or container",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main grip surface",
|
| 23 |
+
"wrap and support the eraser core",
|
| 24 |
+
"protect fingers from eraser debris",
|
| 25 |
+
"display branding and product information"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A medium-sized white printed paperboard sleeve with a matte smooth surface and crisp folded faces, wrapping most of the rectangular eraser body and showing blue graphics, Japanese text, a barcode, and small colored markings.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9846706390380859,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.04608119674958289,
|
| 34 |
+
0.09132240078179166,
|
| 35 |
+
-0.003026288002729416
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.3782560527292239,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5953582730123218,
|
| 41 |
+
-0.35466178427950623,
|
| 42 |
+
0.6137474269609358
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9840704202651978,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.03287080326117575,
|
| 50 |
+
0.09479542187182233,
|
| 51 |
+
-1.6802805475890636e-06
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5808490825166492,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.417150734594806,
|
| 57 |
+
0.5790929162774017,
|
| 58 |
+
-0.3914728627681806
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9838284254074097,
|
| 64 |
+
"position": [
|
| 65 |
+
0.0038008803385309875,
|
| 66 |
+
0.10220429411856458,
|
| 67 |
+
0.0035592529457062483
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.49234077108002483,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.5178989856719843,
|
| 73 |
+
-0.4928338264802812,
|
| 74 |
+
0.49648366060632954
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9837589263916016,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.05194429331459105,
|
| 82 |
+
0.09076634905068204,
|
| 83 |
+
-0.002901379717513919
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.36175388453201734,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.597298646967941,
|
| 89 |
+
-0.3612716127356045,
|
| 90 |
+
0.6179411583538336
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9835092425346375,
|
| 96 |
+
"position": [
|
| 97 |
+
0.0024835708318278193,
|
| 98 |
+
0.10278248152462766,
|
| 99 |
+
-0.001606740232091397
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5075554235423825,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5099715623188168,
|
| 105 |
+
0.49693902848126603,
|
| 106 |
+
-0.4851475029626691
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_25": {
|
| 111 |
+
"confidence": 0.9834808707237244,
|
| 112 |
+
"position": [
|
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"grasp_12": {
|
| 524 |
+
"confidence": 0.9279625415802002,
|
| 525 |
+
"position": [
|
| 526 |
+
-0.09636235260404646,
|
| 527 |
+
-0.006451362103689462,
|
| 528 |
+
-0.054928338853642344
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.6363072963045391,
|
| 532 |
+
"xyz": [
|
| 533 |
+
0.31595369912395804,
|
| 534 |
+
0.3690932900535343,
|
| 535 |
+
0.5992131740181895
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
"grasp_15": {
|
| 540 |
+
"confidence": 0.8985306024551392,
|
| 541 |
+
"position": [
|
| 542 |
+
-0.0669675546232611,
|
| 543 |
+
0.0007961737574078143,
|
| 544 |
+
0.08157979440875351
|
| 545 |
+
],
|
| 546 |
+
"orientation": {
|
| 547 |
+
"w": 0.19007960705555554,
|
| 548 |
+
"xyz": [
|
| 549 |
+
0.6761425069965408,
|
| 550 |
+
0.6875898924338595,
|
| 551 |
+
0.18417706979109028
|
| 552 |
+
]
|
| 553 |
+
}
|
| 554 |
+
}
|
| 555 |
+
}
|
| 556 |
+
}
|
| 557 |
+
],
|
| 558 |
+
"quality_check": {
|
| 559 |
+
"success": true,
|
| 560 |
+
"message": "YES"
|
| 561 |
+
}
|
| 562 |
+
}
|
dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4604c91d9bf4a3a6d5034892cc4cd1c13bf07a46e0d19cec901bbf345d91ae14
|
| 3 |
+
size 3780148
|
dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/eraser_009.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 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|