Add asset desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7/affordance/affordance_annot.json +559 -0
- dataset/desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7/eraser_031.urdf +1 -0
.gitattributes
CHANGED
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@@ -6376,4 +6376,4 @@ dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affo
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| 6376 |
dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6377 |
dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6378 |
dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6379 |
-
dataset/desktop_supplies/office_stationery/
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| 6376 |
dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6377 |
dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6378 |
dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6379 |
+
dataset/desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,559 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and reposition the eraser",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while rubbing it against paper to erase marks",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the eraser body during placement into a pencil case or container",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide erasing mass and structure",
|
| 24 |
+
"support decorative character shape",
|
| 25 |
+
"contact paper during erasing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large bright yellow rubbery eraser body with a matte smooth surface and soft slightly compliant texture, shaped like a tapered block with a Pikachu face and printed Pokemon text on the front and sides.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9250599145889282,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.0954615488590207,
|
| 34 |
+
0.03162630632868968,
|
| 35 |
+
0.01894872961565852
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5340241419887832,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6016484383293957,
|
| 41 |
+
0.4704751953208768,
|
| 42 |
+
0.36261613728118347
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9228612780570984,
|
| 48 |
+
"position": [
|
| 49 |
+
0.0017845853290054947,
|
| 50 |
+
0.10216153398505412,
|
| 51 |
+
-0.02081342739984393
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.7631157814596188,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6461908248095962,
|
| 57 |
+
7.28393791773474e-05,
|
| 58 |
+
0.009576884336476937
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9211058020591736,
|
| 64 |
+
"position": [
|
| 65 |
+
0.08576844484196045,
|
| 66 |
+
-0.0009747571602929384,
|
| 67 |
+
-0.04279489954933524
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.60441689925792,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.3578247725358588,
|
| 73 |
+
-0.35858867985774934,
|
| 74 |
+
-0.6148624258555555
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9200126528739929,
|
| 80 |
+
"position": [
|
| 81 |
+
0.09547389895305969,
|
| 82 |
+
-0.006326335162157193,
|
| 83 |
+
0.002642726758494973
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.46812063694796846,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5592516705294232,
|
| 89 |
+
-0.4311898403642467,
|
| 90 |
+
0.5312023718321798
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9173736572265625,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.09959081708802842,
|
| 98 |
+
0.004507855832343921,
|
| 99 |
+
0.008220384130254388
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5055763395718847,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5189889116363369,
|
| 105 |
+
0.5098477862690833,
|
| 106 |
+
0.46378692230391744
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_7": {
|
| 111 |
+
"confidence": 0.9153966307640076,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.08695212154998444,
|
| 114 |
+
0.007673690881347284,
|
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0.03254364655003883,
|
| 526 |
+
0.07249346360913478,
|
| 527 |
+
0.08701527724042535
|
| 528 |
+
],
|
| 529 |
+
"orientation": {
|
| 530 |
+
"w": 0.1363950949570951,
|
| 531 |
+
"xyz": [
|
| 532 |
+
-0.048568152545414724,
|
| 533 |
+
-0.9207799785695434,
|
| 534 |
+
0.3622178125043573
|
| 535 |
+
]
|
| 536 |
+
}
|
| 537 |
+
}
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
{
|
| 541 |
+
"part_name": "bottom erasing face",
|
| 542 |
+
"mask_color": "Maroon",
|
| 543 |
+
"graspable": false,
|
| 544 |
+
"grasp_scenarios": [],
|
| 545 |
+
"functional_labels": [
|
| 546 |
+
"erase pencil marks",
|
| 547 |
+
"provide high-friction contact surface",
|
| 548 |
+
"serve as the wear surface"
|
| 549 |
+
],
|
| 550 |
+
"semantic_description": "Flat orange bottom face of soft rubber with a matte smooth finish, rectangular and full-width on the underside, serving as the primary contact area that wears down during erasing.",
|
| 551 |
+
"id": 12,
|
| 552 |
+
"grasp_group": {}
|
| 553 |
+
}
|
| 554 |
+
],
|
| 555 |
+
"quality_check": {
|
| 556 |
+
"success": true,
|
| 557 |
+
"message": "YES"
|
| 558 |
+
}
|
| 559 |
+
}
|
dataset/desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6434325d65a2b2865d2c80f9240a2f6c645ab69dfce3c4ab87ce8ab901b763b2
|
| 3 |
+
size 3784508
|
dataset/desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7/eraser_031.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>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>NO: {"summary":"Face/head and printed graphics are merged; bottom is separately colored though not a distinct functional part.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>NO: {"summary":"Face/head and printed graphics are merged; bottom is separately colored though not a distinct functional part.","merge_groups":[]}</PartSegChecker>
|