Add asset desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/affordance/affordance_annot.json +595 -0
- dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/eraser_021.urdf +1 -0
.gitattributes
CHANGED
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@@ -6379,3 +6379,4 @@ dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/affo
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| 6379 |
dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6380 |
dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6381 |
dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6379 |
dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6380 |
dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6381 |
dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6382 |
+
dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,595 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser sleeve",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sleeve around the side to pick up the eraser",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sleeve to stabilize the eraser while rubbing",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "regrasp the sleeve to rotate and reposition the eraser",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide handling body",
|
| 24 |
+
"stabilize the eraser core",
|
| 25 |
+
"protect the eraser while holding",
|
| 26 |
+
"indicate brand and orientation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large blue cylindrical paper or thin cardboard sleeve with a matte smooth surface, wrapped around the middle of the eraser and printed with white 'Hapaga' text.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9707313776016235,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0953128926048521,
|
| 35 |
+
-0.009251297684386373,
|
| 36 |
+
0.006892102363053709
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6613195969725533,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.008456241955724714,
|
| 42 |
+
-0.7483875984529725,
|
| 43 |
+
-0.0500088503550954
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9685031771659851,
|
| 49 |
+
"position": [
|
| 50 |
+
0.08818244855501689,
|
| 51 |
+
0.04234466585330665,
|
| 52 |
+
-0.0018081047455780208
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.6897930958859471,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.1205555448969665,
|
| 58 |
+
-0.6958815946417317,
|
| 59 |
+
0.15937581906160317
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9678890109062195,
|
| 65 |
+
"position": [
|
| 66 |
+
0.09745898764231242,
|
| 67 |
+
-0.00756113906390965,
|
| 68 |
+
0.01909100083867088
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.06484694353117945,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.7748102042869857,
|
| 74 |
+
-0.0054504441988285635,
|
| 75 |
+
0.6288356811643716
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9674871563911438,
|
| 81 |
+
"position": [
|
| 82 |
+
0.08736316036083736,
|
| 83 |
+
0.04095134022645652,
|
| 84 |
+
-0.00041661705472506583
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.6762890306826659,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.15639902743782105,
|
| 90 |
+
-0.7004966988146504,
|
| 91 |
+
0.16576147364385285
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9662653207778931,
|
| 97 |
+
"position": [
|
| 98 |
+
0.09837571452953853,
|
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dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/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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| 2 |
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oid sha256:4cf827cda19a58406e6bde006792c9d20ce141e589da1d557ef362471c38e1f6
|
| 3 |
+
size 3780120
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dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/eraser_021.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>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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