Add asset desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affordance/affordance_annot.json +358 -0
- dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/eraser_041.urdf +1 -0
.gitattributes
CHANGED
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@@ -6408,3 +6408,4 @@ dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/affo
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| 6408 |
dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6409 |
dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6410 |
dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6408 |
dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6409 |
dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6410 |
dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6411 |
+
dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,358 @@
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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 eraser body from the sides to pick it up",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the eraser body to rub and erase markings",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the eraser body to reposition or place it precisely",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"erase pencil marks",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support rubbing against paper",
|
| 25 |
+
"contact surface for material removal",
|
| 26 |
+
"serve as the main structural body"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Small rectangular yellow-orange rubber eraser body with a matte smooth slightly soft surface, rounded edges, block-like shape, and a red printed label with white and red characters on one side.",
|
| 29 |
+
"id": 3,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9488716721534729,
|
| 33 |
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"position": [
|
| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
|
| 38 |
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"orientation": {
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| 39 |
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"w": 0.6863009330028441,
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| 40 |
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"xyz": [
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| 42 |
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| 43 |
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| 44 |
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]
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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": 0.9484116435050964,
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| 49 |
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"position": [
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| 50 |
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| 51 |
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| 59 |
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| 61 |
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}
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| 62 |
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},
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| 63 |
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"grasp_2": {
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| 64 |
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"confidence": 0.9478795528411865,
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| 69 |
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| 70 |
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"orientation": {
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| 77 |
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}
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| 78 |
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},
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| 79 |
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"grasp_3": {
|
| 80 |
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"confidence": 0.9475135803222656,
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| 81 |
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"position": [
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| 84 |
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| 86 |
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"orientation": {
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| 92 |
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]
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| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_4": {
|
| 96 |
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"confidence": 0.9469582438468933,
|
| 97 |
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"position": [
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|
| 100 |
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| 101 |
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],
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"orientation": {
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"xyz": [
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"grasp_5": {
|
| 112 |
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"confidence": 0.9453423619270325,
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"orientation": {
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| 144 |
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"grasp_8": {
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"grasp_10": {
|
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"orientation": {
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"grasp_11": {
|
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dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:47a67066547cdc9cd8bef6ce7123626d5b75a1d58926098b811365133e7eac2b
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| 3 |
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size 3777012
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dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/eraser_041.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" />
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| 58 |
</geometry>
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| 59 |
</visual_seg>
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| 60 |
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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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