Add asset desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/affordance/affordance_annot.json +277 -0
- dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.urdf +1 -0
.gitattributes
CHANGED
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@@ -8201,3 +8201,4 @@ dataset/desktop_supplies/office_stationery/22ba451e4e095c55bea7efcc99501355/affo
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| 8201 |
dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8202 |
dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8203 |
dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8201 |
dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8202 |
dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8203 |
dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8204 |
+
dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,277 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the eraser body from the sides to pick it up from a desk",
|
| 10 |
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"confidence": 0.97
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the eraser body in a pinch grip to rub and erase markings",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "stabilize and reorient the eraser by clamping its rectangular body",
|
| 18 |
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"confidence": 0.91
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"erase pencil marks",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"contact paper for rubbing",
|
| 25 |
+
"support object manipulation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small bright pink-red rectangular eraser block made of soft rubbery material with a matte smooth finish, slightly rounded edges, and a plain unmarked surface forming the entire object body.",
|
| 28 |
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"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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| 31 |
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| 32 |
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| 44 |
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"orientation": {
|
| 246 |
+
"w": 0.6661062518916079,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.19110744722668108,
|
| 249 |
+
-0.6910470766002301,
|
| 250 |
+
0.20550995773365988
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_19": {
|
| 255 |
+
"confidence": 0.9855723977088928,
|
| 256 |
+
"position": [
|
| 257 |
+
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|
| 258 |
+
0.05640563482302241,
|
| 259 |
+
-0.0044461235593189485
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.6938444258330111,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.1816006384647179,
|
| 265 |
+
-0.6749586181673995,
|
| 266 |
+
0.1732973877795631
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
}
|
| 272 |
+
],
|
| 273 |
+
"quality_check": {
|
| 274 |
+
"success": true,
|
| 275 |
+
"message": "YES"
|
| 276 |
+
}
|
| 277 |
+
}
|
dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:52992dbb93da1e62078dee244c980cc87c9d34a5345079dd701b787f672a0fba
|
| 3 |
+
size 748412
|
dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|