Add asset desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/affordance/affordance_annot.json +373 -0
- dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/sharpener_030.urdf +1 -0
.gitattributes
CHANGED
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@@ -6441,4 +6441,5 @@ dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affo
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| 6441 |
dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6442 |
dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6443 |
dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6444 |
-
dataset/desktop_supplies/office_stationery/
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| 6441 |
dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6442 |
dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6443 |
dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6444 |
+
dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6445 |
+
dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sharpener body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and reposition the sharpener",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while inserting and twisting a pencil",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to tilt and empty accumulated shavings after opening it",
|
| 18 |
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"confidence": 0.62
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the blade mechanism",
|
| 24 |
+
"support sharpening",
|
| 25 |
+
"contain shavings",
|
| 26 |
+
"stabilize the sharpener during use"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Rounded bunny-shaped white plastic body with a smooth glossy surface, small tabletop size, with pink decorative facial and flower markings, forming nearly the entire outer shell.",
|
| 29 |
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"id": 2,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9881072640419006,
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| 33 |
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"position": [
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| 37 |
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],
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"orientation": {
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"w": 0.02401903363275902,
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| 40 |
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"xyz": [
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]
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| 45 |
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}
|
| 46 |
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},
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| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9854492545127869,
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| 49 |
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"position": [
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],
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"orientation": {
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"w": 0.03205091686305958,
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"xyz": [
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| 60 |
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]
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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": {
|
| 64 |
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"confidence": 0.9853019714355469,
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| 65 |
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"position": [
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| 70 |
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"orientation": {
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"xyz": [
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},
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"grasp_3": {
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| 80 |
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"confidence": 0.9851328134536743,
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| 81 |
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"position": [
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| 84 |
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|
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],
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"orientation": {
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"xyz": [
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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": 0.9845214486122131,
|
| 97 |
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"position": [
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],
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"orientation": {
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"xyz": [
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"grasp_5": {
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]
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"grasp_7": {
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"confidence": 0.9841840267181396,
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"position": [
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],
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"orientation": {
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"grasp_8": {
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"orientation": {
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]
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}
|
| 174 |
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},
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| 175 |
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"grasp_9": {
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| 176 |
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"confidence": 0.983936071395874,
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"position": [
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"orientation": {
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"grasp_10": {
|
| 192 |
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"confidence": 0.9838894605636597,
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"position": [
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{
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|
dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/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:f53313423cda3f5f0af54c1796c6ab285193d4bbf8b9eca869bd52e2b43922d1
|
| 3 |
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size 3778460
|
dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/sharpener_030.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 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|