Add asset desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/affordance/affordance_annot.json +357 -0
- dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/eraser_014.urdf +1 -0
.gitattributes
CHANGED
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@@ -6366,3 +6366,4 @@ dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affo
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| 6366 |
dataset/desktop_supplies/office_stationery/6ec54b87d0aa58b3805a82fe470f37ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6367 |
dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6368 |
dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6366 |
dataset/desktop_supplies/office_stationery/6ec54b87d0aa58b3805a82fe470f37ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6367 |
dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6368 |
dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6369 |
+
dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,357 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the eraser body from the sides to pick it up from a desk",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the eraser body while rubbing it against paper to erase marks",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch one end of the eraser body to reposition or orient it precisely",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"erase pencil marks",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"contact paper during rubbing",
|
| 25 |
+
"support controlled handoff and positioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small light blue rectangular rubber eraser body with a matte smooth slightly soft surface, beveled edges, printed dark text and pencil graphics on one face, and a compact block shape.",
|
| 28 |
+
"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9211465716362,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.49188621366356516,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.9193045496940613,
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| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 59 |
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| 60 |
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}
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| 61 |
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},
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"grasp_2": {
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| 63 |
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"confidence": 0.9177977442741394,
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| 64 |
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"orientation": {
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}
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| 77 |
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},
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"grasp_3": {
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| 79 |
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"confidence": 0.9173681735992432,
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| 80 |
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"position": [
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],
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"orientation": {
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| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.9165472388267517,
|
| 96 |
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"position": [
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|
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],
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"orientation": {
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"grasp_5": {
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| 111 |
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"confidence": 0.9143384099006653,
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"position": [
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],
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"orientation": {
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| 127 |
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"confidence": 0.9121880531311035,
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"grasp_10": {
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"orientation": {
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"grasp_11": {
|
| 207 |
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"confidence": 0.9086126089096069,
|
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|
dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/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:bf69ce48c63224b6b5407b1947477e1f1d829feb50ab80f1ce380b5da8f83edf
|
| 3 |
+
size 3777016
|
dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/eraser_014.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|