Add asset desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b/affordance/affordance_annot.json +277 -0
- dataset/desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b/eraser_045.urdf +1 -0
.gitattributes
CHANGED
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@@ -6332,3 +6332,4 @@ dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/affo
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| 6332 |
dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6333 |
dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6334 |
dataset/desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6332 |
dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6333 |
dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6334 |
dataset/desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6335 |
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dataset/desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"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": 0.96
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the eraser body to rub and remove pencil marks",
|
| 14 |
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"confidence": 0.95
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "pinch the eraser body to reposition or orient it for precise erasing",
|
| 18 |
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"confidence": 0.9
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"erase pencil marks",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"apply rubbing friction to paper",
|
| 25 |
+
"support controlled positioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small white rectangular rubber eraser body with a matte smooth surface, slightly beveled edges, black printed PILOT logo text, and a firm slightly soft texture across the whole object.",
|
| 28 |
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"id": 1,
|
| 29 |
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"grasp_group": {
|
| 30 |
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| 31 |
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0.005279063399939332
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.14204983012188696,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.7044990781769964,
|
| 249 |
+
-0.17219551548345668,
|
| 250 |
+
0.6736850889380677
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_19": {
|
| 255 |
+
"confidence": 0.9035900235176086,
|
| 256 |
+
"position": [
|
| 257 |
+
0.040662768334186694,
|
| 258 |
+
0.09904001699760556,
|
| 259 |
+
0.002562888817919884
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.5935152615153317,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.3974947331071653,
|
| 265 |
+
-0.5979429738259183,
|
| 266 |
+
0.36359561542002605
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
}
|
| 272 |
+
],
|
| 273 |
+
"quality_check": {
|
| 274 |
+
"success": true,
|
| 275 |
+
"message": "YES"
|
| 276 |
+
}
|
| 277 |
+
}
|
dataset/desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:55527201298f445d696572b19f47feea55ed7ea540918ded09ef3c74f127bd10
|
| 3 |
+
size 3777160
|
dataset/desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b/eraser_045.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>
|