Add asset desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/affordance/affordance_annot.json +588 -0
- dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/sharpener_006.urdf +1 -0
.gitattributes
CHANGED
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@@ -8188,3 +8188,4 @@ dataset/desktop_supplies/office_stationery/18d9b7dcbdf959d3bd76c31de9fde6f8/affo
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| 8188 |
dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8189 |
dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8190 |
dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8188 |
dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8189 |
dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8190 |
dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8191 |
+
dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,588 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sharpener body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and move the sharpener",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while turning the crank",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reposition the sharpener on a desk by gripping the housing",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main housing",
|
| 23 |
+
"support internal sharpening mechanism",
|
| 24 |
+
"provide primary grasp surface",
|
| 25 |
+
"stabilize during use",
|
| 26 |
+
"define pencil entry side"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large off-white plastic housing with a smooth matte surface and blocky wedge-like shape, with printed brand text on the front face, forming most of the desktop sharpener.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9828994274139404,
|
| 33 |
+
"position": [
|
| 34 |
+
0.013325010018888861,
|
| 35 |
+
-0.05852986790705472,
|
| 36 |
+
0.11163837788626552
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.04752306720083248,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.060723467388575106,
|
| 42 |
+
-0.9611685611377332,
|
| 43 |
+
-0.2649702165764172
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9822319746017456,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.00800018518930301,
|
| 51 |
+
0.017808266798965633,
|
| 52 |
+
0.1220834287814796
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.02501293865917562,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.00880493861147798,
|
| 58 |
+
0.9958624491275572,
|
| 59 |
+
-0.08691840066030206
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9816473126411438,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.010480536555405706,
|
| 67 |
+
-0.05156408913899213,
|
| 68 |
+
0.11347022978588939
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.026981492184388712,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.026062861515517056,
|
| 74 |
+
0.9679635359136677,
|
| 75 |
+
0.24827267161457103
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9816359281539917,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.017426001315470785,
|
| 83 |
+
0.02752553194295615,
|
| 84 |
+
0.11551597295328975
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.05790695875651586,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.004501524435861823,
|
| 90 |
+
0.9849774358059606,
|
| 91 |
+
-0.16262217363705034
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9814452528953552,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.007226687797810882,
|
| 99 |
+
0.034432080457918346,
|
| 100 |
+
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|
dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:30b5caeccde99982c0b7a7a8df91e07eb93f09fad56152b1dff855beb71f827f
|
| 3 |
+
size 3785980
|
dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/sharpener_006.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>NO: {"summary":"Main body is over-segmented into multiple colors; only crank is cleanly separated.","merge_groups":[{"colors":["Yellow","Lime Green","Olive"],"target_part":"main body","reason":"same housing and shavings bin surfaces"}]}</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>NO: {"summary":"Main body is over-segmented into multiple colors; only crank is cleanly separated.","merge_groups":[{"colors":["Yellow","Lime Green","Olive"],"target_part":"main body","reason":"same housing and shavings bin surfaces"}]}</PartSegChecker>
|