Add asset desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/affordance_annot.json +525 -0
- dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/eraser_016.urdf +1 -0
.gitattributes
CHANGED
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@@ -6315,3 +6315,4 @@ dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/affo
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| 6315 |
dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6316 |
dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6317 |
dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6315 |
dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6316 |
dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6317 |
dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6318 |
+
dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,525 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "paper sleeve",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sleeve around the middle to pick up and reposition the eraser",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sleeve to stabilize the eraser during wiping use",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the sleeve to rotate or reorient the eraser",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main grasp surface",
|
| 23 |
+
"wrap and hold the eraser core",
|
| 24 |
+
"protect the eraser from direct hand contact",
|
| 25 |
+
"provide printed labeling and branding",
|
| 26 |
+
"improve grip during erasing"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Bright yellow paper or thin cardboard sleeve with a matte finish, folded around the middle of the small rectangular eraser, with black and blue printed text and graphics on its outer faces.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_21": {
|
| 32 |
+
"confidence": 0.9371985197067261,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0450713993050158,
|
| 35 |
+
0.08852234311052598,
|
| 36 |
+
0.0005280699115246534
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5867402749629942,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.3490173708199941,
|
| 42 |
+
-0.6283796574915709,
|
| 43 |
+
0.37290981571021337
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_23": {
|
| 48 |
+
"confidence": 0.9350128173828125,
|
| 49 |
+
"position": [
|
| 50 |
+
0.042694533709436655,
|
| 51 |
+
0.09021290219970979,
|
| 52 |
+
-0.007841407612431794
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5975769843065825,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.3405857426997939,
|
| 58 |
+
-0.6012405198221796,
|
| 59 |
+
0.40670989294660004
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_24": {
|
| 64 |
+
"confidence": 0.9328818321228027,
|
| 65 |
+
"position": [
|
| 66 |
+
0.04694135719910264,
|
| 67 |
+
0.08572811461635865,
|
| 68 |
+
-0.008503199380356818
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6195997416827246,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.35077448221282215,
|
| 74 |
+
-0.5962194744646464,
|
| 75 |
+
0.3709120664040581
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_25": {
|
| 80 |
+
"confidence": 0.9325767159461975,
|
| 81 |
+
"position": [
|
| 82 |
+
0.09914028504863381,
|
| 83 |
+
-0.006827563367551193,
|
| 84 |
+
-0.009260824706871063
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.4958405516396243,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.476198700774591,
|
| 90 |
+
-0.5096287058263519,
|
| 91 |
+
-0.5173543533479372
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_26": {
|
| 96 |
+
"confidence": 0.9325059652328491,
|
| 97 |
+
"position": [
|
| 98 |
+
0.09336139122024179,
|
| 99 |
+
0.04232101343222894,
|
| 100 |
+
0.0009334850474260747
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.683225698204544,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.12548389854364753,
|
| 106 |
+
-0.6980076513909595,
|
| 107 |
+
0.17390156732726014
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_27": {
|
| 112 |
+
"confidence": 0.931564211845398,
|
| 113 |
+
"position": [
|
| 114 |
+
0.004141561221331358,
|
| 115 |
+
0.10138746179291047,
|
| 116 |
+
-0.0038929072325117886
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.49916276011984095,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.4796674452619383,
|
| 122 |
+
-0.5075600514041776,
|
| 123 |
+
0.5129702477571345
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_28": {
|
| 128 |
+
"confidence": 0.931276261806488,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.04880906781181693,
|
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|
dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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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 sha256:95194bfa0ac35558ef81f3eaab85e6456af73b819d29ad1fde56a30d87b8fe19
|
| 3 |
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size 3782408
|
dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/eraser_016.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>NO: {"summary":"Text graphics are mislabeled as a part; true eraser ends are merged and incomplete.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>NO: {"summary":"Text graphics are mislabeled as a part; true eraser ends are merged and incomplete.","merge_groups":[]}</PartSegChecker>
|