Add asset desktop_supplies/office_tools/18349446148655baa8849bd704a4e522
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/affordance/affordance_annot.json +579 -0
- dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/sticky_notes_019.urdf +1 -0
.gitattributes
CHANGED
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@@ -6521,3 +6521,4 @@ dataset/desktop_supplies/office_tools/1542d81a50bc5390a125704defc23294/affordanc
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| 6521 |
dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6522 |
dataset/desktop_supplies/office_tools/18e6409ade2353f68584e7747dfcd2b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6523 |
dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6521 |
dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6522 |
dataset/desktop_supplies/office_tools/18e6409ade2353f68584e7747dfcd2b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6523 |
dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6524 |
+
dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,579 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top sticky note sheet",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the top sheet at an edge or corner to peel off a note",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the top sheet lightly to align or flip it during dispensing",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"write notes on",
|
| 19 |
+
"peel away for single-note dispensing",
|
| 20 |
+
"cover the note stack",
|
| 21 |
+
"provide the main visible note surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Heart-shaped top paper sheet with wide pastel pink, yellow, and blue diagonal bands, a matte smooth papery surface, and a thin flexible form covering the top of the stack.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9692212343215942,
|
| 28 |
+
"position": [
|
| 29 |
+
0.01801857876125723,
|
| 30 |
+
0.10417641751701012,
|
| 31 |
+
0.002956391850602813
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.553314119944254,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.4627597046754627,
|
| 37 |
+
-0.5323101624812896,
|
| 38 |
+
0.4431058917664463
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_26": {
|
| 43 |
+
"confidence": 0.9649753570556641,
|
| 44 |
+
"position": [
|
| 45 |
+
0.002384540275670588,
|
| 46 |
+
0.10604179702932015,
|
| 47 |
+
0.00394923247222323
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4779683746824936,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.5222110447518723,
|
| 53 |
+
0.49464455038976607,
|
| 54 |
+
-0.5041513922545883
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_31": {
|
| 59 |
+
"confidence": 0.9631583094596863,
|
| 60 |
+
"position": [
|
| 61 |
+
0.010570788406766951,
|
| 62 |
+
0.10395666264230385,
|
| 63 |
+
0.00014234534319257364
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.5290302294775209,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.4862885805127057,
|
| 69 |
+
-0.522168941862306,
|
| 70 |
+
0.4593365094528179
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_32": {
|
| 75 |
+
"confidence": 0.963054895401001,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.0013639035169035196,
|
| 78 |
+
0.1055553262704052,
|
| 79 |
+
0.005414283907157369
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.4863265398063948,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.5105491210616707,
|
| 85 |
+
0.5097601829355435,
|
| 86 |
+
-0.4929205286419049
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_35": {
|
| 91 |
+
"confidence": 0.9576729536056519,
|
| 92 |
+
"position": [
|
| 93 |
+
0.025847559445537627,
|
| 94 |
+
0.09927693061763421,
|
| 95 |
+
-0.0013300122664077207
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.41019733184293716,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.564052160166915,
|
| 101 |
+
0.43772600296887043,
|
| 102 |
+
-0.5674321597203218
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_36": {
|
| 107 |
+
"confidence": 0.9565859436988831,
|
| 108 |
+
"position": [
|
| 109 |
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| 542 |
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| 573 |
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| 574 |
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| 575 |
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"quality_check": {
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| 576 |
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"success": true,
|
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"message": "YES"
|
| 578 |
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|
| 579 |
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|
dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:19f766a328b3b2be77424b3d1d355d0f02a970ad790219072310d90e1bd50d5d
|
| 3 |
+
size 3782428
|
dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/sticky_notes_019.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>
|