Add asset desktop_supplies/office_tools/48a2bbb7101a5ca7a4fcc0ed76f76192
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/48a2bbb7101a5ca7a4fcc0ed76f76192/affordance/affordance_annot.json +380 -0
- dataset/desktop_supplies/office_tools/48a2bbb7101a5ca7a4fcc0ed76f76192/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/48a2bbb7101a5ca7a4fcc0ed76f76192/sticky_notes_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -6566,3 +6566,4 @@ dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordanc
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| 6566 |
dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6567 |
dataset/desktop_supplies/office_tools/4759aa9ba97d5f50a96719f29c51ce94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6568 |
dataset/desktop_supplies/office_tools/47e22361ee1b50b79f927bb4ecb5633b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6566 |
dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6567 |
dataset/desktop_supplies/office_tools/4759aa9ba97d5f50a96719f29c51ce94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6568 |
dataset/desktop_supplies/office_tools/47e22361ee1b50b79f927bb4ecb5633b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6569 |
+
dataset/desktop_supplies/office_tools/48a2bbb7101a5ca7a4fcc0ed76f76192/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/48a2bbb7101a5ca7a4fcc0ed76f76192/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,380 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top surface of note pad",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "press or steady the pad from above while peeling or moving it",
|
| 10 |
+
"confidence": 0.62
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "make contact on the top face to align or flatten the pad on a desk",
|
| 14 |
+
"confidence": 0.58
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"top writing-facing surface of the pad",
|
| 19 |
+
"accessible upper face for note use",
|
| 20 |
+
"surface that covers the stack from above"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Flat pale yellow to cream top face of the sticky note pad, matte and smooth, rectangular, forming the exposed upper surface of the stack.",
|
| 23 |
+
"id": 1,
|
| 24 |
+
"grasp_group": {}
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"part_name": "stack of sticky notes",
|
| 28 |
+
"mask_color": "Orange",
|
| 29 |
+
"graspable": true,
|
| 30 |
+
"grasp_scenarios": [
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the pad from opposite side faces to pick it up",
|
| 33 |
+
"confidence": 0.94
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"scenario": "hold the stack body while manipulating or peeling notes from the top",
|
| 37 |
+
"confidence": 0.89
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"scenario": "reposition the pad on a desk by gripping the side of the stack",
|
| 41 |
+
"confidence": 0.9
|
| 42 |
+
}
|
| 43 |
+
],
|
| 44 |
+
"functional_labels": [
|
| 45 |
+
"store the sticky note sheets",
|
| 46 |
+
"provide the pad's main structural bulk",
|
| 47 |
+
"offer side surfaces for holding and repositioning",
|
| 48 |
+
"stabilize the pad during note removal"
|
| 49 |
+
],
|
| 50 |
+
"semantic_description": "Thick block of pale yellow paper sheets with matte smooth surfaces, rectangular cuboid shape, visible layered edges along the sides, and a uniform paper appearance.",
|
| 51 |
+
"id": 4,
|
| 52 |
+
"grasp_group": {
|
| 53 |
+
"grasp_0": {
|
| 54 |
+
"confidence": 0.709649384021759,
|
| 55 |
+
"position": [
|
| 56 |
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|
| 57 |
+
-0.11829892755486071,
|
| 58 |
+
0.07321133418008685
|
| 59 |
+
],
|
| 60 |
+
"orientation": {
|
| 61 |
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"w": 0.0177181788254465,
|
| 62 |
+
"xyz": [
|
| 63 |
+
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|
| 64 |
+
-0.8650268357480013,
|
| 65 |
+
-0.5006557916478873
|
| 66 |
+
]
|
| 67 |
+
}
|
| 68 |
+
},
|
| 69 |
+
"grasp_1": {
|
| 70 |
+
"confidence": 0.693633496761322,
|
| 71 |
+
"position": [
|
| 72 |
+
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|
| 73 |
+
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|
| 74 |
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|
| 75 |
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],
|
| 76 |
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"orientation": {
|
| 77 |
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"w": 0.499288142091274,
|
| 78 |
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"xyz": [
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
+
]
|
| 83 |
+
}
|
| 84 |
+
},
|
| 85 |
+
"grasp_2": {
|
| 86 |
+
"confidence": 0.6818034648895264,
|
| 87 |
+
"position": [
|
| 88 |
+
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|
| 89 |
+
-0.11361285508610308,
|
| 90 |
+
0.07190555287525058
|
| 91 |
+
],
|
| 92 |
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"orientation": {
|
| 93 |
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"w": 0.483758753622685,
|
| 94 |
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"xyz": [
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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]
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
"grasp_3": {
|
| 102 |
+
"confidence": 0.6796182990074158,
|
| 103 |
+
"position": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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],
|
| 108 |
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"orientation": {
|
| 109 |
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"w": 0.49355010070001926,
|
| 110 |
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"xyz": [
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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]
|
| 115 |
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}
|
| 116 |
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},
|
| 117 |
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"grasp_4": {
|
| 118 |
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"confidence": 0.6702927947044373,
|
| 119 |
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"position": [
|
| 120 |
+
5.6383549235761166e-05,
|
| 121 |
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-0.11428197682835162,
|
| 122 |
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|
| 123 |
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],
|
| 124 |
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"orientation": {
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| 125 |
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"w": 0.49277441964572033,
|
| 126 |
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"xyz": [
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| 129 |
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|
| 130 |
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]
|
| 131 |
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}
|
| 132 |
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},
|
| 133 |
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"grasp_5": {
|
| 134 |
+
"confidence": 0.6688581705093384,
|
| 135 |
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"position": [
|
| 136 |
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-0.0017071946058422327,
|
| 137 |
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|
| 138 |
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|
| 139 |
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],
|
| 140 |
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"orientation": {
|
| 141 |
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"w": 0.2684285802050478,
|
| 142 |
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"xyz": [
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| 145 |
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|
| 146 |
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]
|
| 147 |
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}
|
| 148 |
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},
|
| 149 |
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"grasp_6": {
|
| 150 |
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"confidence": 0.6678752899169922,
|
| 151 |
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"position": [
|
| 152 |
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|
| 153 |
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|
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|
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],
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"orientation": {
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"w": 0.49005979132725674,
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"xyz": [
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|
| 162 |
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]
|
| 163 |
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}
|
| 164 |
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},
|
| 165 |
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"grasp_7": {
|
| 166 |
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"confidence": 0.6643872857093811,
|
| 167 |
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"position": [
|
| 168 |
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0.0008889916352927685,
|
| 169 |
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|
| 170 |
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|
| 171 |
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],
|
| 172 |
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"orientation": {
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| 173 |
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"w": 0.49891191431231274,
|
| 174 |
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"xyz": [
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|
| 176 |
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|
| 177 |
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|
| 178 |
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]
|
| 179 |
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}
|
| 180 |
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},
|
| 181 |
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"grasp_8": {
|
| 182 |
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"confidence": 0.6629958748817444,
|
| 183 |
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"position": [
|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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],
|
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"orientation": {
|
| 189 |
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"w": 0.4934132576048068,
|
| 190 |
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"xyz": [
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| 193 |
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dataset/desktop_supplies/office_tools/48a2bbb7101a5ca7a4fcc0ed76f76192/affordance/mesh_part_seg.glb
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3777104
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dataset/desktop_supplies/office_tools/48a2bbb7101a5ca7a4fcc0ed76f76192/sticky_notes_002.urdf
CHANGED
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@@ -54,6 +54,7 @@
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|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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</geometry>
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</visual_seg>
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