Add asset desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da
Browse files
.gitattributes
CHANGED
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@@ -6658,4 +6658,4 @@ dataset/desktop_supplies/office_tools/c72e5112749c56d1be9a4bcc04a7d579/affordanc
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| 6658 |
dataset/desktop_supplies/office_tools/c8922712d4da525b81810505b61f96c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6659 |
dataset/desktop_supplies/office_tools/c96e244a0d035cfa88f6c136ecb1d3b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6660 |
dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6661 |
-
dataset/desktop_supplies/office_tools/
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| 6658 |
dataset/desktop_supplies/office_tools/c8922712d4da525b81810505b61f96c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6659 |
dataset/desktop_supplies/office_tools/c96e244a0d035cfa88f6c136ecb1d3b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6660 |
dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6661 |
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dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,549 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top sticky-note sheet surface",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch an edge or corner of the top sheet to peel a note away from the pad",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly grasp the broad top face with friction to reposition the pad on a desk",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the top sheet area to stabilize the pad while another gripper separates a note",
|
| 18 |
+
"confidence": 0.69
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide writable note surface",
|
| 23 |
+
"allow individual sheet removal",
|
| 24 |
+
"form the main exposed top face of the pad"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Large smooth top face of the note pad shaped like a leaf or petal, made of thin pastel paper sheets with a matte finish and visible vein-like printed lines; the visible top sheet color varies by view among pink, blue, and yellow.",
|
| 27 |
+
"id": 2,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_46": {
|
| 30 |
+
"confidence": 0.985171377658844,
|
| 31 |
+
"position": [
|
| 32 |
+
0.04634017267380841,
|
| 33 |
+
0.1041337414062582,
|
| 34 |
+
0.005088298712507822
|
| 35 |
+
],
|
| 36 |
+
"orientation": {
|
| 37 |
+
"w": 0.3796382160698704,
|
| 38 |
+
"xyz": [
|
| 39 |
+
0.6168936803857117,
|
| 40 |
+
0.3808637482102185,
|
| 41 |
+
-0.5746823620912002
|
| 42 |
+
]
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"grasp_50": {
|
| 46 |
+
"confidence": 0.9771558046340942,
|
| 47 |
+
"position": [
|
| 48 |
+
0.07192073532496579,
|
| 49 |
+
0.08398638054495677,
|
| 50 |
+
0.01894553158490453
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.5930512750568012,
|
| 54 |
+
"xyz": [
|
| 55 |
+
0.3140403382657754,
|
| 56 |
+
-0.7009693307613396,
|
| 57 |
+
0.24147639310586863
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_52": {
|
| 62 |
+
"confidence": 0.9748748540878296,
|
| 63 |
+
"position": [
|
| 64 |
+
0.09164313742076047,
|
| 65 |
+
0.05956858902936801,
|
| 66 |
+
0.013423255310044624
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.6480943744923702,
|
| 70 |
+
"xyz": [
|
| 71 |
+
0.1967096006623956,
|
| 72 |
+
-0.7220318174674543,
|
| 73 |
+
0.14124117431977457
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_53": {
|
| 78 |
+
"confidence": 0.9742645621299744,
|
| 79 |
+
"position": [
|
| 80 |
+
-0.026912127126706764,
|
| 81 |
+
-0.11028183117741719,
|
| 82 |
+
0.013263556771562435
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.5343901185423718,
|
| 86 |
+
"xyz": [
|
| 87 |
+
-0.45860766090537847,
|
| 88 |
+
0.5895558782494552,
|
| 89 |
+
0.39563882643729614
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_54": {
|
| 94 |
+
"confidence": 0.9717472195625305,
|
| 95 |
+
"position": [
|
| 96 |
+
-0.10423820695723407,
|
| 97 |
+
-0.03763386845821515,
|
| 98 |
+
-0.001395000479533337
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.6989393922044732,
|
| 102 |
+
"xyz": [
|
| 103 |
+
-0.09265840053464679,
|
| 104 |
+
0.7027124690357371,
|
| 105 |
+
0.09535896757463677
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_55": {
|
| 110 |
+
"confidence": 0.971344530582428,
|
| 111 |
+
"position": [
|
| 112 |
+
0.021053589443909004,
|
| 113 |
+
0.11528928711777553,
|
| 114 |
+
0.008627237417385913
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.5254224671721917,
|
| 118 |
+
"xyz": [
|
| 119 |
+
0.44557743301433034,
|
| 120 |
+
-0.566978213072439,
|
| 121 |
+
0.4515835338896131
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_58": {
|
| 126 |
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"confidence": 0.9672292470932007,
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},
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{
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"scenario": "grasp the underside and opposite side together to pick up the pad",
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},
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{
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],
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+
"xyz": [
|
| 536 |
+
0.5265551800084031,
|
| 537 |
+
0.3267558476027653,
|
| 538 |
+
0.2915650605195046
|
| 539 |
+
]
|
| 540 |
+
}
|
| 541 |
+
}
|
| 542 |
+
}
|
| 543 |
+
}
|
| 544 |
+
],
|
| 545 |
+
"quality_check": {
|
| 546 |
+
"success": true,
|
| 547 |
+
"message": "YES"
|
| 548 |
+
}
|
| 549 |
+
}
|
dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b42e6b07a83f72e4d7bb63c5222a8d23ea4eec9dc82e3eac2480936ffcf9e8e0
|
| 3 |
+
size 3784528
|