Add asset desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/affordance_annot.json +623 -0
- dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/sticky_notes_049.urdf +1 -0
.gitattributes
CHANGED
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@@ -6643,4 +6643,4 @@ dataset/desktop_supplies/office_tools/baf0c3048da65eadaffce846780ed15a/affordanc
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| 6643 |
dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6644 |
dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6645 |
dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6646 |
-
dataset/desktop_supplies/office_tools/
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| 6643 |
dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6644 |
dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6645 |
dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6646 |
+
dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,623 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top cover sheet",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"cover the note stack",
|
| 10 |
+
"present branding and orientation",
|
| 11 |
+
"provide the top visible face",
|
| 12 |
+
"support note dispensing from the bound edge"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Large rectangular pale cream top paper face with rounded corners, a smooth matte surface, bold black Comix branding, and an orange binding strip along one edge.",
|
| 15 |
+
"id": 7,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "adhesive binding edge",
|
| 20 |
+
"mask_color": "Red",
|
| 21 |
+
"graspable": false,
|
| 22 |
+
"grasp_scenarios": [],
|
| 23 |
+
"functional_labels": [
|
| 24 |
+
"bind the note stack",
|
| 25 |
+
"provide adhesive attachment edge",
|
| 26 |
+
"keep sheets aligned",
|
| 27 |
+
"enable individual note removal"
|
| 28 |
+
],
|
| 29 |
+
"semantic_description": "Narrow orange band along one edge of the pad, appearing as a matte smooth binding/adhesive strip running across the width.",
|
| 30 |
+
"id": 0,
|
| 31 |
+
"grasp_group": {}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"part_name": "note stack side",
|
| 35 |
+
"mask_color": "Lime Green",
|
| 36 |
+
"graspable": true,
|
| 37 |
+
"grasp_scenarios": [
|
| 38 |
+
{
|
| 39 |
+
"scenario": "grasp the side of the paper stack together with the opposite side to pick up the pad",
|
| 40 |
+
"confidence": 0.8
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"scenario": "hold the side of the stack to stabilize it during note dispensing",
|
| 44 |
+
"confidence": 0.62
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"functional_labels": [
|
| 48 |
+
"form the main paper volume",
|
| 49 |
+
"provide side grasp surface",
|
| 50 |
+
"support the top sheet",
|
| 51 |
+
"store remaining notes"
|
| 52 |
+
],
|
| 53 |
+
"semantic_description": "Medium-thick pale yellow paper stack visible on the side, with a matte finish, smooth edges, and a block-like rectangular form beneath the top sheet.",
|
| 54 |
+
"id": 9,
|
| 55 |
+
"grasp_group": {
|
| 56 |
+
"grasp_20": {
|
| 57 |
+
"confidence": 0.17127780616283417,
|
| 58 |
+
"position": [
|
| 59 |
+
0.004600864136591554,
|
| 60 |
+
0.028712331550195813,
|
| 61 |
+
-0.10199144066791632
|
| 62 |
+
],
|
| 63 |
+
"orientation": {
|
| 64 |
+
"w": 0.9998427778472893,
|
| 65 |
+
"xyz": [
|
| 66 |
+
0.005006946342951624,
|
| 67 |
+
0.016475356420906917,
|
| 68 |
+
-0.004232340456452062
|
| 69 |
+
]
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"grasp_22": {
|
| 73 |
+
"confidence": 0.6847807765007019,
|
| 74 |
+
"position": [
|
| 75 |
+
-0.1054231715388596,
|
| 76 |
+
0.03527648304589093,
|
| 77 |
+
0.004298369833122706
|
| 78 |
+
],
|
| 79 |
+
"orientation": {
|
| 80 |
+
"w": 0.12061703733399497,
|
| 81 |
+
"xyz": [
|
| 82 |
+
-0.6937453911102599,
|
| 83 |
+
0.1506483374261639,
|
| 84 |
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| 592 |
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| 593 |
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},
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| 594 |
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{
|
| 595 |
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"part_name": "peeled note corner tab",
|
| 596 |
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"mask_color": "Blue",
|
| 597 |
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"graspable": true,
|
| 598 |
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"grasp_scenarios": [
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| 599 |
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{
|
| 600 |
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"scenario": "pinch the protruding corner tab to start peeling a note",
|
| 601 |
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"confidence": 0.95
|
| 602 |
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},
|
| 603 |
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{
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| 604 |
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"scenario": "grasp the small protruding tab to separate one sheet from the stack",
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}
|
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],
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| 608 |
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| 609 |
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"start sheet peeling",
|
| 610 |
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"provide separation tab",
|
| 611 |
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"indicate loose corner",
|
| 612 |
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"enable note removal"
|
| 613 |
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],
|
| 614 |
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"semantic_description": "Small triangular pale cream paper flap protruding from one side, thin and matte with a smooth surface, marking a lifted corner of a note.",
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| 615 |
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"id": 2,
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| 616 |
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| 617 |
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}
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],
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| 619 |
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"quality_check": {
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| 620 |
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"success": true,
|
| 621 |
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"message": "YES"
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| 622 |
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}
|
| 623 |
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}
|
dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:1bae380b8238bc51f69cbbe65eb224627ae13bacc5fa637b7c7973e7e50f26df
|
| 3 |
+
size 3806632
|
dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/sticky_notes_049.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>
|