Add asset desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/affordance_annot.json +308 -0
- dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/sticky_notes_041.urdf +1 -0
.gitattributes
CHANGED
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@@ -6597,3 +6597,4 @@ dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/affordanc
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| 6597 |
dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6598 |
dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6599 |
dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6597 |
dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6598 |
dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6599 |
dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6600 |
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dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sticky note stack",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the stack from the sides to pick up and relocate it",
|
| 10 |
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"confidence": 0.95
|
| 11 |
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},
|
| 12 |
+
{
|
| 13 |
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"scenario": "pinch the stack at an edge to stabilize it while peeling or dispensing a note",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
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},
|
| 16 |
+
{
|
| 17 |
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"scenario": "hold the stack flat against a surface for placement or alignment",
|
| 18 |
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"confidence": 0.72
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide writable note sheets",
|
| 23 |
+
"stack and store notes",
|
| 24 |
+
"dispense individual sheets",
|
| 25 |
+
"main grasp surface",
|
| 26 |
+
"support adhesion-backed pages"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "A thick pale yellow paper note stack with a matte smooth paper surface, layered edges, and a scalloped shell-like outline. The top face has embossed radial grooves and orange printed branding text.",
|
| 29 |
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"id": 4,
|
| 30 |
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| 31 |
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| 32 |
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| 46 |
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| 47 |
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| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
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"w": 0.6448332253033299,
|
| 232 |
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"xyz": [
|
| 233 |
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0.08770174036887259,
|
| 234 |
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-0.7572845681604254,
|
| 235 |
+
0.054941779250892116
|
| 236 |
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]
|
| 237 |
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}
|
| 238 |
+
},
|
| 239 |
+
"grasp_16": {
|
| 240 |
+
"confidence": 0.9708222150802612,
|
| 241 |
+
"position": [
|
| 242 |
+
0.10806291151675396,
|
| 243 |
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0.008506933692842722,
|
| 244 |
+
-0.0025072716671274975
|
| 245 |
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],
|
| 246 |
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"orientation": {
|
| 247 |
+
"w": 0.722778787548204,
|
| 248 |
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"xyz": [
|
| 249 |
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0.03283106728595531,
|
| 250 |
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-0.6900548548043415,
|
| 251 |
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0.01836416761447577
|
| 252 |
+
]
|
| 253 |
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}
|
| 254 |
+
},
|
| 255 |
+
"grasp_17": {
|
| 256 |
+
"confidence": 0.9707732796669006,
|
| 257 |
+
"position": [
|
| 258 |
+
0.06909939247998409,
|
| 259 |
+
-0.0825367053039372,
|
| 260 |
+
-0.004188202510704286
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.3003141195471711,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.6362884279802867,
|
| 266 |
+
0.2985457211949879,
|
| 267 |
+
0.6448402270137523
|
| 268 |
+
]
|
| 269 |
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}
|
| 270 |
+
},
|
| 271 |
+
"grasp_18": {
|
| 272 |
+
"confidence": 0.9706136584281921,
|
| 273 |
+
"position": [
|
| 274 |
+
0.09964251864585094,
|
| 275 |
+
-0.047014996875077486,
|
| 276 |
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-0.004807062636245973
|
| 277 |
+
],
|
| 278 |
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"orientation": {
|
| 279 |
+
"w": 0.16733794244319505,
|
| 280 |
+
"xyz": [
|
| 281 |
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-0.6824102640596841,
|
| 282 |
+
0.148373400175429,
|
| 283 |
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0.6959163589435533
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"part_name": "top rectangular writable strip",
|
| 291 |
+
"mask_color": "Red",
|
| 292 |
+
"graspable": false,
|
| 293 |
+
"grasp_scenarios": [],
|
| 294 |
+
"functional_labels": [
|
| 295 |
+
"writable label area",
|
| 296 |
+
"index/tab marking area",
|
| 297 |
+
"top-surface note identification area"
|
| 298 |
+
],
|
| 299 |
+
"semantic_description": "A narrow white to off-white rectangular strip on the top face, with a smooth matte paper appearance, positioned near one side of the pale yellow note stack.",
|
| 300 |
+
"id": 0,
|
| 301 |
+
"grasp_group": {}
|
| 302 |
+
}
|
| 303 |
+
],
|
| 304 |
+
"quality_check": {
|
| 305 |
+
"success": false,
|
| 306 |
+
"message": "Top strip function is misidentified; it is a decorative/branding label, not a writable tab area."
|
| 307 |
+
}
|
| 308 |
+
}
|
dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:061ba03309e09dc67e8d4b9da15f77436624e87c02051c9253e9d7e18074dda9
|
| 3 |
+
size 3782980
|
dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/sticky_notes_041.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>
|