Add asset desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7/affordance/affordance_annot.json +589 -0
- dataset/desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7/sticky_notes_012.urdf +1 -0
.gitattributes
CHANGED
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@@ -6675,3 +6675,4 @@ dataset/desktop_supplies/office_tools/df8450421228510f802d6fe8d541f448/affordanc
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| 6675 |
dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6676 |
dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6677 |
dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6675 |
dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6676 |
dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6677 |
dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6678 |
+
dataset/desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,589 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top cover sheet",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch a top corner or edge to lift or peel back the cover sheet",
|
| 10 |
+
"confidence": 0.84
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cover sheet while opening the pad to access the note stack beneath",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"protect the note stack beneath",
|
| 19 |
+
"serve as the pad's top cover",
|
| 20 |
+
"provide printed branding/information surface"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Thin light cream rectangular top cover sheet with a smooth matte paper surface, covering the top of the pad and showing dark printed logo and text near one corner.",
|
| 23 |
+
"id": 1,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.3713459372520447,
|
| 27 |
+
"position": [
|
| 28 |
+
-0.0012864817545050755,
|
| 29 |
+
-0.12029806232021656,
|
| 30 |
+
0.017666323576122522
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.55212125440194,
|
| 34 |
+
"xyz": [
|
| 35 |
+
-0.4840029604285723,
|
| 36 |
+
0.49803341051362426,
|
| 37 |
+
0.46137400961278047
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_1": {
|
| 42 |
+
"confidence": 0.15622487664222717,
|
| 43 |
+
"position": [
|
| 44 |
+
0.005943640586338006,
|
| 45 |
+
0.11208314741088543,
|
| 46 |
+
0.014927863609045744
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.5967252127739148,
|
| 50 |
+
"xyz": [
|
| 51 |
+
0.6050944802377765,
|
| 52 |
+
0.37010980884289435,
|
| 53 |
+
-0.37523115518834177
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_3": {
|
| 58 |
+
"confidence": 0.13579298555850983,
|
| 59 |
+
"position": [
|
| 60 |
+
0.0011038635129807517,
|
| 61 |
+
0.11851143384410534,
|
| 62 |
+
0.01782892318442464
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.4284070667988375,
|
| 66 |
+
"xyz": [
|
| 67 |
+
0.38224086142483527,
|
| 68 |
+
-0.596758773213503,
|
| 69 |
+
0.5605695992173776
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_5": {
|
| 74 |
+
"confidence": 0.1636669635772705,
|
| 75 |
+
"position": [
|
| 76 |
+
0.004229221944115125,
|
| 77 |
+
-0.12234453564451542,
|
| 78 |
+
0.00857984833419323
|
| 79 |
+
],
|
| 80 |
+
"orientation": {
|
| 81 |
+
"w": 0.6570002258999037,
|
| 82 |
+
"xyz": [
|
| 83 |
+
-0.5799847177337062,
|
| 84 |
+
-0.3293558801065066,
|
| 85 |
+
-0.35141589975710735
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_6": {
|
| 90 |
+
"confidence": 0.41916993260383606,
|
| 91 |
+
"position": [
|
| 92 |
+
0.12184901161526795,
|
| 93 |
+
-0.00782760173024144,
|
| 94 |
+
0.03858627611771226
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
+
"w": 0.4803142336541762,
|
| 98 |
+
"xyz": [
|
| 99 |
+
0.5002469332422069,
|
| 100 |
+
-0.5249631990625915,
|
| 101 |
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dataset/desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7/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:c29c354c5d9966770678341eab37f865ff16b70ac2f1e7cbce76b3fc23def6a7
|
| 3 |
+
size 3814304
|
dataset/desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7/sticky_notes_012.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|