Add asset desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/affordance/affordance_annot.json +384 -0
- dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/sticky_notes_008.urdf +1 -0
.gitattributes
CHANGED
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@@ -6518,4 +6518,4 @@ dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affo
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| 6518 |
dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6519 |
dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6520 |
dataset/desktop_supplies/office_tools/1542d81a50bc5390a125704defc23294/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6521 |
-
dataset/desktop_supplies/office_tools/
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| 6518 |
dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6519 |
dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6520 |
dataset/desktop_supplies/office_tools/1542d81a50bc5390a125704defc23294/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6521 |
+
dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sticky note pad body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the stack from opposite side faces to pick up and move the note pad",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the pad along its sides to stabilize it while peeling off a note",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch a corner or edge of the stack to reposition it on a desk",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide the main stack of notes",
|
| 23 |
+
"support the top note for writing",
|
| 24 |
+
"dispense individual sticky notes",
|
| 25 |
+
"serve as the main grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Thick square stack of sticky notes with rounded corners, matte paper surfaces, and visible layered pastel side edges in pink, yellow, green, and blue tones; compact pad form beneath the top sheet.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9348824620246887,
|
| 32 |
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"position": [
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| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.48399353336014317,
|
| 39 |
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"xyz": [
|
| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.9345351457595825,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.48471055867975293,
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| 55 |
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"xyz": [
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| 57 |
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| 58 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_2": {
|
| 63 |
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"confidence": 0.9336186051368713,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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],
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| 69 |
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"orientation": {
|
| 70 |
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"w": 0.5472747345360556,
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| 71 |
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"xyz": [
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| 73 |
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| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9331940412521362,
|
| 80 |
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"position": [
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| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.5038621601136721,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.9331277012825012,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.47619845214178513,
|
| 103 |
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"xyz": [
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| 106 |
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| 107 |
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]
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| 108 |
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}
|
| 109 |
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},
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| 110 |
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"grasp_5": {
|
| 111 |
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"confidence": 0.9314583539962769,
|
| 112 |
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"position": [
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| 114 |
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| 115 |
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|
| 116 |
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],
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"orientation": {
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"w": 0.03732131553562293,
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| 119 |
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"xyz": [
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| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_6": {
|
| 127 |
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"confidence": 0.9305691123008728,
|
| 128 |
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"position": [
|
| 129 |
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| 130 |
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|
| 131 |
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|
| 132 |
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],
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| 133 |
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"orientation": {
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"w": 0.47117724473856104,
|
| 135 |
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"xyz": [
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| 138 |
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| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.9289602637290955,
|
| 144 |
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"position": [
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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],
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"orientation": {
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"w": 0.475945667766879,
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"xyz": [
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| 155 |
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]
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| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_8": {
|
| 159 |
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"confidence": 0.9285263419151306,
|
| 160 |
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"position": [
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| 161 |
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| 162 |
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|
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|
| 164 |
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],
|
| 165 |
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"orientation": {
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| 166 |
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"w": 0.4780304655849927,
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"xyz": [
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| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_9": {
|
| 175 |
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"confidence": 0.9284986257553101,
|
| 176 |
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"position": [
|
| 177 |
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| 178 |
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| 179 |
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|
| 180 |
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],
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"orientation": {
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"w": 0.5061880107451272,
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| 183 |
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"xyz": [
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]
|
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}
|
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},
|
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"grasp_10": {
|
| 191 |
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"confidence": 0.9284936785697937,
|
| 192 |
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"position": [
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| 193 |
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],
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]
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}
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| 334 |
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}
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| 335 |
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},
|
| 336 |
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{
|
| 337 |
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"part_name": "top sticky note sheet",
|
| 338 |
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"mask_color": "Purple",
|
| 339 |
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"graspable": true,
|
| 340 |
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"grasp_scenarios": [
|
| 341 |
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{
|
| 342 |
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"scenario": "pinch the free edge or corner of the top sheet to peel it from the pad",
|
| 343 |
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"confidence": 0.93
|
| 344 |
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},
|
| 345 |
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{
|
| 346 |
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"scenario": "lightly grasp the top sheet to remove and place a single note",
|
| 347 |
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"confidence": 0.87
|
| 348 |
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},
|
| 349 |
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{
|
| 350 |
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"scenario": "hold the sheet edge to align it while attaching it to another surface",
|
| 351 |
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|
| 352 |
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}
|
| 353 |
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],
|
| 354 |
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"functional_labels": [
|
| 355 |
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"provide writable note surface",
|
| 356 |
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"peel off for single-note use",
|
| 357 |
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"display temporary information",
|
| 358 |
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"adhere to surfaces when removed"
|
| 359 |
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],
|
| 360 |
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"semantic_description": "Single large square top note sheet in a pale off-white or light cream color, with a matte smooth paper surface, thin flexible form, rounded corners, and a clean unprinted appearance.",
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| 361 |
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"id": 5,
|
| 362 |
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"grasp_group": {}
|
| 363 |
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},
|
| 364 |
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{
|
| 365 |
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"part_name": "adhesive edge of top note",
|
| 366 |
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"mask_color": "Yellow",
|
| 367 |
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"graspable": false,
|
| 368 |
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"grasp_scenarios": [],
|
| 369 |
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"functional_labels": [
|
| 370 |
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"provide light adhesion",
|
| 371 |
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"anchor the note to surfaces",
|
| 372 |
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"retain the sheet on the pad before peeling",
|
| 373 |
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"enable repeated repositioning"
|
| 374 |
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],
|
| 375 |
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"semantic_description": "Very thin narrow strip along one edge of the top sticky note, corresponding to the adhesive-bound edge rather than a separate large component.",
|
| 376 |
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"id": 3,
|
| 377 |
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"grasp_group": {}
|
| 378 |
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}
|
| 379 |
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],
|
| 380 |
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"quality_check": {
|
| 381 |
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"success": false,
|
| 382 |
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"message": "Blue and purple parts are swapped; top strip note and main pad body are mislabeled."
|
| 383 |
+
}
|
| 384 |
+
}
|
dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0f6da483f6c93d2fc43ca6929fbba96690c967341caf1e03021a9bf153bfd883
|
| 3 |
+
size 3784080
|
dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/sticky_notes_008.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|