Add asset desktop_supplies/office_tools/5db9954427f25c988d06796045db4782
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/affordance_annot.json +616 -0
- dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/sticky_notes_043.urdf +2 -1
.gitattributes
CHANGED
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@@ -6576,4 +6576,4 @@ dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/affordanc
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| 6576 |
dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6577 |
dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6578 |
dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6579 |
-
dataset/desktop_supplies/office_tools/
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| 6576 |
dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6577 |
dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6578 |
dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6579 |
+
dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,616 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "note pad body",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main pad body from the sides to pick up and reposition the sticky note pad",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the pad body steady while pulling out a note",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide the main stack structure",
|
| 19 |
+
"support note dispensing",
|
| 20 |
+
"serve as primary grasp surface",
|
| 21 |
+
"stabilize the object during use"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded rectangular pad body with a bright red top face and pale yellow layered paper sides, matte and smooth with visible stacked paper edge texture, forming the main bulk of the note pad and showing white printed branding on top.",
|
| 24 |
+
"id": 7,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9583836793899536,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.11006742602330633,
|
| 30 |
+
-0.006873785867355764,
|
| 31 |
+
-0.000384853410650976
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7034507404882245,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.0195038208341881,
|
| 37 |
+
0.710258535139272,
|
| 38 |
+
0.01759175776473075
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9578524231910706,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.10769955700379796,
|
| 46 |
+
-0.00932972354348749,
|
| 47 |
+
0.000921310464036651
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.04782028764240104,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.7075955713844975,
|
| 53 |
+
-0.030589815443418544,
|
| 54 |
+
-0.7043337210711852
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9571087956428528,
|
| 60 |
+
"position": [
|
| 61 |
+
0.10665153080481105,
|
| 62 |
+
0.01102836907375604,
|
| 63 |
+
-0.00732000071729999
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7291732081879585,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.045943991598793976,
|
| 69 |
+
-0.6819754232863277,
|
| 70 |
+
0.03324310650772361
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_5": {
|
| 75 |
+
"confidence": 0.9569320678710938,
|
| 76 |
+
"position": [
|
| 77 |
+
0.10420043134945445,
|
| 78 |
+
0.0014497613301500678,
|
| 79 |
+
-0.007779947409289889
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.7306406214392152,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.015041913163460648,
|
| 85 |
+
-0.682501464294503,
|
| 86 |
+
-0.011391856177122777
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
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| 514 |
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},
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"orientation": {
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| 572 |
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| 576 |
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]
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},
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"grasp_39": {
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| 580 |
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|
| 581 |
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|
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|
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],
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|
| 588 |
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| 589 |
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|
| 590 |
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|
| 591 |
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| 592 |
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]
|
| 593 |
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}
|
| 594 |
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}
|
| 595 |
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}
|
| 596 |
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},
|
| 597 |
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{
|
| 598 |
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"part_name": "top branding print area",
|
| 599 |
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"mask_color": "Blue",
|
| 600 |
+
"graspable": false,
|
| 601 |
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"grasp_scenarios": [],
|
| 602 |
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"functional_labels": [
|
| 603 |
+
"display branding",
|
| 604 |
+
"identify the product",
|
| 605 |
+
"provide printed visual markings"
|
| 606 |
+
],
|
| 607 |
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"semantic_description": "Printed marking area on the red top surface consisting of blue text and a blue rectangular bar, smooth and flat, positioned on the top face as product branding graphics.",
|
| 608 |
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"id": 2,
|
| 609 |
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"grasp_group": {}
|
| 610 |
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}
|
| 611 |
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],
|
| 612 |
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"quality_check": {
|
| 613 |
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"success": false,
|
| 614 |
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"message": "Lime mask is whole note stack, not only pulled-out sheet; part identity and description mismatch."
|
| 615 |
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}
|
| 616 |
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}
|
dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/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 sha256:0b305c230634704a5948c03e9052100fcd7cb71f4f74cec27266efdccdae58ef
|
| 3 |
+
size 3778752
|
dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/sticky_notes_043.urdf
CHANGED
|
@@ -57,9 +57,10 @@
|
|
| 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>
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 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>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|