Add asset desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/affordance/affordance_annot.json +646 -0
- dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/f13bec88a65f501e900878d73d9a7702.urdf +1 -0
.gitattributes
CHANGED
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@@ -8620,3 +8620,4 @@ dataset/desktop_supplies/office_stationery/f01fe839525a56cf811b666cf1415c3a/affo
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| 8620 |
dataset/desktop_supplies/office_stationery/f048ee8198bf5f6dbfe6f0221865d7cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8621 |
dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8622 |
dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8620 |
dataset/desktop_supplies/office_stationery/f048ee8198bf5f6dbfe6f0221865d7cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8621 |
dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8622 |
dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8623 |
+
dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,646 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "notebook cover body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the notebook body from the side or bottom to pick it up",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the notebook body to reposition or stack it",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the notebook body while moving the elastic strap aside",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide the main structure",
|
| 23 |
+
"support writing or reading surfaces",
|
| 24 |
+
"main grasp surface",
|
| 25 |
+
"protect the pages"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rectangular dark gray to black notebook cover body with a hard smooth slightly matte surface, rounded corners, and a compact thick form occupying most of the object.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_41": {
|
| 31 |
+
"confidence": 0.9530097246170044,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.18959795217961073,
|
| 34 |
+
0.02274544257670641,
|
| 35 |
+
0.004011234857898671
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7007764796603038,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.08153571903900822,
|
| 41 |
+
0.7026667054796806,
|
| 42 |
+
0.09232417389847519
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_42": {
|
| 47 |
+
"confidence": 0.9526747465133667,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.1921348599717021,
|
| 50 |
+
0.06971674878150225,
|
| 51 |
+
0.00163776346744271
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.7103476329082556,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.007073723489714385,
|
| 57 |
+
0.7032200645171099,
|
| 58 |
+
0.028943802759501067
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_43": {
|
| 63 |
+
"confidence": 0.9502872228622437,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.18835957627743483,
|
| 66 |
+
0.020413661375641823,
|
| 67 |
+
0.0015267413182300515
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.699193011088944,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.07077262629081593,
|
| 73 |
+
0.7073516588308302,
|
| 74 |
+
0.0759868367649896
|
| 75 |
+
]
|
| 76 |
+
}
|
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}
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| 602 |
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}
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| 603 |
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},
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| 604 |
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{
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| 605 |
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"part_name": "bookmark ribbon",
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| 606 |
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"mask_color": "Green",
|
| 607 |
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"graspable": true,
|
| 608 |
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|
| 609 |
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{
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| 610 |
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"scenario": "pinch the ribbon tail to locate or pull out the marked page",
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| 611 |
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| 612 |
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| 613 |
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{
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| 614 |
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"scenario": "delicately grasp the ribbon to orient the notebook slightly",
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| 616 |
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}
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| 617 |
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],
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| 618 |
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"functional_labels": [
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| 619 |
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"mark a page location",
|
| 620 |
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"indicate reading progress",
|
| 621 |
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"provide a pull tab for page finding"
|
| 622 |
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],
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| 623 |
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"semantic_description": "Thin dark green ribbon tail protruding slightly from the book edge, with a flexible fabric-like look, matte finish, and small loose curved shape near the lower side.",
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| 624 |
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"id": 1,
|
| 625 |
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|
| 626 |
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},
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| 627 |
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{
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| 628 |
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"part_name": "page block",
|
| 629 |
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"mask_color": "Cyan",
|
| 630 |
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"graspable": false,
|
| 631 |
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"grasp_scenarios": [],
|
| 632 |
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"functional_labels": [
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| 633 |
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"provide the writable and readable paper pages",
|
| 634 |
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"form the stacked pages of the notebook",
|
| 635 |
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"indicate notebook thickness at the exposed edges"
|
| 636 |
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],
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| 637 |
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"semantic_description": "Light cream page block visible as layered paper edges along the exposed sides of the closed notebook, appearing as a thin stacked strip between the dark covers.",
|
| 638 |
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"id": 6,
|
| 639 |
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"grasp_group": {}
|
| 640 |
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}
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| 641 |
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],
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| 642 |
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"quality_check": {
|
| 643 |
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"success": false,
|
| 644 |
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"message": "Page block mask/color and graspability are incorrect; cyan marks exposed page edges, which are graspable for stabilizing/opening."
|
| 645 |
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}
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| 646 |
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}
|
dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/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:cdd61c847bbc2dbc0a7c6791239f840b9a910b88eaf3e99847d245c4b40970e5
|
| 3 |
+
size 862772
|
dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/f13bec88a65f501e900878d73d9a7702.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|