Add asset desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610
Browse files
.gitattributes
CHANGED
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@@ -6552,4 +6552,4 @@ dataset/desktop_supplies/office_tools/35f02981b0905318bef5f954beca6906/affordanc
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dataset/desktop_supplies/office_tools/35f82bb6276f571f9948db6fd68d9805/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6553 |
dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6554 |
dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6555 |
-
dataset/desktop_supplies/office_tools/
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| 6552 |
dataset/desktop_supplies/office_tools/35f82bb6276f571f9948db6fd68d9805/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6553 |
dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6554 |
dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6555 |
+
dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1140 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sticky note pad stack",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the paper block from the sides to pick up the note pad",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the stack steady while peeling one strip from the top",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support the attached sticky note strips",
|
| 19 |
+
"provide the main body for grasping",
|
| 20 |
+
"store the remaining note sheets",
|
| 21 |
+
"stabilize the pad during dispensing"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Thick rectangular stack of pale off-white paper with a matte finish and visible layered sheet edges, forming the large base under the colored sticky note strips.",
|
| 24 |
+
"id": 4,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_82": {
|
| 27 |
+
"confidence": 0.9615730047225952,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.1286025190493092,
|
| 30 |
+
-0.04814234748482704,
|
| 31 |
+
-0.00795375881716609
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.07595140193557828,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.6886781454297074,
|
| 37 |
+
-0.028026372016186962,
|
| 38 |
+
-0.7205333573285339
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_83": {
|
| 43 |
+
"confidence": 0.9597707986831665,
|
| 44 |
+
"position": [
|
| 45 |
+
0.0012135962024331093,
|
| 46 |
+
0.15453315153717995,
|
| 47 |
+
0.007243496365845203
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.48082564994510285,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.5206503787128917,
|
| 53 |
+
0.5228052652216445,
|
| 54 |
+
-0.473713554964936
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_84": {
|
| 59 |
+
"confidence": 0.9583352208137512,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.000844139140099287,
|
| 62 |
+
0.15477082505822182,
|
| 63 |
+
-0.0037920298491371796
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.48308159097709097,
|
| 67 |
+
"xyz": [
|
| 68 |
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0.5140003025311412,
|
| 69 |
+
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|
| 70 |
+
0.5038896053013806
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_86": {
|
| 75 |
+
"confidence": 0.957101583480835,
|
| 76 |
+
"position": [
|
| 77 |
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0.0013781067682430148,
|
| 78 |
+
0.15286948159337044,
|
| 79 |
+
0.002248085103929043
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.4872407326396555,
|
| 83 |
+
"xyz": [
|
| 84 |
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0.5097956611764209,
|
| 85 |
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|
| 86 |
+
0.4986298961140548
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_87": {
|
| 91 |
+
"confidence": 0.9556072354316711,
|
| 92 |
+
"position": [
|
| 93 |
+
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|
| 94 |
+
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|
| 95 |
+
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|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.07970222225899536,
|
| 99 |
+
"xyz": [
|
| 100 |
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|
| 101 |
+
-0.03979794549812954,
|
| 102 |
+
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|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_88": {
|
| 107 |
+
"confidence": 0.9554263353347778,
|
| 108 |
+
"position": [
|
| 109 |
+
0.13450872956309468,
|
| 110 |
+
-0.032939065247774124,
|
| 111 |
+
-0.0025035346625372767
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.6997383868714837,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.004598697370114566,
|
| 117 |
+
-0.7143355343282357,
|
| 118 |
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-0.008353820502355757
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_89": {
|
| 123 |
+
"confidence": 0.9553345441818237,
|
| 124 |
+
"position": [
|
| 125 |
+
0.1268448686460033,
|
| 126 |
+
-0.05998919531702995,
|
| 127 |
+
0.001360052265226841
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.6969576381666321,
|
| 131 |
+
"xyz": [
|
| 132 |
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0.014166758155496893,
|
| 133 |
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-0.7168556112951215,
|
| 134 |
+
-0.012937778760310225
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_90": {
|
| 139 |
+
"confidence": 0.9550607204437256,
|
| 140 |
+
"position": [
|
| 141 |
+
0.12365873216185719,
|
| 142 |
+
-0.0640118382871151,
|
| 143 |
+
-0.004691426642239094
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.03633541133949868,
|
| 147 |
+
"xyz": [
|
| 148 |
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-0.7050895172378663,
|
| 149 |
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-0.006750925830946941,
|
| 150 |
+
0.7081545986325918
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_91": {
|
| 155 |
+
"confidence": 0.954284131526947,
|
| 156 |
+
"position": [
|
| 157 |
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-0.12993234337773174,
|
| 158 |
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-0.03647774085402489,
|
| 159 |
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-0.00837387889623642
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.7126471512171381,
|
| 163 |
+
"xyz": [
|
| 164 |
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0.02224853312089133,
|
| 165 |
+
0.7009778802256115,
|
| 166 |
+
0.01640280678646902
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_92": {
|
| 171 |
+
"confidence": 0.9539880752563477,
|
| 172 |
+
"position": [
|
| 173 |
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-0.13256604911293834,
|
| 174 |
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-0.0321088507771492,
|
| 175 |
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-0.006233479827642441
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
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"w": 0.7024049234496781,
|
| 179 |
+
"xyz": [
|
| 180 |
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0.02365183898891313,
|
| 181 |
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0.7110492896889133,
|
| 182 |
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0.021836246449099928
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_94": {
|
| 187 |
+
"confidence": 0.9534244537353516,
|
| 188 |
+
"position": [
|
| 189 |
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0.00473249435890466,
|
| 190 |
+
0.1519346870481968,
|
| 191 |
+
0.0008805901743471622
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.48736858925597487,
|
| 195 |
+
"xyz": [
|
| 196 |
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0.5176560237358586,
|
| 197 |
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0.5142317894371351,
|
| 198 |
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-0.4796558829295256
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_95": {
|
| 203 |
+
"confidence": 0.9529001712799072,
|
| 204 |
+
"position": [
|
| 205 |
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-0.13071565271820873,
|
| 206 |
+
-0.03204871341586113,
|
| 207 |
+
-0.009172316640615463
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.7084070181491663,
|
| 211 |
+
"xyz": [
|
| 212 |
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0.0222699314570823,
|
| 213 |
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0.7052874489620515,
|
| 214 |
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0.015269614484501851
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_96": {
|
| 219 |
+
"confidence": 0.9523038864135742,
|
| 220 |
+
"position": [
|
| 221 |
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-0.13252067507710308,
|
| 222 |
+
-0.032818399369716644,
|
| 223 |
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-0.005718499189242721
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.7052367457675303,
|
| 227 |
+
"xyz": [
|
| 228 |
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0.03253996992972589,
|
| 229 |
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0.7080236036321488,
|
| 230 |
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0.016877780539562338
|
| 231 |
+
]
|
| 232 |
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}
|
| 233 |
+
},
|
| 234 |
+
"grasp_97": {
|
| 235 |
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"confidence": 0.952008843421936,
|
| 236 |
+
"position": [
|
| 237 |
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0.13255176006350666,
|
| 238 |
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-0.028894878923892975,
|
| 239 |
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-0.002018379862420261
|
| 240 |
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],
|
| 241 |
+
"orientation": {
|
| 242 |
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"w": 0.0002418009614180454,
|
| 243 |
+
"xyz": [
|
| 244 |
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|
| 245 |
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|
| 246 |
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0.7015116933968848
|
| 247 |
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]
|
| 248 |
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}
|
| 249 |
+
}
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"part_name": "green sticky note strip",
|
| 254 |
+
"mask_color": "Red",
|
| 255 |
+
"graspable": true,
|
| 256 |
+
"grasp_scenarios": [
|
| 257 |
+
{
|
| 258 |
+
"scenario": "pinch the lifted free end to peel a single sticky note",
|
| 259 |
+
"confidence": 0.93
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"scenario": "grasp the protruding strip edge to separate or position the top sheet",
|
| 263 |
+
"confidence": 0.84
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"functional_labels": [
|
| 267 |
+
"provide writable sticky note paper",
|
| 268 |
+
"peel off for single-note use",
|
| 269 |
+
"adhere temporarily to surfaces",
|
| 270 |
+
"offer an accessible lifted tab for dispensing"
|
| 271 |
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|
dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:d3bd8eb0050139bcf74f3f90826c03402e4821ea1dcfe4f3869953438c6da3b4
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| 3 |
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size 3808000
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