Add asset desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8
Browse files
.gitattributes
CHANGED
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@@ -6330,4 +6330,5 @@ dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/affo
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| 6330 |
dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6331 |
dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6332 |
dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6333 |
-
dataset/desktop_supplies/office_stationery/
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| 6330 |
dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6331 |
dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6332 |
dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6333 |
+
dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6334 |
+
dataset/desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,442 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "marker barrel",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and move the marker",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to orient the tip for writing",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the barrel to stabilize the marker while capping or uncapping",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain ink reservoir",
|
| 24 |
+
"support writing control",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long bright orange plastic barrel with a smooth slightly glossy hard surface, cylindrical body, and the largest central section of the marker.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9831613302230835,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.0031986404210329056,
|
| 34 |
+
-0.0978407354268711,
|
| 35 |
+
-0.000624898137175478
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4963768818957833,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5268694354999585,
|
| 41 |
+
-0.47950093786411574,
|
| 42 |
+
-0.4960820896210709
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_3": {
|
| 47 |
+
"confidence": 0.9810521602630615,
|
| 48 |
+
"position": [
|
| 49 |
+
0.0019760443828999996,
|
| 50 |
+
-0.0987029985699337,
|
| 51 |
+
-0.013813477140502073
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5369930765599366,
|
| 55 |
+
"xyz": [
|
| 56 |
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-0.4666580240328699,
|
| 57 |
+
0.47071030756280485,
|
| 58 |
+
0.5218242335179168
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.9809199571609497,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.0035548368468880653,
|
| 66 |
+
-0.09798131298157386,
|
| 67 |
+
-0.018453928772942163
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5558697018304651,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.43917872753901094,
|
| 73 |
+
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|
| 74 |
+
0.5286357151108992
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_5": {
|
| 79 |
+
"confidence": 0.9807482957839966,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.013877695426344872,
|
| 82 |
+
-0.09515429448219948,
|
| 83 |
+
0.0207182568119606
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.42084768325281297,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5756417118102728,
|
| 89 |
+
-0.5295007862951578,
|
| 90 |
+
-0.45951361724946527
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.9807141423225403,
|
| 96 |
+
"position": [
|
| 97 |
+
0.0025877077132463455,
|
| 98 |
+
-0.09687596719595604,
|
| 99 |
+
-0.013560771141783334
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5222412370904576,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.4784941006019897,
|
| 105 |
+
-0.45637194328396324,
|
| 106 |
+
-0.5385463168145715
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_7": {
|
| 111 |
+
"confidence": 0.9805048108100891,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0022196313366293907,
|
| 114 |
+
-0.09717574130627327,
|
| 115 |
+
0.01507147574739065
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.46255454698945486,
|
| 119 |
+
"xyz": [
|
| 120 |
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-0.5376278031290153,
|
| 121 |
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0.5394027739345394,
|
| 122 |
+
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|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_8": {
|
| 127 |
+
"confidence": 0.9801585078239441,
|
| 128 |
+
"position": [
|
| 129 |
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0.005052273161709309,
|
| 130 |
+
-0.09385977100464515,
|
| 131 |
+
0.01833885615633335
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5030797044994867,
|
| 135 |
+
"xyz": [
|
| 136 |
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-0.5073013907568215,
|
| 137 |
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-0.5899375026783945,
|
| 138 |
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-0.3762045358451744
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_9": {
|
| 143 |
+
"confidence": 0.9799812436103821,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.012588318437337875,
|
| 146 |
+
-0.09682443898054771,
|
| 147 |
+
0.01910443311498966
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.46936930467158317,
|
| 151 |
+
"xyz": [
|
| 152 |
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-0.5277758166848509,
|
| 153 |
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0.5655434261240305,
|
| 154 |
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0.4258001600782302
|
| 155 |
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]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_11": {
|
| 159 |
+
"confidence": 0.9795205593109131,
|
| 160 |
+
"position": [
|
| 161 |
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-0.014910480007529259,
|
| 162 |
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-0.0987262294802349,
|
| 163 |
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-0.016637279783026315
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
+
"w": 0.5497834197481675,
|
| 167 |
+
"xyz": [
|
| 168 |
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|
| 169 |
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0.45584269400892996,
|
| 170 |
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0.5172728100381204
|
| 171 |
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]
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{
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{
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"scenario": "delicately grasp the tapered cone to reorient the marker during fine manipulation",
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|
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},
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{
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"scenario": "hold the cone to stabilize the front end while servicing or uncapping",
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],
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"connect barrel to nib"
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| 274 |
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],
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"semantic_description": "Small tapered orange plastic front cone with a smooth glossy hard surface, narrowing toward the writing end and located at the front of the marker.",
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},
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|
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|
| 397 |
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|
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|
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|
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|
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|
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|
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}
|
| 406 |
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}
|
| 407 |
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},
|
| 408 |
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{
|
| 409 |
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"part_name": "marker nib",
|
| 410 |
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"mask_color": "Blue",
|
| 411 |
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"graspable": false,
|
| 412 |
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"grasp_scenarios": [],
|
| 413 |
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"functional_labels": [
|
| 414 |
+
"write ink marks",
|
| 415 |
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"contact paper",
|
| 416 |
+
"deliver ink to surface",
|
| 417 |
+
"provide fine marking point"
|
| 418 |
+
],
|
| 419 |
+
"semantic_description": "Tiny dark felt-like nib with a matte slightly fibrous texture, short cylindrical tip, and black appearance at the very front end of the marker.",
|
| 420 |
+
"id": 2,
|
| 421 |
+
"grasp_group": {}
|
| 422 |
+
},
|
| 423 |
+
{
|
| 424 |
+
"part_name": "front collar ring",
|
| 425 |
+
"mask_color": "Yellow",
|
| 426 |
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"graspable": false,
|
| 427 |
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"grasp_scenarios": [],
|
| 428 |
+
"functional_labels": [
|
| 429 |
+
"join front cone to barrel",
|
| 430 |
+
"reinforce tip assembly",
|
| 431 |
+
"provide assembly transition"
|
| 432 |
+
],
|
| 433 |
+
"semantic_description": "Very small narrow ring at the base of the tapered front section, visible as a thin orange-yellow plastic transition between the barrel and tip cone.",
|
| 434 |
+
"id": 3,
|
| 435 |
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"grasp_group": {}
|
| 436 |
+
}
|
| 437 |
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],
|
| 438 |
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"quality_check": {
|
| 439 |
+
"success": true,
|
| 440 |
+
"message": "YES"
|
| 441 |
+
}
|
| 442 |
+
}
|
dataset/desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d1d1e3207e6778131859b7fd65d579c08008dde9cd086220a29840736b3165da
|
| 3 |
+
size 860156
|