Add asset desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6
Browse files
.gitattributes
CHANGED
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@@ -6518,3 +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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| 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/16505600cdf6522da87e7c3051aefbd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,629 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid from the sides to pick up and reposition the staples box",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize the box while opening the dispensing end",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the lid edges to remove or slide it off for refilling",
|
| 18 |
+
"confidence": 0.73
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the staples compartment",
|
| 23 |
+
"protect stored staples",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"support opening and closing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large off-white to light gray plastic lid with a matte smooth hard surface, flat rectangular shape with rounded corners, covering the top and wrapping slightly over the upper sides.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.908541202545166,
|
| 32 |
+
"position": [
|
| 33 |
+
0.11058295937255025,
|
| 34 |
+
0.0014906120486557484,
|
| 35 |
+
-0.0005413489416241646
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5146851688966392,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.4785776978753555,
|
| 41 |
+
-0.5071251118649676,
|
| 42 |
+
0.4988854426921147
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.8785574436187744,
|
| 48 |
+
"position": [
|
| 49 |
+
0.11593304248526692,
|
| 50 |
+
0.0026081632822752,
|
| 51 |
+
0.0014777486212551594
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5160059653358348,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.4725144097993034,
|
| 57 |
+
-0.5097671739726867,
|
| 58 |
+
0.500605038538117
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.8661309480667114,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.1115306499414146,
|
| 66 |
+
0.0063085745787248015,
|
| 67 |
+
0.004859083564952016
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4971381460450906,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.48774792035618625,
|
| 73 |
+
0.521564224355583,
|
| 74 |
+
-0.4928756332051975
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.8635150194168091,
|
| 80 |
+
"position": [
|
| 81 |
+
0.11780079873278737,
|
| 82 |
+
-0.003802528721280396,
|
| 83 |
+
0.006576330168172717
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5148887691630029,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.49460743920491185,
|
| 89 |
+
-0.516890114534588,
|
| 90 |
+
0.4723109632110903
|
| 91 |
+
]
|
| 92 |
+
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|
| 520 |
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| 521 |
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| 526 |
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| 527 |
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| 528 |
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| 535 |
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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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|
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|
| 566 |
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},
|
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|
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|
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|
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|
| 572 |
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|
| 573 |
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],
|
| 574 |
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"orientation": {
|
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|
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|
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|
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|
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]
|
| 581 |
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}
|
| 582 |
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}
|
| 583 |
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}
|
| 584 |
+
},
|
| 585 |
+
{
|
| 586 |
+
"part_name": "dispensing slider",
|
| 587 |
+
"mask_color": "Blue",
|
| 588 |
+
"graspable": true,
|
| 589 |
+
"grasp_scenarios": [
|
| 590 |
+
{
|
| 591 |
+
"scenario": "pinch the small end slider to pull or push the dispensing mechanism",
|
| 592 |
+
"confidence": 0.69
|
| 593 |
+
},
|
| 594 |
+
{
|
| 595 |
+
"scenario": "use a precise gripper to manipulate the slider while stabilizing the box",
|
| 596 |
+
"confidence": 0.63
|
| 597 |
+
}
|
| 598 |
+
],
|
| 599 |
+
"functional_labels": [
|
| 600 |
+
"open dispensing end",
|
| 601 |
+
"enable staple access",
|
| 602 |
+
"provide thumb-pull tab",
|
| 603 |
+
"indicate opening side"
|
| 604 |
+
],
|
| 605 |
+
"semantic_description": "Small beige plastic tab at one short end with a smooth hard surface and shallow recessed detail, slightly raised from the lid as a compact rectangular slider.",
|
| 606 |
+
"id": 2,
|
| 607 |
+
"grasp_group": {}
|
| 608 |
+
},
|
| 609 |
+
{
|
| 610 |
+
"part_name": "end frame",
|
| 611 |
+
"mask_color": "Yellow",
|
| 612 |
+
"graspable": false,
|
| 613 |
+
"grasp_scenarios": [],
|
| 614 |
+
"functional_labels": [
|
| 615 |
+
"guide the dispensing slider",
|
| 616 |
+
"reinforce the opening edge",
|
| 617 |
+
"connect lid and opening end",
|
| 618 |
+
"define outlet boundary"
|
| 619 |
+
],
|
| 620 |
+
"semantic_description": "Thin narrow yellowish-beige plastic rim around the dispensing end, with a smooth hard finish and very small border-like shape framing the tab area.",
|
| 621 |
+
"id": 3,
|
| 622 |
+
"grasp_group": {}
|
| 623 |
+
}
|
| 624 |
+
],
|
| 625 |
+
"quality_check": {
|
| 626 |
+
"success": true,
|
| 627 |
+
"message": "YES"
|
| 628 |
+
}
|
| 629 |
+
}
|
dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:438b7960ee20442037f955293f8eabc8852e98a76a07932bf5b878f74f751637
|
| 3 |
+
size 3783748
|