Add asset desktop_supplies/office_stationery/64f58ade54a2575184d5fe7e50ecf78a
Browse files
.gitattributes
CHANGED
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@@ -6350,3 +6350,4 @@ dataset/desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2/affo
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| 6350 |
dataset/desktop_supplies/office_stationery/621262a3233256cfa486d16e2673414e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6351 |
dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6352 |
dataset/desktop_supplies/office_stationery/64c13f071a635aa295e17fcadb60f119/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6350 |
dataset/desktop_supplies/office_stationery/621262a3233256cfa486d16e2673414e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6351 |
dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6352 |
dataset/desktop_supplies/office_stationery/64c13f071a635aa295e17fcadb60f119/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6353 |
+
dataset/desktop_supplies/office_stationery/64f58ade54a2575184d5fe7e50ecf78a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/64f58ade54a2575184d5fe7e50ecf78a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,425 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pen barrel",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and hold the pen",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the barrel to stabilize the pen during writing or drawing",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp near the center of the barrel to reorient the pen between ends",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support handling",
|
| 24 |
+
"connect both ends",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark gray to black plastic barrel with a matte smooth hard surface, slender and slightly faceted or rounded, forming the central largest body of the pen.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_4": {
|
| 31 |
+
"confidence": 0.9908280372619629,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.012206391576910391,
|
| 34 |
+
0.027174555132660316,
|
| 35 |
+
0.09407750099489931
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.06980014955005391,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.995739958677562,
|
| 41 |
+
-0.003600950442063225,
|
| 42 |
+
-0.060140726396601375
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_7": {
|
| 47 |
+
"confidence": 0.9904352426528931,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.03765393715002574,
|
| 50 |
+
0.07078160754826968,
|
| 51 |
+
-0.08193859875609633
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.9504588354357397,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.2161498462617006,
|
| 57 |
+
0.21878899439188615,
|
| 58 |
+
-0.04515110226968313
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_8": {
|
| 63 |
+
"confidence": 0.9903873801231384,
|
| 64 |
+
"position": [
|
| 65 |
+
0.08740354780456983,
|
| 66 |
+
0.04975529424336855,
|
| 67 |
+
-0.04049198747088667
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.8486868652624088,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.047714369513640824,
|
| 73 |
+
-0.526675623505334,
|
| 74 |
+
-0.00816892148634037
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_10": {
|
| 79 |
+
"confidence": 0.990375816822052,
|
| 80 |
+
"position": [
|
| 81 |
+
0.02078707967302762,
|
| 82 |
+
0.02297806404021685,
|
| 83 |
+
0.09461620777437929
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.04215678940492528,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.9920514685718018,
|
| 89 |
+
-0.009453402195962968,
|
| 90 |
+
0.11818342522757272
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_12": {
|
| 95 |
+
"confidence": 0.9899589419364929,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.04402770768501796,
|
| 98 |
+
0.09234261176970904,
|
| 99 |
+
-0.07796280503680464
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.9383614387197105,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.22236960668798564,
|
| 105 |
+
0.2611396331579151,
|
| 106 |
+
-0.04284460688879286
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_13": {
|
| 111 |
+
"confidence": 0.9899388551712036,
|
| 112 |
+
"position": [
|
| 113 |
+
0.08422261927626096,
|
| 114 |
+
0.027536463359865593,
|
| 115 |
+
0.045223544831969775
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5201795089997523,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.013571071517043039,
|
| 121 |
+
-0.853945971476974,
|
| 122 |
+
-0.0023199639873459498
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_15": {
|
| 127 |
+
"confidence": 0.9898626804351807,
|
| 128 |
+
"position": [
|
| 129 |
+
0.08138984892866574,
|
| 130 |
+
-0.003297874103736831,
|
| 131 |
+
0.03549018829653505
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.181473094093329,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.8098763723501826,
|
| 137 |
+
0.1642181635125265,
|
| 138 |
+
0.5331042791065131
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_19": {
|
| 143 |
+
"confidence": 0.9896718263626099,
|
| 144 |
+
"position": [
|
| 145 |
+
0.038731110136723146,
|
| 146 |
+
0.06245294622567599,
|
| 147 |
+
-0.08038551778008696
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.07625615626268324,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.2247075920654841,
|
| 153 |
+
0.2300159413974303,
|
| 154 |
+
-0.9438136274727269
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"part_name": "opposite end tip",
|
| 162 |
+
"mask_color": "Green",
|
| 163 |
+
"graspable": false,
|
| 164 |
+
"grasp_scenarios": [],
|
| 165 |
+
"functional_labels": [
|
| 166 |
+
"provide a second writing or marking end",
|
| 167 |
+
"indicate the opposite usable end",
|
| 168 |
+
"enable double-ended use"
|
| 169 |
+
],
|
| 170 |
+
"semantic_description": "Dark gray to black conical end piece at the opposite side of the pen, tapering to a pointed tip with a smooth hard finish and appearing similar in size to the other end.",
|
| 171 |
+
"id": 1,
|
| 172 |
+
"grasp_group": {}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"part_name": "tip collar",
|
| 176 |
+
"mask_color": "Blue",
|
| 177 |
+
"graspable": true,
|
| 178 |
+
"grasp_scenarios": [
|
| 179 |
+
{
|
| 180 |
+
"scenario": "briefly pinch the collar area to orient the pen toward one end during handoff",
|
| 181 |
+
"confidence": 0.31
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"scenario": "lightly grasp near the collar while repositioning the pen",
|
| 185 |
+
"confidence": 0.28
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],
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}
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| 404 |
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}
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| 405 |
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},
|
| 406 |
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{
|
| 407 |
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"part_name": "fine tip point",
|
| 408 |
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"mask_color": "Yellow",
|
| 409 |
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"graspable": false,
|
| 410 |
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"grasp_scenarios": [],
|
| 411 |
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"functional_labels": [
|
| 412 |
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"make precise writing or marking contact",
|
| 413 |
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"provide the extreme contact point",
|
| 414 |
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"indicate the active fine end"
|
| 415 |
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],
|
| 416 |
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"semantic_description": "Tiny dark metallic pointed tip at the very end of one side of the pen, with a slightly reflective smooth finish and a sharply tapered shape.",
|
| 417 |
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"id": 3,
|
| 418 |
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"grasp_group": {}
|
| 419 |
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}
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| 420 |
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],
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| 421 |
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"quality_check": {
|
| 422 |
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"success": true,
|
| 423 |
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"message": "YES"
|
| 424 |
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}
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| 425 |
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}
|
dataset/desktop_supplies/office_stationery/64f58ade54a2575184d5fe7e50ecf78a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:a72a35f31494eaaa4dac6e4158317ba5e999e3e0b9ff9bb11403efd131a00617
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| 3 |
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size 295392
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