Add asset desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447
Browse files
.gitattributes
CHANGED
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@@ -8213,3 +8213,4 @@ dataset/desktop_supplies/office_stationery/e2ff068c92695a2a8c52d635396ce7d7/affo
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| 8213 |
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8214 |
dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8215 |
dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8213 |
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8214 |
dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8215 |
dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8216 |
+
dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,448 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stapler base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the base from the sides to pick up and reposition the stapler",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the stapler while the top arm is actuated",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the base to open the stapler for loading or tacking",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support the stapler",
|
| 23 |
+
"provide a stable gripping area",
|
| 24 |
+
"house the anvil and staple channel",
|
| 25 |
+
"stabilize during stapling"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "The lower body is a medium-sized bright blue plastic shell with a glossy smooth hard surface and rounded rectangular shape, forming the wider bottom support of the stapler.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_9": {
|
| 31 |
+
"confidence": 0.9233336448669434,
|
| 32 |
+
"position": [
|
| 33 |
+
0.030206650961190462,
|
| 34 |
+
0.11252502088609617,
|
| 35 |
+
-0.10624650679528713
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6463689577889453,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.3476247088144979,
|
| 41 |
+
-0.26843837971806084,
|
| 42 |
+
0.6239431612918035
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_14": {
|
| 47 |
+
"confidence": 0.9189038276672363,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.034477734472602606,
|
| 50 |
+
-0.12140134240326006,
|
| 51 |
+
-0.10001668147742748
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6314800274680694,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.3345268334177792,
|
| 57 |
+
-0.3467237785225441,
|
| 58 |
+
-0.6075420924013822
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"part_name": "top arm",
|
| 66 |
+
"mask_color": "Green",
|
| 67 |
+
"graspable": true,
|
| 68 |
+
"grasp_scenarios": [
|
| 69 |
+
{
|
| 70 |
+
"scenario": "grasp the top arm to lift and carry the stapler",
|
| 71 |
+
"confidence": 0.84
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"scenario": "hold the top arm while opening the stapler on its hinge",
|
| 75 |
+
"confidence": 0.8
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"scenario": "grasp the top arm to orient the stapler before placement",
|
| 79 |
+
"confidence": 0.72
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"functional_labels": [
|
| 83 |
+
"press to drive staples",
|
| 84 |
+
"cover the staple magazine",
|
| 85 |
+
"provide a top gripping surface",
|
| 86 |
+
"transfer force during stapling"
|
| 87 |
+
],
|
| 88 |
+
"semantic_description": "The upper arm is a large light blue plastic piece with a glossy smooth hard finish, elongated rounded shape, and top-mounted position that forms the pressable cover of the stapler.",
|
| 89 |
+
"id": 1,
|
| 90 |
+
"grasp_group": {
|
| 91 |
+
"grasp_20": {
|
| 92 |
+
"confidence": 0.9343011379241943,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.0009465520270168781,
|
| 95 |
+
-0.007339666903135367,
|
| 96 |
+
0.13941271044313908
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.03143205103407812,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.7229970268441337,
|
| 102 |
+
0.6898249114634385,
|
| 103 |
+
0.020710308225448948
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_21": {
|
| 108 |
+
"confidence": 0.9335282444953918,
|
| 109 |
+
"position": [
|
| 110 |
+
-0.018850456457585096,
|
| 111 |
+
-0.008010705772903748,
|
| 112 |
+
0.1385932508856058
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.09505378049468982,
|
| 116 |
+
"xyz": [
|
| 117 |
+
-0.7162283731707704,
|
| 118 |
+
0.69002373228657,
|
| 119 |
+
-0.042999362322375785
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_22": {
|
| 124 |
+
"confidence": 0.9319972395896912,
|
| 125 |
+
"position": [
|
| 126 |
+
-0.008893269347026944,
|
| 127 |
+
-0.0036256456078263,
|
| 128 |
+
0.13823006488382816
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.0400093777603652,
|
| 132 |
+
"xyz": [
|
| 133 |
+
-0.7231276598600107,
|
| 134 |
+
0.6895017811416463,
|
| 135 |
+
0.00853996716096568
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_23": {
|
| 140 |
+
"confidence": 0.9301522970199585,
|
| 141 |
+
"position": [
|
| 142 |
+
-0.008752647321671247,
|
| 143 |
+
-0.00041450226854067296,
|
| 144 |
+
0.14127353765070438
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.05408038683743242,
|
| 148 |
+
"xyz": [
|
| 149 |
+
-0.7165056487930346,
|
| 150 |
+
0.6953382350802224,
|
| 151 |
+
-0.014131731766047278
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_24": {
|
| 156 |
+
"confidence": 0.9297198057174683,
|
| 157 |
+
"position": [
|
| 158 |
+
-0.021649796050041914,
|
| 159 |
+
-0.005572723064688034,
|
| 160 |
+
0.13992916978895664
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.02775356164397551,
|
| 164 |
+
"xyz": [
|
| 165 |
+
-0.7188392951611249,
|
| 166 |
+
0.6943459022268451,
|
| 167 |
+
0.019585086395516076
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_25": {
|
| 172 |
+
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| 409 |
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|
| 411 |
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| 412 |
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},
|
| 413 |
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{
|
| 414 |
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"part_name": "staple magazine",
|
| 415 |
+
"mask_color": "Orange",
|
| 416 |
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"graspable": false,
|
| 417 |
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"grasp_scenarios": [],
|
| 418 |
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"functional_labels": [
|
| 419 |
+
"hold staple strips",
|
| 420 |
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"guide staples forward",
|
| 421 |
+
"support reloading",
|
| 422 |
+
"align staples with the driver"
|
| 423 |
+
],
|
| 424 |
+
"semantic_description": "The inner magazine is a small pale metallic component with a smooth reflective hard surface, tucked beneath the top arm as a narrow angled strip inside the stapler.",
|
| 425 |
+
"id": 4,
|
| 426 |
+
"grasp_group": {}
|
| 427 |
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},
|
| 428 |
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{
|
| 429 |
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"part_name": "anvil plate",
|
| 430 |
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"mask_color": "Blue",
|
| 431 |
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"graspable": false,
|
| 432 |
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"grasp_scenarios": [],
|
| 433 |
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|
| 434 |
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"bend staple legs",
|
| 435 |
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|
| 436 |
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"support paper at the exit point",
|
| 437 |
+
"set staple clinch direction"
|
| 438 |
+
],
|
| 439 |
+
"semantic_description": "The anvil plate is a very small dark metallic insert with a reflective smooth hard finish, located near the front-center of the base as the staple-clinching surface.",
|
| 440 |
+
"id": 2,
|
| 441 |
+
"grasp_group": {}
|
| 442 |
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}
|
| 443 |
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],
|
| 444 |
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"quality_check": {
|
| 445 |
+
"success": true,
|
| 446 |
+
"message": "YES"
|
| 447 |
+
}
|
| 448 |
+
}
|
dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:bb0d8cd5634b82f28998620c4d813ad363e1e3207a4b2f4946e4fed4b9ffef31
|
| 3 |
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size 968784
|