Add asset desktop_supplies/office_stationery/315d9ad4826057b3b69bf414a05fe1c7
Browse files
.gitattributes
CHANGED
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@@ -6295,3 +6295,4 @@ dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affo
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| 6295 |
dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6296 |
dataset/desktop_supplies/office_stationery/2faedaa2fd0d580a8c00f8d94877c446/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6297 |
dataset/desktop_supplies/office_stationery/3025e74736895ff0a1db9ec938e263d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6295 |
dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6296 |
dataset/desktop_supplies/office_stationery/2faedaa2fd0d580a8c00f8d94877c446/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6297 |
dataset/desktop_supplies/office_stationery/3025e74736895ff0a1db9ec938e263d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6298 |
+
dataset/desktop_supplies/office_stationery/315d9ad4826057b3b69bf414a05fe1c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/315d9ad4826057b3b69bf414a05fe1c7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,337 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "rear barrel",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the rear barrel at the center to pick up the pen",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the rear barrel to orient the pen for writing or placement",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the pen by clamping the rear body while another tool manipulates the tip",
|
| 18 |
+
"confidence": 0.81
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house internal ink cartridge",
|
| 24 |
+
"provide structural body",
|
| 25 |
+
"support general manipulation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark gray to black rear body section with a smooth matte to satin finish, tapered cylindrical shape, and the largest section of the pen behind the front section.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_6": {
|
| 31 |
+
"confidence": 0.9925498962402344,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.013868419540813193,
|
| 34 |
+
0.04174102656543255,
|
| 35 |
+
0.09473643646924756
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.054744481784399994,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.9960834906659924,
|
| 41 |
+
-0.015315582111433287,
|
| 42 |
+
-0.06772115091606934
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_7": {
|
| 47 |
+
"confidence": 0.9923599362373352,
|
| 48 |
+
"position": [
|
| 49 |
+
0.021975980984279886,
|
| 50 |
+
0.07760499231517315,
|
| 51 |
+
-0.08571483744890429
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.06859177637955172,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.12887348765519055,
|
| 57 |
+
0.24235941032995278,
|
| 58 |
+
-0.9591395668082943
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_10": {
|
| 63 |
+
"confidence": 0.992038369178772,
|
| 64 |
+
"position": [
|
| 65 |
+
0.07860114975483157,
|
| 66 |
+
0.024538634344935417,
|
| 67 |
+
0.05395083696930669
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4726385792777178,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.015402573796799893,
|
| 73 |
+
-0.8811182827881541,
|
| 74 |
+
0.002470998832235423
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_11": {
|
| 79 |
+
"confidence": 0.9919481873512268,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.03526729912846349,
|
| 82 |
+
0.06235789693892002,
|
| 83 |
+
-0.0831302533915732
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.9600933512426411,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.20089547462201104,
|
| 89 |
+
0.1943409063797531,
|
| 90 |
+
0.009663192203801612
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_14": {
|
| 95 |
+
"confidence": 0.9918213486671448,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.004912294069072232,
|
| 98 |
+
0.08670126460492611,
|
| 99 |
+
-0.08734930111677386
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.006489426700221175,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.03831742345611544,
|
| 105 |
+
-0.2657879696363934,
|
| 106 |
+
0.9632478484779246
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
}
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"part_name": "front body section",
|
| 114 |
+
"mask_color": "Green",
|
| 115 |
+
"graspable": true,
|
| 116 |
+
"grasp_scenarios": [
|
| 117 |
+
{
|
| 118 |
+
"scenario": "grasp the front body section to pick up the pen near the tip",
|
| 119 |
+
"confidence": 0.78
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"scenario": "pinch the front body section to precisely orient the pen for writing contact",
|
| 123 |
+
"confidence": 0.86
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"scenario": "hold the front body section while positioning the tip over a surface",
|
| 127 |
+
"confidence": 0.68
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"functional_labels": [
|
| 131 |
+
"connect rear barrel to tip",
|
| 132 |
+
"support fine orientation near the tip",
|
| 133 |
+
"provide a forward holding area",
|
| 134 |
+
"form the front housing of the pen body"
|
| 135 |
+
],
|
| 136 |
+
"semantic_description": "Short dark gray to black front body section with a smooth hard plastic appearance, slightly narrower cylindrical form, located directly behind the writing tip and visually similar in color and finish to the rest of the pen.",
|
| 137 |
+
"id": 1,
|
| 138 |
+
"grasp_group": {
|
| 139 |
+
"grasp_22": {
|
| 140 |
+
"confidence": 0.9887463450431824,
|
| 141 |
+
"position": [
|
| 142 |
+
0.09218396051437594,
|
| 143 |
+
-0.020539140328764915,
|
| 144 |
+
0.022053646011045203
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.616069494334829,
|
| 148 |
+
"xyz": [
|
| 149 |
+
0.01749494854359654,
|
| 150 |
+
-0.787343436948145,
|
| 151 |
+
0.015576174760414079
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_23": {
|
| 156 |
+
"confidence": 0.9880824089050293,
|
| 157 |
+
"position": [
|
| 158 |
+
0.089680408971617,
|
| 159 |
+
-0.018469562754034996,
|
| 160 |
+
0.03789749936549924
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.5524792966055481,
|
| 164 |
+
"xyz": [
|
| 165 |
+
0.01844919547456864,
|
| 166 |
+
-0.8331375113040339,
|
| 167 |
+
0.017553953022039583
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_24": {
|
| 172 |
+
"confidence": 0.9879922866821289,
|
| 173 |
+
"position": [
|
| 174 |
+
0.07087942762882449,
|
| 175 |
+
0.004764382785651833,
|
| 176 |
+
0.06115921409218572
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.1108345345537964,
|
| 180 |
+
"xyz": [
|
| 181 |
+
0.8968421312394768,
|
| 182 |
+
0.07178181511639747,
|
| 183 |
+
-0.4221815588140626
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
"grasp_27": {
|
| 188 |
+
"confidence": 0.9875321984291077,
|
| 189 |
+
"position": [
|
| 190 |
+
0.0851504932215903,
|
| 191 |
+
0.020743031054735184,
|
| 192 |
+
0.018147075636079535
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
| 195 |
+
"w": 0.15307278555627876,
|
| 196 |
+
"xyz": [
|
| 197 |
+
0.7466257600535756,
|
| 198 |
+
0.17818994881525263,
|
| 199 |
+
-0.62238817380127
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
"grasp_29": {
|
| 204 |
+
"confidence": 0.9871199131011963,
|
| 205 |
+
"position": [
|
| 206 |
+
0.08638514383346774,
|
| 207 |
+
-0.03700309433043003,
|
| 208 |
+
0.03944525317638181
|
| 209 |
+
],
|
| 210 |
+
"orientation": {
|
| 211 |
+
"w": 0.032967624864215575,
|
| 212 |
+
"xyz": [
|
| 213 |
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0.8365896623917103,
|
| 214 |
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0.023610595132440237,
|
| 215 |
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-0.5463272025879987
|
| 216 |
+
]
|
| 217 |
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}
|
| 218 |
+
},
|
| 219 |
+
"grasp_31": {
|
| 220 |
+
"confidence": 0.9870585799217224,
|
| 221 |
+
"position": [
|
| 222 |
+
0.08716903431923129,
|
| 223 |
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}
|
| 315 |
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}
|
| 316 |
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},
|
| 317 |
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{
|
| 318 |
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"part_name": "pen tip",
|
| 319 |
+
"mask_color": "Blue",
|
| 320 |
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"graspable": false,
|
| 321 |
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"grasp_scenarios": [],
|
| 322 |
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"functional_labels": [
|
| 323 |
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"write or draw on surfaces",
|
| 324 |
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"make contact with paper",
|
| 325 |
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"dispense ink through the point",
|
| 326 |
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"indicate writing direction"
|
| 327 |
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],
|
| 328 |
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"semantic_description": "Small pointed dark tip at the extreme front end of the pen, likely including a harder plastic or metal point, with a smooth conical shape.",
|
| 329 |
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"id": 2,
|
| 330 |
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"grasp_group": {}
|
| 331 |
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}
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| 332 |
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],
|
| 333 |
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"quality_check": {
|
| 334 |
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"success": true,
|
| 335 |
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"message": "YES"
|
| 336 |
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}
|
| 337 |
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}
|
dataset/desktop_supplies/office_stationery/315d9ad4826057b3b69bf414a05fe1c7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:603c95225a9defc5c2ef9ab5621ea3730dbe7679fbf448444b666e6c679ec1be
|
| 3 |
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size 367656
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