Add asset desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a
Browse files
.gitattributes
CHANGED
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@@ -6501,4 +6501,4 @@ dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/affo
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| 6501 |
dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6502 |
dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6503 |
dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6504 |
-
dataset/desktop_supplies/office_stationery/
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| 6501 |
dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6502 |
dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6503 |
dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6504 |
+
dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,450 @@
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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 reposition the marker",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to orient the writing tip for marking",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the marker by the barrel while manipulating the front tip area",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the ink reservoir",
|
| 24 |
+
"support writing manipulation",
|
| 25 |
+
"connect tip assembly and rear end"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long bright yellow plastic barrel with a smooth slightly glossy hard surface, cylindrical shape, and the largest central part of the marker body.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9886804819107056,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.014561730436980724,
|
| 34 |
+
-0.002868432318791747,
|
| 35 |
+
-0.09703541293856688
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7089082163798265,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.01072739425895026,
|
| 41 |
+
0.0039000843819798625,
|
| 42 |
+
-0.7052083756616904
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9879786968231201,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.004290831042453647,
|
| 50 |
+
0.0005380100919865072,
|
| 51 |
+
-0.0989373971533496
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.70845259783953,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.002551431187073016,
|
| 57 |
+
0.009705287558964382,
|
| 58 |
+
-0.7056870511825449
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_6": {
|
| 63 |
+
"confidence": 0.9873067140579224,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.01285170717164874,
|
| 66 |
+
0.0042764011304825544,
|
| 67 |
+
-0.09682751193759032
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7193199491311505,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.07740076803162384,
|
| 73 |
+
0.032781844490377576,
|
| 74 |
+
0.6895747113706263
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_7": {
|
| 79 |
+
"confidence": 0.987260103225708,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.0069552320055663586,
|
| 82 |
+
-0.0020324653014540672,
|
| 83 |
+
-0.09605280801770277
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6997152067966009,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.022681479659209993,
|
| 89 |
+
0.024173710613043742,
|
| 90 |
+
-0.7136524445227209
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_11": {
|
| 95 |
+
"confidence": 0.986810564994812,
|
| 96 |
+
"position": [
|
| 97 |
+
0.008266041986644268,
|
| 98 |
+
-0.0150034015532583,
|
| 99 |
+
-0.09930617109057494
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7039999382530104,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.03873117269534306,
|
| 105 |
+
-0.05752814017835628,
|
| 106 |
+
-0.7068058405877956
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_15": {
|
| 111 |
+
"confidence": 0.9863035082817078,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0032710072118788958,
|
| 114 |
+
0.006214994238689542,
|
| 115 |
+
-0.09798730656621046
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6976841591629281,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.005979482583378322,
|
| 121 |
+
-0.03811714176180403,
|
| 122 |
+
0.7153657409640629
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"part_name": "back plug",
|
| 130 |
+
"mask_color": "Green",
|
| 131 |
+
"graspable": true,
|
| 132 |
+
"grasp_scenarios": [
|
| 133 |
+
{
|
| 134 |
+
"scenario": "pinch the rear end to help pick up or reorient the marker",
|
| 135 |
+
"confidence": 0.48
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "use the back plug as a secondary contact point while stabilizing the marker",
|
| 139 |
+
"confidence": 0.4
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"functional_labels": [
|
| 143 |
+
"close the rear end",
|
| 144 |
+
"seal the marker body",
|
| 145 |
+
"provide rear-end stop",
|
| 146 |
+
"support rear stabilization"
|
| 147 |
+
],
|
| 148 |
+
"semantic_description": "Small rounded yellow plastic rear end cap with a smooth glossy hard finish, located at the back of the marker and slightly protruding from the barrel end.",
|
| 149 |
+
"id": 1,
|
| 150 |
+
"grasp_group": {
|
| 151 |
+
"grasp_20": {
|
| 152 |
+
"confidence": 0.9579175114631653,
|
| 153 |
+
"position": [
|
| 154 |
+
-0.06614370178431273,
|
| 155 |
+
-0.0035748607479035854,
|
| 156 |
+
0.09757157668354921
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.0612713672719619,
|
| 160 |
+
"xyz": [
|
| 161 |
+
-0.7208363531102615,
|
| 162 |
+
0.6889097376700621,
|
| 163 |
+
-0.04521222103247648
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_24": {
|
| 168 |
+
"confidence": 0.9322141408920288,
|
| 169 |
+
"position": [
|
| 170 |
+
-0.06385428737848997,
|
| 171 |
+
0.01893307757563889,
|
| 172 |
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}
|
| 428 |
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| 429 |
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},
|
| 430 |
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{
|
| 431 |
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"part_name": "marker tip",
|
| 432 |
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|
| 433 |
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|
| 434 |
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|
| 435 |
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|
| 436 |
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"write marks",
|
| 437 |
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"transfer ink to a surface",
|
| 438 |
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|
| 439 |
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"indicate writing direction"
|
| 440 |
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],
|
| 441 |
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"semantic_description": "Tiny orange felt-like nib with a matte slightly soft texture and conical shape protruding from the front of the marker.",
|
| 442 |
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"id": 3,
|
| 443 |
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|
| 444 |
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}
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| 445 |
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],
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| 446 |
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"quality_check": {
|
| 447 |
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"success": true,
|
| 448 |
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"message": "YES"
|
| 449 |
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}
|
| 450 |
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}
|
dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/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 sha256:6511359732ede02de05bc3a450e7fb12a866ecbdc923db9fb366023e19a59646
|
| 3 |
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size 848304
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