Add asset desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e
Browse files
.gitattributes
CHANGED
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@@ -6482,3 +6482,4 @@ dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/affo
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| 6482 |
dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6483 |
dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6484 |
dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6482 |
dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6483 |
dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6484 |
dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6485 |
+
dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,407 @@
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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 at the middle to pick up the pen",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to write or draw with the tip oriented downward",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the barrel to reposition or place the pen",
|
| 18 |
+
"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support writing control",
|
| 24 |
+
"house the ink core",
|
| 25 |
+
"connect tip and end plug"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark gray to black cylindrical plastic barrel with a matte to slightly satin finish, hard smooth texture, and a slim straight shape forming most of the pen body.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_3": {
|
| 31 |
+
"confidence": 0.9927783608436584,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.021543043927522376,
|
| 34 |
+
0.05475309235043824,
|
| 35 |
+
-0.095210373547161
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.9918327749348695,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.023735743340702414,
|
| 41 |
+
0.12482921715341189,
|
| 42 |
+
0.011046610245971797
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_5": {
|
| 47 |
+
"confidence": 0.9925034046173096,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.013577371166320518,
|
| 50 |
+
0.06878948700614274,
|
| 51 |
+
-0.09614500417956151
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.9947399095511077,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.06630401645343337,
|
| 57 |
+
0.07737398085617841,
|
| 58 |
+
0.010466940090837309
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_6": {
|
| 63 |
+
"confidence": 0.9925007224082947,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.007568646484287456,
|
| 66 |
+
0.054219932528212667,
|
| 67 |
+
-0.09840383395203389
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.9990724720047682,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.0009021728257502139,
|
| 73 |
+
0.042662718034154445,
|
| 74 |
+
0.005768384211603814
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_8": {
|
| 79 |
+
"confidence": 0.992438018321991,
|
| 80 |
+
"position": [
|
| 81 |
+
0.014368822536198422,
|
| 82 |
+
0.07457138341851532,
|
| 83 |
+
-0.08794862046488561
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.04082780146255767,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.08504127737358283,
|
| 89 |
+
0.24751607745722082,
|
| 90 |
+
-0.9642804898838275
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_11": {
|
| 95 |
+
"confidence": 0.9922246932983398,
|
| 96 |
+
"position": [
|
| 97 |
+
0.005383700336096808,
|
| 98 |
+
0.045872022630646825,
|
| 99 |
+
-0.09733992084511556
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.9996351021289046,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.004891592684874444,
|
| 105 |
+
-0.023040363606273484,
|
| 106 |
+
0.013224090049260956
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_14": {
|
| 111 |
+
"confidence": 0.9920197129249573,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.003642079682322219,
|
| 114 |
+
0.03115464490838349,
|
| 115 |
+
-0.09713845714577474
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.9988163571699092,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.023723026238598347,
|
| 121 |
+
0.033662350953244435,
|
| 122 |
+
0.025883369259335532
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_15": {
|
| 127 |
+
"confidence": 0.9919604659080505,
|
| 128 |
+
"position": [
|
| 129 |
+
0.018468531518010423,
|
| 130 |
+
0.07742430758662522,
|
| 131 |
+
-0.08789137765415944
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.9666783486182488,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.23831376048210018,
|
| 137 |
+
-0.08489347052324114,
|
| 138 |
+
0.03914869780843074
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_18": {
|
| 143 |
+
"confidence": 0.9919129610061646,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.003917667578207329,
|
| 146 |
+
0.05928683769889176,
|
| 147 |
+
-0.0989332796598319
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.9994830098388431,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.0011501498569743162,
|
| 153 |
+
0.028013419496731196,
|
| 154 |
+
0.015736534780349934
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"part_name": "pen tip",
|
| 162 |
+
"mask_color": "Green",
|
| 163 |
+
"graspable": true,
|
| 164 |
+
"grasp_scenarios": [
|
| 165 |
+
{
|
| 166 |
+
"scenario": "delicately grasp the tip area to orient the pen for inspection",
|
| 167 |
+
"confidence": 0.31
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"scenario": "pinch near the tip to stabilize the pen during precise placement",
|
| 171 |
+
"confidence": 0.27
|
| 172 |
+
}
|
| 173 |
+
],
|
| 174 |
+
"functional_labels": [
|
| 175 |
+
"write on surfaces",
|
| 176 |
+
"mark with ink",
|
| 177 |
+
"provide precise contact point",
|
| 178 |
+
"indicate writing end"
|
| 179 |
+
],
|
| 180 |
+
"semantic_description": "Small tapered dark tip section at one end of the pen, likely plastic or metal, with a smooth hard surface and narrow pointed shape for contact with paper.",
|
| 181 |
+
"id": 1,
|
| 182 |
+
"grasp_group": {
|
| 183 |
+
"grasp_20": {
|
| 184 |
+
"confidence": 0.9068551659584045,
|
| 185 |
+
"position": [
|
| 186 |
+
-0.020340825692983344,
|
| 187 |
+
0.1711927924770862,
|
| 188 |
+
0.08248188332072459
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.10519291324072406,
|
| 192 |
+
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},
|
| 361 |
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{
|
| 362 |
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"part_name": "end plug",
|
| 363 |
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"mask_color": "Blue",
|
| 364 |
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"graspable": true,
|
| 365 |
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"grasp_scenarios": [
|
| 366 |
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{
|
| 367 |
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"scenario": "pinch the rear end lightly to reorient or lift the pen from one end",
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| 368 |
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"confidence": 0.42
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{
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"scenario": "use the rear end as a secondary contact point while stabilizing the pen during placement",
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"provide a rear contact surface",
|
| 379 |
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"indicate rear orientation"
|
| 380 |
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],
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| 381 |
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"semantic_description": "Tiny rounded dark rear end piece with a smooth hard finish, visible as a small cap-like plug at the back of the pen barrel.",
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| 382 |
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| 383 |
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| 401 |
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| 402 |
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],
|
| 403 |
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"quality_check": {
|
| 404 |
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"success": true,
|
| 405 |
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"message": "YES"
|
| 406 |
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}
|
| 407 |
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}
|
dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d171ff65959cbf3b8c1efc8c0765d91ddfab5e095d6a3d9d7a2eae7ac33ec300
|
| 3 |
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size 290728
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