Add asset desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32
Browse files
.gitattributes
CHANGED
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@@ -6374,3 +6374,4 @@ dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/affo
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| 6374 |
dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6375 |
dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6376 |
dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6374 |
dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6375 |
dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6376 |
dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6377 |
+
dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1387 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pen barrel",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and hold the pen for writing orientation",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the barrel to reposition the pen on a surface",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the barrel to stabilize the pen while pressing the clicker",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support writing manipulation",
|
| 24 |
+
"connect pen tip to rear housing",
|
| 25 |
+
"house internal ink cartridge"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long cylindrical light pink plastic body with a smooth slightly glossy surface, forming the main midsection of the pen between the front orange tip cone and the rear clip housing.",
|
| 28 |
+
"id": 5,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_80": {
|
| 31 |
+
"confidence": 0.9839062690734863,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.006180876691360027,
|
| 34 |
+
-0.06702778907492757,
|
| 35 |
+
0.08373490133089945
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.26290951956713876,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.9633995920182111,
|
| 41 |
+
-0.02742792517637893,
|
| 42 |
+
-0.04458160540670859
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_81": {
|
| 47 |
+
"confidence": 0.9834529757499695,
|
| 48 |
+
"position": [
|
| 49 |
+
0.08395069156540558,
|
| 50 |
+
-0.06472795875743032,
|
| 51 |
+
0.008469119376968592
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.20630013426778757,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.7254803245512325,
|
| 57 |
+
0.16927473286024852,
|
| 58 |
+
0.634400991570176
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_83": {
|
| 63 |
+
"confidence": 0.9703120589256287,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.008400610007811338,
|
| 66 |
+
-0.08133425982668996,
|
| 67 |
+
-0.08467701665358618
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.002408339691496182,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.05757088775047066,
|
| 73 |
+
-0.257280644399153,
|
| 74 |
+
-0.964617262338338
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_84": {
|
| 79 |
+
"confidence": 0.9668761491775513,
|
| 80 |
+
"position": [
|
| 81 |
+
0.08253997628344223,
|
| 82 |
+
-0.08735640766099095,
|
| 83 |
+
-0.01974795974092558
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7282526594111042,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.18924540514385801,
|
| 89 |
+
-0.6281337784224196,
|
| 90 |
+
-0.19819736904753926
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_85": {
|
| 95 |
+
"confidence": 0.9577908515930176,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.03700799058424309,
|
| 98 |
+
-0.09221594454720616,
|
| 99 |
+
0.07231363066239282
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.2687210905100015,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.9225023664305023,
|
| 105 |
+
-0.09958385099343658,
|
| 106 |
+
-0.2585757453176066
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_86": {
|
| 111 |
+
"confidence": 0.9576135873794556,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.01198393787490204,
|
| 114 |
+
-0.09973241807892919,
|
| 115 |
+
0.08220799424452707
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.06764090744043483,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.014290718479816571,
|
| 121 |
+
0.9595725838498452,
|
| 122 |
+
0.2728386690513218
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_87": {
|
| 127 |
+
"confidence": 0.9486368894577026,
|
| 128 |
+
"position": [
|
| 129 |
+
0.08327759866369888,
|
| 130 |
+
-0.10170933278277516,
|
| 131 |
+
0.013573039032053202
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.22990695074725725,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.7528614789608367,
|
| 137 |
+
0.16013076739914767,
|
| 138 |
+
0.595567397384343
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_88": {
|
| 143 |
+
"confidence": 0.9474090337753296,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.015456798777449876,
|
| 146 |
+
-0.10633845301344991,
|
| 147 |
+
0.08094740071101114
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.10687221459069514,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.024693488251723412,
|
| 153 |
+
0.9544075708123289,
|
| 154 |
+
0.27762339628091925
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_91": {
|
| 159 |
+
"confidence": 0.927031397819519,
|
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"reduce material under clip"
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],
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],
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0.11166100529953837,
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0.05056618061038566,
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0.30903705739107046,
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}
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},
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{
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| 1186 |
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{
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| 1188 |
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"scenario": "pinch the clicker button to retract or extend the tip while another gripper stabilizes the barrel",
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| 1189 |
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"confidence": 0.49
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| 1190 |
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},
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| 1191 |
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{
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| 1192 |
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"scenario": "grasp the back button lightly to pull the pen from a confined holder",
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| 1193 |
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| 1194 |
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}
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| 1195 |
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],
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"actuate pen mechanism",
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| 1198 |
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"extend or retract writing tip",
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| 1199 |
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"indicate rear end"
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| 1200 |
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],
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| 1201 |
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"semantic_description": "Small dark maroon rear push button with a smooth slightly rounded plastic form, protruding from the back end of the pen.",
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| 1202 |
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"id": 1,
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| 1203 |
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0.1419253977946937,
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0.024633818946313113
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| 1357 |
+
"xyz": [
|
| 1358 |
+
0.5839360670186715,
|
| 1359 |
+
0.36078450853950206,
|
| 1360 |
+
-0.6208832878446712
|
| 1361 |
+
]
|
| 1362 |
+
}
|
| 1363 |
+
},
|
| 1364 |
+
"grasp_39": {
|
| 1365 |
+
"confidence": 0.870354950428009,
|
| 1366 |
+
"position": [
|
| 1367 |
+
-0.0007013591239228845,
|
| 1368 |
+
0.14099747268483043,
|
| 1369 |
+
0.04146340274019167
|
| 1370 |
+
],
|
| 1371 |
+
"orientation": {
|
| 1372 |
+
"w": 0.15807312201421742,
|
| 1373 |
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"xyz": [
|
| 1374 |
+
0.1767065179907227,
|
| 1375 |
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-0.8228778985425843,
|
| 1376 |
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0.5163909940020381
|
| 1377 |
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]
|
| 1378 |
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}
|
| 1379 |
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}
|
| 1380 |
+
}
|
| 1381 |
+
}
|
| 1382 |
+
],
|
| 1383 |
+
"quality_check": {
|
| 1384 |
+
"success": false,
|
| 1385 |
+
"message": "Barrel color/material description is wrong; pen is orange-pink gradient, not uniform light pink. Several part descriptions overstate exact colors/visibility."
|
| 1386 |
+
}
|
| 1387 |
+
}
|
dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b044242ef672cd04179a785f575dfa4c29b163fc3ff666e50524610f3b280fd5
|
| 3 |
+
size 3786240
|