Add asset desktop_supplies/office_stationery/ebcf86a5fb8e5b63b8654cd5857b93a1
Browse files
.gitattributes
CHANGED
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@@ -8607,3 +8607,4 @@ dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/affo
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| 8607 |
dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8608 |
dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8609 |
dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8607 |
dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8608 |
dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8609 |
dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8610 |
+
dataset/desktop_supplies/office_stationery/ebcf86a5fb8e5b63b8654cd5857b93a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/ebcf86a5fb8e5b63b8654cd5857b93a1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,476 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "barrel",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel at the center to pick up the stylus",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to stabilize the stylus during repositioning or use",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "regrasp the barrel to reorient which tip faces downward",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"connect both ends",
|
| 24 |
+
"support handheld manipulation",
|
| 25 |
+
"primary structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long light gray cylindrical main body with a smooth matte plastic finish, forming the largest central section of the object.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_2": {
|
| 31 |
+
"confidence": 0.9902480244636536,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.014571475883712992,
|
| 34 |
+
0.024745625210925937,
|
| 35 |
+
-0.09663161204662174
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.9954139197107518,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.009927423637308924,
|
| 41 |
+
0.09504134939445563,
|
| 42 |
+
0.004440339095513133
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_4": {
|
| 47 |
+
"confidence": 0.9900548458099365,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.02775398743688129,
|
| 50 |
+
0.07808135147206485,
|
| 51 |
+
-0.08428160415496677
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.9555792432763601,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.23045333982469077,
|
| 57 |
+
0.18029679014880862,
|
| 58 |
+
-0.035392590256448274
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_6": {
|
| 63 |
+
"confidence": 0.9899871945381165,
|
| 64 |
+
"position": [
|
| 65 |
+
0.01836538958013989,
|
| 66 |
+
0.016635023755952716,
|
| 67 |
+
0.09518988116178662
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.05497289005654452,
|
| 71 |
+
"xyz": [
|
| 72 |
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-0.993902294228126,
|
| 73 |
+
-0.002606474766772948,
|
| 74 |
+
0.09554798363225211
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_7": {
|
| 79 |
+
"confidence": 0.9899635910987854,
|
| 80 |
+
"position": [
|
| 81 |
+
0.024994543666252866,
|
| 82 |
+
0.020225194049999118,
|
| 83 |
+
0.09246679826173931
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.07155112132018165,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.9890762880474416,
|
| 89 |
+
0.007388889197945503,
|
| 90 |
+
0.1286621069955694
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_8": {
|
| 95 |
+
"confidence": 0.9898849725723267,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.016228382562985644,
|
| 98 |
+
0.021141507430002093,
|
| 99 |
+
-0.09393039660062641
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.9943632843282575,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.00539341998858408,
|
| 105 |
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0.10573400293467583,
|
| 106 |
+
0.005735017363343778
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_10": {
|
| 111 |
+
"confidence": 0.989854633808136,
|
| 112 |
+
"position": [
|
| 113 |
+
0.00914774919510819,
|
| 114 |
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0.049028639448806643,
|
| 115 |
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-0.09380241052713245
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
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"w": 0.9880174775369315,
|
| 119 |
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"xyz": [
|
| 120 |
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0.14892403377227592,
|
| 121 |
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-0.04033921802438034,
|
| 122 |
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0.0039804190400896874
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_11": {
|
| 127 |
+
"confidence": 0.989749014377594,
|
| 128 |
+
"position": [
|
| 129 |
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-0.02908493866561912,
|
| 130 |
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0.06471836264245212,
|
| 131 |
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-0.08451348112430423
|
| 132 |
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],
|
| 133 |
+
"orientation": {
|
| 134 |
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"w": 0.9561439353850164,
|
| 135 |
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"xyz": [
|
| 136 |
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0.22863990240855683,
|
| 137 |
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0.17841244114590027,
|
| 138 |
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-0.04100695913402982
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_13": {
|
| 143 |
+
"confidence": 0.9896745085716248,
|
| 144 |
+
"position": [
|
| 145 |
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-0.0493933531397488,
|
| 146 |
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0.04325886513106525,
|
| 147 |
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-0.08194481150712818
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.02705120598016809,
|
| 151 |
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"xyz": [
|
| 152 |
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-0.2754206855313025,
|
| 153 |
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0.03917301965379749,
|
| 154 |
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-0.9601443395488457
|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
+
},
|
| 158 |
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"grasp_15": {
|
| 159 |
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"confidence": 0.9895921945571899,
|
| 160 |
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"position": [
|
| 161 |
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-0.05185359445749782,
|
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}
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}
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| 455 |
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},
|
| 456 |
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{
|
| 457 |
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"part_name": "rear terminal nub",
|
| 458 |
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"mask_color": "Yellow",
|
| 459 |
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"graspable": false,
|
| 460 |
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"grasp_scenarios": [],
|
| 461 |
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"functional_labels": [
|
| 462 |
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"provide a secondary contact point",
|
| 463 |
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"mark the extreme back end",
|
| 464 |
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"serve as a small end feature",
|
| 465 |
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"indicate rear orientation"
|
| 466 |
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],
|
| 467 |
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"semantic_description": "Tiny dark gray nub at the very back end of the stylus, the smallest visible part, slightly protruding beyond the rear cap.",
|
| 468 |
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"id": 3,
|
| 469 |
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"grasp_group": {}
|
| 470 |
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}
|
| 471 |
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],
|
| 472 |
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"quality_check": {
|
| 473 |
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"success": false,
|
| 474 |
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"message": "Rear blue/yellow part identities and descriptions are swapped relative to mask and RGB views."
|
| 475 |
+
}
|
| 476 |
+
}
|
dataset/desktop_supplies/office_stationery/ebcf86a5fb8e5b63b8654cd5857b93a1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 337044
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