Add asset desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527
Browse files
.gitattributes
CHANGED
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@@ -8621,3 +8621,4 @@ dataset/desktop_supplies/office_stationery/f048ee8198bf5f6dbfe6f0221865d7cd/affo
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| 8621 |
dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8622 |
dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8623 |
dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8621 |
dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8622 |
dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8623 |
dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8624 |
+
dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,540 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "barrel",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and reposition the pen",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to stabilize the pen while pressing or retracting the clicker",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the barrel for writing-tool handoff or placement",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support writing manipulation",
|
| 24 |
+
"connect front tip and rear mechanism",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long light teal plastic barrel with a matte to satin finish, hard smooth texture, and a slim cylindrical shape forming the main middle section of the pen.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9892181158065796,
|
| 32 |
+
"position": [
|
| 33 |
+
0.05625114744179882,
|
| 34 |
+
-0.05191364657366648,
|
| 35 |
+
0.0617226759204641
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.25419767646761904,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.897230516524834,
|
| 41 |
+
0.09087673493213927,
|
| 42 |
+
0.34943148190041085
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9881578087806702,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.002242001792183146,
|
| 50 |
+
-0.04787574481451884,
|
| 51 |
+
-0.08663427585270256
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.9695950775159152,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.24203906861865787,
|
| 57 |
+
0.030022141737533814,
|
| 58 |
+
0.02002862762673452
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_23": {
|
| 63 |
+
"confidence": 0.9813528656959534,
|
| 64 |
+
"position": [
|
| 65 |
+
0.05496972953551449,
|
| 66 |
+
-0.06470931839430705,
|
| 67 |
+
-0.06491572165396065
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.06455703855734711,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.34590756308183956,
|
| 73 |
+
0.2562608732607098,
|
| 74 |
+
0.9002836838525654
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_24": {
|
| 79 |
+
"confidence": 0.9777913689613342,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.08171907285577618,
|
| 82 |
+
-0.06219095882261172,
|
| 83 |
+
0.007031587068922818
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.20379682812796393,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6981934029409385,
|
| 89 |
+
-0.19625219797505167,
|
| 90 |
+
-0.657630519155471
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_25": {
|
| 95 |
+
"confidence": 0.9733449816703796,
|
| 96 |
+
"position": [
|
| 97 |
+
0.07989750584238209,
|
| 98 |
+
-0.08129123371327296,
|
| 99 |
+
0.014923275099135935
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6069366382511533,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.1686158693908853,
|
| 105 |
+
-0.738471874577786,
|
| 106 |
+
-0.24053252627350646
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_26": {
|
| 111 |
+
"confidence": 0.9731844067573547,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.07955099115497433,
|
| 114 |
+
-0.06439427804434672,
|
| 115 |
+
0.012695561745204031
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6289077500828777,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.1915026595043852,
|
| 121 |
+
0.7205274187205316,
|
| 122 |
+
0.22054934178176105
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_27": {
|
| 127 |
+
"confidence": 0.9644237756729126,
|
| 128 |
+
"position": [
|
| 129 |
+
0.004258040018612519,
|
| 130 |
+
0.039531795715447515,
|
| 131 |
+
0.08300426101777703
|
| 132 |
+
],
|
| 133 |
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{
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| 274 |
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{
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{
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{
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"provide secondary grasp area",
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"form rear end of pen"
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| 295 |
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],
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"semantic_description": "Dark teal plastic rear section with a slightly glossier hard smooth finish, rounded cylindrical shape, and medium size at the back end of the pen.",
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| 474 |
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| 475 |
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|
| 476 |
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|
| 481 |
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],
|
| 482 |
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|
| 483 |
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|
| 484 |
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0.5389594428850419,
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|
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| 489 |
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| 490 |
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}
|
| 491 |
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}
|
| 492 |
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},
|
| 493 |
+
{
|
| 494 |
+
"part_name": "clip",
|
| 495 |
+
"mask_color": "Green",
|
| 496 |
+
"graspable": false,
|
| 497 |
+
"grasp_scenarios": [],
|
| 498 |
+
"functional_labels": [
|
| 499 |
+
"attach pen to pocket",
|
| 500 |
+
"retain pen on notebook or fabric",
|
| 501 |
+
"aid orientation identification"
|
| 502 |
+
],
|
| 503 |
+
"semantic_description": "Small silver-and-dark clip assembly on the pen side with a smooth reflective finish and shallow curved shape, mounted along the rear housing and bearing visible branding.",
|
| 504 |
+
"id": 1,
|
| 505 |
+
"grasp_group": {}
|
| 506 |
+
},
|
| 507 |
+
{
|
| 508 |
+
"part_name": "tip cone",
|
| 509 |
+
"mask_color": "Orange",
|
| 510 |
+
"graspable": false,
|
| 511 |
+
"grasp_scenarios": [],
|
| 512 |
+
"functional_labels": [
|
| 513 |
+
"guide writing tip",
|
| 514 |
+
"protect and support refill tip",
|
| 515 |
+
"provide front-end precision"
|
| 516 |
+
],
|
| 517 |
+
"semantic_description": "Small pale gray conical nose piece with a smooth hard finish, tapering at the writing end and positioned between the barrel and the exposed point.",
|
| 518 |
+
"id": 4,
|
| 519 |
+
"grasp_group": {}
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"part_name": "writing point",
|
| 523 |
+
"mask_color": "Yellow",
|
| 524 |
+
"graspable": false,
|
| 525 |
+
"grasp_scenarios": [],
|
| 526 |
+
"functional_labels": [
|
| 527 |
+
"write on paper",
|
| 528 |
+
"make ink contact",
|
| 529 |
+
"indicate pen orientation"
|
| 530 |
+
],
|
| 531 |
+
"semantic_description": "Tiny pointed writing tip at the front, appearing dark with a fine hard smooth point that protrudes slightly from the light gray cone.",
|
| 532 |
+
"id": 3,
|
| 533 |
+
"grasp_group": {}
|
| 534 |
+
}
|
| 535 |
+
],
|
| 536 |
+
"quality_check": {
|
| 537 |
+
"success": true,
|
| 538 |
+
"message": "YES"
|
| 539 |
+
}
|
| 540 |
+
}
|
dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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version https://git-lfs.github.com/spec/v1
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oid sha256:bede427e93b3cb59bd651a84821703d79d399797e0acd5c96c2f6349298f8d31
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size 3769716
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