Add asset desktop_supplies/office_stationery/991c12db24b95ba291785913a221d602
Browse files
.gitattributes
CHANGED
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@@ -6428,4 +6428,4 @@ dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affo
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| 6428 |
dataset/desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6429 |
dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6430 |
dataset/desktop_supplies/office_stationery/984eb5298f275f5b939f2733e1518951/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6431 |
-
dataset/desktop_supplies/office_stationery/
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| 6428 |
dataset/desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6429 |
dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6430 |
dataset/desktop_supplies/office_stationery/984eb5298f275f5b939f2733e1518951/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6431 |
+
dataset/desktop_supplies/office_stationery/991c12db24b95ba291785913a221d602/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/991c12db24b95ba291785913a221d602/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,462 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "container body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls to pick up and move the pen holder",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to reposition or rotate the pen holder on a desk",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the holder by clamping the upper side while inserting or removing items",
|
| 18 |
+
"confidence": 0.62
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain pens and tools",
|
| 23 |
+
"provide the main structure",
|
| 24 |
+
"offer side grasp surface",
|
| 25 |
+
"define the open storage cavity"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall white plastic cup-like body with a hard smooth matte-to-satin surface, slightly tapered cylindrical shape, open top, and the largest central portion of the pen holder.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9299602508544922,
|
| 32 |
+
"position": [
|
| 33 |
+
0.08969394773157546,
|
| 34 |
+
-0.06589769308629911,
|
| 35 |
+
-0.013736688997596502
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6292688920196613,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.6281210715037046,
|
| 41 |
+
-0.3236317846150156,
|
| 42 |
+
0.3236464877861118
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9282124638557434,
|
| 48 |
+
"position": [
|
| 49 |
+
0.08537791579874465,
|
| 50 |
+
-0.07114305828872602,
|
| 51 |
+
-0.013160763774067163
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6440747383469501,
|
| 55 |
+
"xyz": [
|
| 56 |
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-0.6359082281792173,
|
| 57 |
+
-0.30131112816356664,
|
| 58 |
+
0.30000010133677435
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9263208508491516,
|
| 64 |
+
"position": [
|
| 65 |
+
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|
| 66 |
+
-0.05962941532197874,
|
| 67 |
+
-0.013287852052599192
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6166655407716299,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9259235262870789,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
+
-0.006151394860353321
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6150811101171058,
|
| 87 |
+
"xyz": [
|
| 88 |
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|
| 89 |
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-0.3491207973332622,
|
| 90 |
+
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|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9221731424331665,
|
| 96 |
+
"position": [
|
| 97 |
+
0.09238707184704253,
|
| 98 |
+
-0.06049953510228079,
|
| 99 |
+
-0.02074760338291526
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6302154654405095,
|
| 103 |
+
"xyz": [
|
| 104 |
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-0.6138638215438221,
|
| 105 |
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-0.3367686843650468,
|
| 106 |
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0.3355391615746992
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9210901260375977,
|
| 112 |
+
"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.3913165127583659,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
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"confidence": 0.9202026724815369,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.34063298080548465,
|
| 135 |
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"xyz": [
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.9111430644989014,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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-0.010818263050168753
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.6499289165311812,
|
| 151 |
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"xyz": [
|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_8": {
|
| 159 |
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"confidence": 0.9075910449028015,
|
| 160 |
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"position": [
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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],
|
| 165 |
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"orientation": {
|
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|
dataset/desktop_supplies/office_stationery/991c12db24b95ba291785913a221d602/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:779e680cd8087014d9329c417843f474cdc41d437db43f51896e3b93ed58ddb2
|
| 3 |
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size 3779104
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