Add asset desktop_supplies/decorations/586e05542a165398b6c7c43372529282
Browse files
.gitattributes
CHANGED
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@@ -6115,3 +6115,4 @@ dataset/desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18/affordance
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| 6115 |
dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6116 |
dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6117 |
dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6115 |
dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6116 |
dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6117 |
dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6118 |
+
dataset/desktop_supplies/decorations/586e05542a165398b6c7c43372529282/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/586e05542a165398b6c7c43372529282/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,363 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "vase mouth",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the rim area to lightly stabilize and reorient the vase",
|
| 10 |
+
"confidence": 0.46
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the narrow mouth to lift a small empty vase",
|
| 14 |
+
"confidence": 0.34
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"opening for placing flowers",
|
| 19 |
+
"pour contents",
|
| 20 |
+
"access interior",
|
| 21 |
+
"define top rim"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small circular top opening with a narrow neck and rounded rim, made of white marble-like ceramic or stone with a smooth polished hard surface and subtle gray veining.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_4": {
|
| 27 |
+
"confidence": 0.71011883020401,
|
| 28 |
+
"position": [
|
| 29 |
+
0.05096153754857369,
|
| 30 |
+
0.0843172083114041,
|
| 31 |
+
0.06198175670579076
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.10698043377541235,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.3057470563589067,
|
| 37 |
+
-0.689094636220917,
|
| 38 |
+
0.6482457147167658
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_5": {
|
| 43 |
+
"confidence": 0.5649417638778687,
|
| 44 |
+
"position": [
|
| 45 |
+
0.09508127186563797,
|
| 46 |
+
-0.010611174584482796,
|
| 47 |
+
0.07647253992035985
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.3334117488488063,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6255942480558517,
|
| 53 |
+
-0.49995954930941156,
|
| 54 |
+
-0.4975026548505481
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_6": {
|
| 59 |
+
"confidence": 0.545768678188324,
|
| 60 |
+
"position": [
|
| 61 |
+
0.0814371949818451,
|
| 62 |
+
0.05284069948538672,
|
| 63 |
+
0.05755585851147771
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
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"w": 0.5917679479186845,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.6540806491167875,
|
| 69 |
+
-0.318560797901682,
|
| 70 |
+
-0.34714293642146143
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_7": {
|
| 75 |
+
"confidence": 0.5141164660453796,
|
| 76 |
+
"position": [
|
| 77 |
+
0.08256358865764923,
|
| 78 |
+
-0.0517194931890117,
|
| 79 |
+
0.07963913353160024
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.35559637500673497,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.31469919905426963,
|
| 85 |
+
-0.7340610959844873,
|
| 86 |
+
-0.48545848386728524
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_8": {
|
| 91 |
+
"confidence": 0.5126386284828186,
|
| 92 |
+
"position": [
|
| 93 |
+
0.08685585323837586,
|
| 94 |
+
0.04511363156780135,
|
| 95 |
+
0.0483763855881989
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.5254749711671188,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.6881873567597796,
|
| 101 |
+
-0.21134638063757694,
|
| 102 |
+
-0.4534389970704992
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_10": {
|
| 107 |
+
"confidence": 0.5021066069602966,
|
| 108 |
+
"position": [
|
| 109 |
+
0.06275633189943619,
|
| 110 |
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0.07652598716958892,
|
| 111 |
+
0.054427646566182375
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.6426153525155008,
|
| 115 |
+
"xyz": [
|
| 116 |
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0.6970691430742205,
|
| 117 |
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-0.17239272849984333,
|
| 118 |
+
-0.2672468253235755
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_11": {
|
| 123 |
+
"confidence": 0.3762623369693756,
|
| 124 |
+
"position": [
|
| 125 |
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0.08419232282903977,
|
| 126 |
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0.04373435028537642,
|
| 127 |
+
0.08471566112712026
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.4575703215513745,
|
| 131 |
+
"xyz": [
|
| 132 |
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0.7509311420432065,
|
| 133 |
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-0.33226091024518023,
|
| 134 |
+
-0.3410784488473309
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_15": {
|
| 139 |
+
"confidence": 0.11289507150650024,
|
| 140 |
+
"position": [
|
| 141 |
+
0.053090365865500644,
|
| 142 |
+
0.09421841897710692,
|
| 143 |
+
0.007976430002599955
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.574301769611782,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.37024257977968333,
|
| 149 |
+
-0.6368458548008985,
|
| 150 |
+
0.3571068002177669
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_17": {
|
| 155 |
+
"confidence": 0.028519505634903908,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.015896290278760716,
|
| 158 |
+
0.08174201943620574,
|
| 159 |
+
0.08695756318047643
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.37508442932184016,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.5924344505775841,
|
| 165 |
+
-0.6089109669434916,
|
| 166 |
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0.3708915299451943
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_19": {
|
| 171 |
+
"confidence": 0.02403273619711399,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.09391356792184524,
|
| 174 |
+
-0.03085457622364629,
|
| 175 |
+
0.05168272973969579
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.6761483318753493,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.05354629911672452,
|
| 181 |
+
0.7151313571689365,
|
| 182 |
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0.16894782965992694
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"part_name": "vase body",
|
| 190 |
+
"mask_color": "Green",
|
| 191 |
+
"graspable": true,
|
| 192 |
+
"grasp_scenarios": [
|
| 193 |
+
{
|
| 194 |
+
"scenario": "grasp the rounded body to pick up and move the vase",
|
| 195 |
+
"confidence": 0.89
|
| 196 |
+
},
|
| 197 |
+
{
|
| 198 |
+
"scenario": "hold the body to stabilize the vase while placing flowers",
|
| 199 |
+
"confidence": 0.78
|
| 200 |
+
}
|
| 201 |
+
],
|
| 202 |
+
"functional_labels": [
|
| 203 |
+
"contain water",
|
| 204 |
+
"hold flowers",
|
| 205 |
+
"provide main structure",
|
| 206 |
+
"support upright standing",
|
| 207 |
+
"main grasp surface"
|
| 208 |
+
],
|
| 209 |
+
"semantic_description": "Large bulbous white marble-like vase body with a glossy to satin polished hard smooth surface, rounded shape, narrow upper neck, and soft gray veining over most of the exterior.",
|
| 210 |
+
"id": 1,
|
| 211 |
+
"grasp_group": {
|
| 212 |
+
"grasp_20": {
|
| 213 |
+
"confidence": 0.8931708335876465,
|
| 214 |
+
"position": [
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dataset/desktop_supplies/decorations/586e05542a165398b6c7c43372529282/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3778540
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