Add asset desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa
Browse files
.gitattributes
CHANGED
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@@ -8211,3 +8211,4 @@ dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/affo
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| 8211 |
dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8212 |
dataset/desktop_supplies/office_stationery/e2ff068c92695a2a8c52d635396ce7d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8213 |
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8211 |
dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8212 |
dataset/desktop_supplies/office_stationery/e2ff068c92695a2a8c52d635396ce7d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8213 |
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8214 |
+
dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1306 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glue stick barrel",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and move the glue stick",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel while removing or replacing the cap",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the barrel to apply glue with the stick",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain glue mechanism",
|
| 24 |
+
"support handling during application",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall cylindrical beige plastic body with a mostly matte slightly scuffed hard smooth surface, medium-sized and forming the main lower portion, with printed green recycling symbols and a black insect graphic.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.992280900478363,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.08908949540636968,
|
| 34 |
+
-0.04210700481780805,
|
| 35 |
+
-0.053974091075360775
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6429385625477028,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5288763841534142,
|
| 41 |
+
0.3395773326224001,
|
| 42 |
+
-0.43772938014595236
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9920835494995117,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.09493014709732961,
|
| 50 |
+
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|
| 51 |
+
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|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6183823494013713,
|
| 55 |
+
"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
+
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|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9920748472213745,
|
| 64 |
+
"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7761601586167725,
|
| 71 |
+
"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
+
]
|
| 76 |
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}
|
| 77 |
+
},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9920037388801575,
|
| 80 |
+
"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6069195372464996,
|
| 87 |
+
"xyz": [
|
| 88 |
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|
| 89 |
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0.3670334756878807,
|
| 90 |
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|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9919902682304382,
|
| 96 |
+
"position": [
|
| 97 |
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-0.08661977695010137,
|
| 98 |
+
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|
| 99 |
+
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|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
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"w": 0.6139796322586196,
|
| 103 |
+
"xyz": [
|
| 104 |
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|
| 105 |
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0.359327833379224,
|
| 106 |
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|
| 107 |
+
]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.9916694164276123,
|
| 112 |
+
"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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-0.025598415173590183
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.6299227870237121,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.6135294066486564,
|
| 121 |
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0.3410214672411679,
|
| 122 |
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|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
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"grasp_7": {
|
| 127 |
+
"confidence": 0.9915716648101807,
|
| 128 |
+
"position": [
|
| 129 |
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-0.08964115129492711,
|
| 130 |
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-0.034505080577218905,
|
| 131 |
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-0.06231249775737524
|
| 132 |
+
],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.6738428765110938,
|
| 135 |
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"xyz": [
|
| 136 |
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-0.46241291895233894,
|
| 137 |
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0.3269990420357407,
|
| 138 |
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-0.47453313548048526
|
| 139 |
+
]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
+
"grasp_8": {
|
| 143 |
+
"confidence": 0.9910025000572205,
|
| 144 |
+
"position": [
|
| 145 |
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-0.06134262429259252,
|
| 146 |
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-0.05693302318104543,
|
| 147 |
+
-0.0897636553272605
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
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"w": 0.3606781958617942,
|
| 151 |
+
"xyz": [
|
| 152 |
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0.19640569783590356,
|
| 153 |
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0.4362606199734481,
|
| 154 |
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0.8006326950280355
|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_10": {
|
| 159 |
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"confidence": 0.9909022450447083,
|
| 160 |
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"position": [
|
| 161 |
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-0.08597279833338689,
|
| 162 |
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-0.049496669467771426,
|
| 163 |
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-0.05236415471881628
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.3903928377402272,
|
| 167 |
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"xyz": [
|
| 168 |
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0.3336894384264695,
|
| 169 |
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0.5585221410574209,
|
| 170 |
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0.6513814618734511
|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_11": {
|
| 175 |
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"confidence": 0.9908185601234436,
|
| 176 |
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"position": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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-0.08355434145778418
|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.41176731055977756,
|
| 183 |
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"xyz": [
|
| 184 |
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0.22636311457590208,
|
| 185 |
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0.4240251132433721,
|
| 186 |
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0.7742158133574966
|
| 187 |
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]
|
| 188 |
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}
|
| 189 |
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},
|
| 190 |
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"grasp_12": {
|
| 191 |
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"confidence": 0.9907099008560181,
|
| 192 |
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"position": [
|
| 193 |
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|
| 194 |
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|
| 195 |
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-0.09993914421647787
|
| 196 |
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],
|
| 197 |
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"semantic_description": "Small circular white plastic center disk on the lid, matte and smooth with shallow concentric ridges, located at the middle of the cap top.",
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|
dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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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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oid sha256:5c866363ce4d1a1e985bdadcd3f2bf49e4728c5e7f57700965aef553a9c30999
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| 3 |
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size 3786704
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