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EmbodiedGenData

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Add asset desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852

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Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/affordance/affordance_annot.json +608 -0
  3. dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
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  dataset/desktop_supplies/office_stationery/657bc05bc85d5e39974ccff0bdff370d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/affordance/affordance_annot.json ADDED
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+ 0.09076244822790613,
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+ -0.08117995178326964,
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+ 0.02159106614999473
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+ ],
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+ "orientation": {
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+ "w": 0.601365008851159,
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+ "xyz": [
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+ -0.16586562864636994,
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+ -0.7553174032165848,
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+ -0.2008590046807594
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+ ]
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+ }
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+ },
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+ "grasp_99": {
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+ "confidence": 0.38034170866012573,
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+ "position": [
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+ 0.0577933720414876,
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+ -0.11924119805917144,
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+ 0.03606841596774757
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+ ],
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+ "orientation": {
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+ "w": 0.3601296747222393,
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+ "xyz": [
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+ -0.7272075808362263,
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+ 0.3028889618510171,
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+ 0.49973395776912233
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+ ]
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+ }
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+ }
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+ }
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+ },
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+ {
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+ "part_name": "mounting pad",
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+ "mask_color": "Gray",
550
+ "graspable": false,
551
+ "grasp_scenarios": [],
552
+ "functional_labels": [
553
+ "anchor the upright support to the base",
554
+ "provide a mounting interface",
555
+ "spread contact load on the base"
556
+ ],
557
+ "semantic_description": "Small gray rectangular pad with a matte finish located under the upright support where the frame meets the wooden base.",
558
+ "id": 15,
559
+ "grasp_group": {}
560
+ },
561
+ {
562
+ "part_name": "side pivot pin",
563
+ "mask_color": "Pink",
564
+ "graspable": false,
565
+ "grasp_scenarios": [],
566
+ "functional_labels": [
567
+ "act as a pivot connection",
568
+ "support moving linkage",
569
+ "maintain mechanism alignment"
570
+ ],
571
+ "semantic_description": "Small pale beige cylindrical pin-like piece with a smooth hard surface mounted on the side of the mechanism near the wheel and handle linkage.",
572
+ "id": 8,
573
+ "grasp_group": {}
574
+ },
575
+ {
576
+ "part_name": "pivot collar",
577
+ "mask_color": "Burnt Orange",
578
+ "graspable": false,
579
+ "grasp_scenarios": [],
580
+ "functional_labels": [
581
+ "join handle parts",
582
+ "retain the pivot connection",
583
+ "space the handle grip from the arm"
584
+ ],
585
+ "semantic_description": "Thin orange-brown ring-shaped collar with a smooth hard finish located between the dark wooden handle grip and the cream handle arm at their joint.",
586
+ "id": 18,
587
+ "grasp_group": {}
588
+ },
589
+ {
590
+ "part_name": "linkage bushing",
591
+ "mask_color": "Purple",
592
+ "graspable": false,
593
+ "grasp_scenarios": [],
594
+ "functional_labels": [
595
+ "support rotational linkage",
596
+ "reduce play at the joint",
597
+ "connect the wheel area to the mechanism"
598
+ ],
599
+ "semantic_description": "Small light cream cylindrical bushing with a smooth hard surface seated at the center of the side wheel linkage pivot.",
600
+ "id": 5,
601
+ "grasp_group": {}
602
+ }
603
+ ],
604
+ "quality_check": {
605
+ "success": false,
606
+ "message": "Several part identities/functions are wrong: red part is not upright frame, pink feature is side knob, and base top block is misnamed."
607
+ }
608
+ }
dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/affordance/mesh_part_seg.glb ADDED
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