Add asset desktop_supplies/decorations/1a4b28d3d02b5830985fc5615ba309eb
Browse files
.gitattributes
CHANGED
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@@ -6089,3 +6089,4 @@ dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/affordance
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| 6089 |
dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6090 |
dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6091 |
dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6089 |
dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6090 |
dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6091 |
dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6092 |
+
dataset/desktop_supplies/decorations/1a4b28d3d02b5830985fc5615ba309eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/1a4b28d3d02b5830985fc5615ba309eb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,494 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "vase rim",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the rim to lift or reposition the vase when empty or light",
|
| 10 |
+
"confidence": 0.61
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the rim to stabilize the vase during placement",
|
| 14 |
+
"confidence": 0.68
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"define the opening",
|
| 19 |
+
"guide pouring",
|
| 20 |
+
"support access to interior",
|
| 21 |
+
"provide a top gripping edge"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Wide flared dark gray ceramic rim with a matte worn finish, hard smooth texture, and an irregular wavy circular lip at the top opening with visible chipped terracotta-colored wear.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.05692341551184654,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.09722964599495754,
|
| 30 |
+
0.055617770689423196,
|
| 31 |
+
0.028566287830471992
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7831622664322944,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.22769913201780603,
|
| 37 |
+
0.5777001634064217,
|
| 38 |
+
-0.0327489070834905
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.8096426725387573,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.11332488193875179,
|
| 46 |
+
-0.010932782155578025,
|
| 47 |
+
0.05907738767564297
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.491378100295623,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.5566209614609563,
|
| 53 |
+
0.4862842617206111,
|
| 54 |
+
-0.46070411829609814
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.7493062019348145,
|
| 60 |
+
"position": [
|
| 61 |
+
0.02712799288565293,
|
| 62 |
+
0.10867150737612974,
|
| 63 |
+
0.04615757055580616
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7098792679691013,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.6937527057363072,
|
| 69 |
+
-0.06527470536729418,
|
| 70 |
+
-0.10255642851824903
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_5": {
|
| 75 |
+
"confidence": 0.13696573674678802,
|
| 76 |
+
"position": [
|
| 77 |
+
0.058318907918874174,
|
| 78 |
+
-0.10646228627592791,
|
| 79 |
+
0.056597886607050896
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5521643547814034,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.3035916678600254,
|
| 85 |
+
-0.6653031057229606,
|
| 86 |
+
-0.40039780472698283
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_6": {
|
| 91 |
+
"confidence": 0.021238982677459717,
|
| 92 |
+
"position": [
|
| 93 |
+
0.040814506413880736,
|
| 94 |
+
0.10847259177535307,
|
| 95 |
+
0.03180488385260105
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.35526074888550446,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.5346080612289451,
|
| 101 |
+
0.445347584697794,
|
| 102 |
+
-0.6242191522007153
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_7": {
|
| 107 |
+
"confidence": 0.7903950214385986,
|
| 108 |
+
"position": [
|
| 109 |
+
0.08546291902894154,
|
| 110 |
+
-0.0733458860340761,
|
| 111 |
+
0.049931956455111504
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.3167924200074852,
|
| 115 |
+
"xyz": [
|
| 116 |
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0.2786534243676372,
|
| 117 |
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-0.6540072314704297,
|
| 118 |
+
-0.6279087297516848
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_8": {
|
| 123 |
+
"confidence": 0.7590790390968323,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.09354879840975627,
|
| 126 |
+
-0.052113903177087195,
|
| 127 |
+
0.04813314042985439
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.6053868980618687,
|
| 131 |
+
"xyz": [
|
| 132 |
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-0.6150496834025111,
|
| 133 |
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0.32655857251910425,
|
| 134 |
+
-0.3854608790990137
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_9": {
|
| 139 |
+
"confidence": 0.7212285995483398,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.0009445436880923808,
|
| 142 |
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0.11089005930989515,
|
| 143 |
+
0.0391071829944849
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.738775965849517,
|
| 147 |
+
"xyz": [
|
| 148 |
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0.6735822402997852,
|
| 149 |
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0.021510641784209916,
|
| 150 |
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-0.005859191571108169
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
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|
dataset/desktop_supplies/decorations/1a4b28d3d02b5830985fc5615ba309eb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:16be93d5cf56e0d8403e1e1f010c049bed89de886ad8ac617dcc6618b1351ef4
|
| 3 |
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size 3778628
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