xinjjj commited on
Commit
81867ae
·
verified ·
1 Parent(s): a4b5090

Add asset desktop_supplies/decorations/207ce39413a15594bddbf3817fb63c0a

Browse files
.gitattributes CHANGED
@@ -6094,3 +6094,4 @@ dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/affordance
6094
  dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6095
  dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6096
  dataset/desktop_supplies/decorations/1e3423f53e6b5957bc4f6bc7591d10d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6094
  dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6095
  dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6096
  dataset/desktop_supplies/decorations/1e3423f53e6b5957bc4f6bc7591d10d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6097
+ dataset/desktop_supplies/decorations/207ce39413a15594bddbf3817fb63c0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/207ce39413a15594bddbf3817fb63c0a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,389 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "base",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the round base from opposite sides to pick up and relocate the figurine",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the base to stabilize the figurine during placement or inspection",
14
+ "confidence": 0.92
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support the figure",
19
+ "provide stable footing",
20
+ "serve as the primary grasp surface",
21
+ "enable tabletop display"
22
+ ],
23
+ "semantic_description": "Round pale light-blue pedestal with a glossy smooth finish, subtle scalloped edge detailing around the side, and a broad flat top under the dog figure.",
24
+ "id": 0,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "dog figure",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the torso of the dog figure to lift the figurine when the base is inaccessible",
34
+ "confidence": 0.58
35
+ },
36
+ {
37
+ "scenario": "hold the body to reorient the figurine during manipulation",
38
+ "confidence": 0.53
39
+ }
40
+ ],
41
+ "functional_labels": [
42
+ "provide decorative representation",
43
+ "form the main visual subject",
44
+ "connect the sculpted features",
45
+ "indicate front and back orientation"
46
+ ],
47
+ "semantic_description": "Small stylized dog figurine with glossy painted surfaces, a blue head and neck, red back and hindquarters, yellow legs, a cream muzzle and chest, large upright ears, and a curled tail standing on the pedestal.",
48
+ "id": 1,
49
+ "grasp_group": {
50
+ "grasp_20": {
51
+ "confidence": 0.953214704990387,
52
+ "position": [
53
+ -0.03405976836802438,
54
+ -0.10627082909923047,
55
+ 0.05095665203407407
56
+ ],
57
+ "orientation": {
58
+ "w": 0.6091065367577276,
59
+ "xyz": [
60
+ -0.7758714056533216,
61
+ 0.1076652513422316,
62
+ -0.12418124827026147
63
+ ]
64
+ }
65
+ },
66
+ "grasp_21": {
67
+ "confidence": 0.9529272317886353,
68
+ "position": [
69
+ -0.02785897982539609,
70
+ -0.11003906454425305,
71
+ 0.03949569584801793
72
+ ],
73
+ "orientation": {
74
+ "w": 0.6691206825792033,
75
+ "xyz": [
76
+ -0.7308992151293227,
77
+ 0.09806230487060619,
78
+ -0.09191101039345119
79
+ ]
80
+ }
81
+ },
82
+ "grasp_23": {
83
+ "confidence": 0.9503346681594849,
84
+ "position": [
85
+ -0.019558498461265117,
86
+ -0.10731004353147,
87
+ 0.07147451164200902
88
+ ],
89
+ "orientation": {
90
+ "w": 0.5521424687548546,
91
+ "xyz": [
92
+ -0.823027858153442,
93
+ 0.13235488666755768,
94
+ -0.015685116380488234
95
+ ]
96
+ }
97
+ },
98
+ "grasp_24": {
99
+ "confidence": 0.9489345550537109,
100
+ "position": [
101
+ -0.028413738880772144,
102
+ -0.11226467217784375,
103
+ 0.030886006075888872
104
+ ],
105
+ "orientation": {
106
+ "w": 0.6803292954358768,
107
+ "xyz": [
108
+ -0.7210059227069101,
109
+ 0.06722753727815867,
110
+ -0.11306178587301026
111
+ ]
112
+ }
113
+ },
114
+ "grasp_25": {
115
+ "confidence": 0.9478784799575806,
116
+ "position": [
117
+ -0.01932706480147317,
118
+ -0.11182957317214459,
119
+ 0.04930884810164571
120
+ ],
121
+ "orientation": {
122
+ "w": 0.6363462859168355,
123
+ "xyz": [
124
+ -0.7523944188516775,
125
+ -0.056641922858362115,
126
+ -0.16049216633718458
127
+ ]
128
+ }
129
+ },
130
+ "grasp_26": {
131
+ "confidence": 0.9423002004623413,
132
+ "position": [
133
+ -0.021793549705762416,
134
+ -0.11555796291213483,
135
+ 0.01878926856443286
136
+ ],
137
+ "orientation": {
138
+ "w": 0.7097076646409691,
139
+ "xyz": [
140
+ -0.6976412670707051,
141
+ 0.060552440012688336,
142
+ -0.07710444370042727
143
+ ]
144
+ }
145
+ },
146
+ "grasp_27": {
147
+ "confidence": 0.9420303702354431,
148
+ "position": [
149
+ -0.03346522693755105,
150
+ -0.10885788674931973,
151
+ 0.024177283514291048
152
+ ],
153
+ "orientation": {
154
+ "w": 0.7138129832385229,
155
+ "xyz": [
156
+ -0.6808813371784483,
157
+ 0.13535583533463036,
158
+ -0.09246852157935881
159
+ ]
160
+ }
161
+ },
162
+ "grasp_28": {
163
+ "confidence": 0.9413986206054688,
164
+ "position": [
165
+ -0.00014778031618334353,
166
+ -0.10980785067658871,
167
+ 0.06364695401862264
168
+ ],
169
+ "orientation": {
170
+ "w": 0.5499417146881198,
171
+ "xyz": [
172
+ -0.8331428513585771,
173
+ 0.05097527793883894,
174
+ 0.028958948790466683
175
+ ]
176
+ }
177
+ },
178
+ "grasp_29": {
179
+ "confidence": 0.940221905708313,
180
+ "position": [
181
+ -0.022953463543672115,
182
+ -0.11693036730866879,
183
+ 0.014880719128996134
184
+ ],
185
+ "orientation": {
186
+ "w": 0.7340594097787166,
187
+ "xyz": [
188
+ -0.6707144430649916,
189
+ 0.038757338928692375,
190
+ -0.09897872225133221
191
+ ]
192
+ }
193
+ },
194
+ "grasp_30": {
195
+ "confidence": 0.9398220181465149,
196
+ "position": [
197
+ -0.0372161062550731,
198
+ -0.10662352468352765,
199
+ 0.035728311631828547
200
+ ],
201
+ "orientation": {
202
+ "w": 0.6550293591735497,
203
+ "xyz": [
204
+ -0.7350059884566027,
205
+ 0.13003428396305416,
206
+ -0.11744709680463362
207
+ ]
208
+ }
209
+ },
210
+ "grasp_31": {
211
+ "confidence": 0.9390783905982971,
212
+ "position": [
213
+ 0.0251298529910855,
214
+ -0.10480652179103345,
215
+ 0.06607122020795941
216
+ ],
217
+ "orientation": {
218
+ "w": 0.5566235984723149,
219
+ "xyz": [
220
+ -0.823530809004838,
221
+ -0.048125426288934015,
222
+ 0.0982401119099371
223
+ ]
224
+ }
225
+ },
226
+ "grasp_32": {
227
+ "confidence": 0.9387550354003906,
228
+ "position": [
229
+ 0.031194536190014333,
230
+ -0.1132738160667941,
231
+ 0.04861791850998998
232
+ ],
233
+ "orientation": {
234
+ "w": 0.09729296093057385,
235
+ "xyz": [
236
+ 0.11399253909299883,
237
+ -0.7652873002431705,
238
+ -0.625999304209687
239
+ ]
240
+ }
241
+ },
242
+ "grasp_33": {
243
+ "confidence": 0.9380098581314087,
244
+ "position": [
245
+ 0.014062407601159066,
246
+ -0.08618685777764767,
247
+ 0.10595062049105763
248
+ ],
249
+ "orientation": {
250
+ "w": 0.349834837968944,
251
+ "xyz": [
252
+ -0.9283553761579748,
253
+ 0.08051425392553169,
254
+ 0.09638120468557641
255
+ ]
256
+ }
257
+ },
258
+ "grasp_34": {
259
+ "confidence": 0.937544584274292,
260
+ "position": [
261
+ 0.0231120606767945,
262
+ -0.1142622324405238,
263
+ 0.055578694213181734
264
+ ],
265
+ "orientation": {
266
+ "w": 0.10856629450349711,
267
+ "xyz": [
268
+ 0.04267917628905867,
269
+ -0.7941497655204759,
270
+ -0.5964209901846519
271
+ ]
272
+ }
273
+ },
274
+ "grasp_35": {
275
+ "confidence": 0.9367270469665527,
276
+ "position": [
277
+ -0.014187509019393474,
278
+ -0.11375327582936734,
279
+ 0.025928780902177095
280
+ ],
281
+ "orientation": {
282
+ "w": 0.7087250420023977,
283
+ "xyz": [
284
+ -0.7026207153395478,
285
+ 0.03275606038954315,
286
+ -0.054405750819172274
287
+ ]
288
+ }
289
+ },
290
+ "grasp_36": {
291
+ "confidence": 0.9358841180801392,
292
+ "position": [
293
+ 0.013739410031121224,
294
+ -0.104161390918307,
295
+ 0.06596535118296742
296
+ ],
297
+ "orientation": {
298
+ "w": 0.564453351977707,
299
+ "xyz": [
300
+ -0.8191537982595526,
301
+ -0.1001153744702652,
302
+ 0.018878030425799264
303
+ ]
304
+ }
305
+ },
306
+ "grasp_37": {
307
+ "confidence": 0.9355106353759766,
308
+ "position": [
309
+ -0.02968814392806962,
310
+ -0.11329791124444455,
311
+ 0.03067807713523507
312
+ ],
313
+ "orientation": {
314
+ "w": 0.7102486913458416,
315
+ "xyz": [
316
+ -0.684763593422562,
317
+ 0.15319698037329188,
318
+ -0.05635869736824117
319
+ ]
320
+ }
321
+ },
322
+ "grasp_38": {
323
+ "confidence": 0.9351651072502136,
324
+ "position": [
325
+ 0.0059691324713639915,
326
+ -0.12150366033893079,
327
+ 0.025354320649057627
328
+ ],
329
+ "orientation": {
330
+ "w": 0.7070735503123401,
331
+ "xyz": [
332
+ -0.7061817087358226,
333
+ -0.03657237116685719,
334
+ 0.004104919352442573
335
+ ]
336
+ }
337
+ },
338
+ "grasp_39": {
339
+ "confidence": 0.9350937008857727,
340
+ "position": [
341
+ -0.039826439518947154,
342
+ -0.10244197573047131,
343
+ 0.06692751543596387
344
+ ],
345
+ "orientation": {
346
+ "w": 0.12183194021155652,
347
+ "xyz": [
348
+ 0.1747112192224713,
349
+ 0.8040242160926554,
350
+ 0.5551378460875073
351
+ ]
352
+ }
353
+ }
354
+ }
355
+ },
356
+ {
357
+ "part_name": "nose",
358
+ "mask_color": "Yellow",
359
+ "graspable": false,
360
+ "grasp_scenarios": [],
361
+ "functional_labels": [
362
+ "depict facial feature",
363
+ "indicate front orientation",
364
+ "add character detail"
365
+ ],
366
+ "semantic_description": "Tiny black glossy nose at the front of the cream muzzle, appearing as a small smooth rounded protrusion.",
367
+ "id": 3,
368
+ "grasp_group": {}
369
+ },
370
+ {
371
+ "part_name": "cheek spot",
372
+ "mask_color": "Blue",
373
+ "graspable": false,
374
+ "grasp_scenarios": [],
375
+ "functional_labels": [
376
+ "add decorative facial detail",
377
+ "accent the side of the face",
378
+ "contribute to character styling"
379
+ ],
380
+ "semantic_description": "Small blue circular painted spot on the side of the dog's face, glossy and smooth, positioned below and slightly behind the eye area.",
381
+ "id": 2,
382
+ "grasp_group": {}
383
+ }
384
+ ],
385
+ "quality_check": {
386
+ "success": false,
387
+ "message": "Base mask color wrong; blue part mislabeled as cheek spot and wrong color description."
388
+ }
389
+ }
dataset/desktop_supplies/decorations/207ce39413a15594bddbf3817fb63c0a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b91e3068ad7154cddd5fff358201374aa3fda34be9e86aafc306cadd22bc2237
3
+ size 3779516