Add asset livingroom_supplies/ornaments/500aab3d17565ee4b2e4e19639fabee3
Browse files
.gitattributes
CHANGED
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@@ -7690,3 +7690,4 @@ dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/affordanc
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| 7690 |
dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7691 |
dataset/livingroom_supplies/ornaments/4b8204a6a35e5d78b766e15f563a6000/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7692 |
dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7690 |
dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7691 |
dataset/livingroom_supplies/ornaments/4b8204a6a35e5d78b766e15f563a6000/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7692 |
dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7693 |
+
dataset/livingroom_supplies/ornaments/500aab3d17565ee4b2e4e19639fabee3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/500aab3d17565ee4b2e4e19639fabee3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,393 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "shovel scoop",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the scoop sides or rim to reposition the toy shovel when the handle is obstructed",
|
| 10 |
+
"confidence": 0.28
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the scoop body to stabilize the shovel while another manipulator engages the handle",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop loose material",
|
| 19 |
+
"push and transfer material",
|
| 20 |
+
"contain a small load temporarily",
|
| 21 |
+
"contact the ground or sand"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Broad blue plastic scoop with a smooth slightly glossy hard surface, forming a shallow rectangular bucket at the front of the shovel and larger than the handle.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "shovel handle",
|
| 29 |
+
"mask_color": "Green",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the handle to lift and carry the shovel",
|
| 34 |
+
"confidence": 0.97
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "hold the handle to aim the scoop while digging or scooping",
|
| 38 |
+
"confidence": 0.95
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "grasp the shaft to pull the shovel from storage or a pile",
|
| 42 |
+
"confidence": 0.9
|
| 43 |
+
}
|
| 44 |
+
],
|
| 45 |
+
"functional_labels": [
|
| 46 |
+
"primary grip",
|
| 47 |
+
"control tool orientation",
|
| 48 |
+
"transmit pushing force",
|
| 49 |
+
"carry the shovel"
|
| 50 |
+
],
|
| 51 |
+
"semantic_description": "Long narrow blue plastic handle with a smooth slightly glossy hard surface, tapering gently from the scoop to the grip and running along the rear of the shovel.",
|
| 52 |
+
"id": 1,
|
| 53 |
+
"grasp_group": {
|
| 54 |
+
"grasp_20": {
|
| 55 |
+
"confidence": 0.8458979725837708,
|
| 56 |
+
"position": [
|
| 57 |
+
0.09642228484153748,
|
| 58 |
+
-0.1073459789622575,
|
| 59 |
+
0.015828694216907024
|
| 60 |
+
],
|
| 61 |
+
"orientation": {
|
| 62 |
+
"w": 0.521533447903277,
|
| 63 |
+
"xyz": [
|
| 64 |
+
-0.46637790139145835,
|
| 65 |
+
-0.42059582519618177,
|
| 66 |
+
-0.5775756813088327
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"grasp_21": {
|
| 71 |
+
"confidence": 0.8344820141792297,
|
| 72 |
+
"position": [
|
| 73 |
+
0.103989377617836,
|
| 74 |
+
0.11152695561759174,
|
| 75 |
+
0.052368028089404106
|
| 76 |
+
],
|
| 77 |
+
"orientation": {
|
| 78 |
+
"w": 0.5214814606047505,
|
| 79 |
+
"xyz": [
|
| 80 |
+
0.47399052539705344,
|
| 81 |
+
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|
| 82 |
+
-0.46946422917891417
|
| 83 |
+
]
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"grasp_22": {
|
| 87 |
+
"confidence": 0.8209214210510254,
|
| 88 |
+
"position": [
|
| 89 |
+
0.08692578971385956,
|
| 90 |
+
-0.10050767962820828,
|
| 91 |
+
0.018062342889606953
|
| 92 |
+
],
|
| 93 |
+
"orientation": {
|
| 94 |
+
"w": 0.43057322884162746,
|
| 95 |
+
"xyz": [
|
| 96 |
+
-0.5175152122376032,
|
| 97 |
+
-0.3485812901901396,
|
| 98 |
+
-0.6521317227653798
|
| 99 |
+
]
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"grasp_23": {
|
| 103 |
+
"confidence": 0.8207278847694397,
|
| 104 |
+
"position": [
|
| 105 |
+
0.07564274966716766,
|
| 106 |
+
0.10007854993455112,
|
| 107 |
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0.0413441713899374
|
| 108 |
+
],
|
| 109 |
+
"orientation": {
|
| 110 |
+
"w": 0.4157625301356923,
|
| 111 |
+
"xyz": [
|
| 112 |
+
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|
| 113 |
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-0.38939301646511204,
|
| 114 |
+
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|
| 115 |
+
]
|
| 116 |
+
}
|
| 117 |
+
},
|
| 118 |
+
"grasp_24": {
|
| 119 |
+
"confidence": 0.8170968294143677,
|
| 120 |
+
"position": [
|
| 121 |
+
0.13869166374206543,
|
| 122 |
+
0.11001574690453708,
|
| 123 |
+
0.053830960765480995
|
| 124 |
+
],
|
| 125 |
+
"orientation": {
|
| 126 |
+
"w": 0.48603298623709873,
|
| 127 |
+
"xyz": [
|
| 128 |
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0.5256672453103838,
|
| 129 |
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-0.5001045287465832,
|
| 130 |
+
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|
| 131 |
+
]
|
| 132 |
+
}
|
| 133 |
+
},
|
| 134 |
+
"grasp_25": {
|
| 135 |
+
"confidence": 0.8170955181121826,
|
| 136 |
+
"position": [
|
| 137 |
+
0.0791613757610321,
|
| 138 |
+
0.11092968727461994,
|
| 139 |
+
0.0537021029740572
|
| 140 |
+
],
|
| 141 |
+
"orientation": {
|
| 142 |
+
"w": 0.4347465781166565,
|
| 143 |
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"xyz": [
|
| 144 |
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|
| 145 |
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-0.4742051392238613,
|
| 146 |
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|
| 147 |
+
]
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"grasp_26": {
|
| 151 |
+
"confidence": 0.8158957958221436,
|
| 152 |
+
"position": [
|
| 153 |
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0.08919306099414825,
|
| 154 |
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-0.10074890707619488,
|
| 155 |
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0.017899882048368454
|
| 156 |
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],
|
| 157 |
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"orientation": {
|
| 158 |
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"w": 0.5925956099304475,
|
| 159 |
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"xyz": [
|
| 160 |
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-0.4372421672859893,
|
| 161 |
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|
| 162 |
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|
| 163 |
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]
|
| 164 |
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}
|
| 165 |
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},
|
| 166 |
+
"grasp_27": {
|
| 167 |
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"confidence": 0.8155120611190796,
|
| 168 |
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"position": [
|
| 169 |
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0.09142473340034485,
|
| 170 |
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-0.09517183457501233,
|
| 171 |
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0.023917254991829395
|
| 172 |
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],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.6724522767891506,
|
| 175 |
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"xyz": [
|
| 176 |
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-0.3600363998736514,
|
| 177 |
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|
| 178 |
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|
| 179 |
+
]
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
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"grasp_28": {
|
| 183 |
+
"confidence": 0.8143468499183655,
|
| 184 |
+
"position": [
|
| 185 |
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0.11509434878826141,
|
| 186 |
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-0.10738894646055996,
|
| 187 |
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0.03561343252658844
|
| 188 |
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],
|
| 189 |
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"orientation": {
|
| 190 |
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"w": 0.4641187632511597,
|
| 191 |
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"xyz": [
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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]
|
| 196 |
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}
|
| 197 |
+
},
|
| 198 |
+
"grasp_29": {
|
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|
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],
|
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|
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|
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|
| 353 |
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}
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}
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| 359 |
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},
|
| 360 |
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{
|
| 361 |
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"part_name": "neck joint",
|
| 362 |
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"mask_color": "Blue",
|
| 363 |
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"graspable": false,
|
| 364 |
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"grasp_scenarios": [],
|
| 365 |
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"functional_labels": [
|
| 366 |
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"connect handle to scoop",
|
| 367 |
+
"reinforce load transfer",
|
| 368 |
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"stabilize the tool head"
|
| 369 |
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],
|
| 370 |
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"semantic_description": "Small blue plastic transition piece with a smooth hard finish at the junction between the handle and scoop, thickened and angular to brace the head.",
|
| 371 |
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"id": 2,
|
| 372 |
+
"grasp_group": {}
|
| 373 |
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},
|
| 374 |
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{
|
| 375 |
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"part_name": "hanging hole",
|
| 376 |
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"mask_color": "Yellow",
|
| 377 |
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"graspable": false,
|
| 378 |
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"grasp_scenarios": [],
|
| 379 |
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"functional_labels": [
|
| 380 |
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"enable hanging storage",
|
| 381 |
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|
| 382 |
+
"indicate grip-end orientation"
|
| 383 |
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],
|
| 384 |
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"semantic_description": "Small dark recessed oval-like opening at the end of the blue plastic grip, smooth-edged and positioned at the handle tip for hanging.",
|
| 385 |
+
"id": 3,
|
| 386 |
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"grasp_group": {}
|
| 387 |
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}
|
| 388 |
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],
|
| 389 |
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"quality_check": {
|
| 390 |
+
"success": true,
|
| 391 |
+
"message": "YES"
|
| 392 |
+
}
|
| 393 |
+
}
|
dataset/livingroom_supplies/ornaments/500aab3d17565ee4b2e4e19639fabee3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c8c9679b6d8f378ef0987990ac38805bfc89d71040932909129f998395c4701e
|
| 3 |
+
size 655148
|