Add asset desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576
Browse files
.gitattributes
CHANGED
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@@ -6138,3 +6138,4 @@ dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/affordance
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| 6138 |
dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6139 |
dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6140 |
dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6138 |
dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6139 |
dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6140 |
dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6141 |
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dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,574 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "carry loop",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "hook or pinch the loop to lift the thermos",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the loop to pull or reorient the thermos",
|
| 14 |
+
"confidence": 0.68
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the loop to stabilize the bottle while opening the lid",
|
| 18 |
+
"confidence": 0.44
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a carrying point",
|
| 23 |
+
"enable hanging",
|
| 24 |
+
"assist lifting",
|
| 25 |
+
"aid reorientation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A small dark gray plastic loop attached near the lid, with a matte hard surface and rounded rectangular shape positioned at the top side of the thermos.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.5585733652114868,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.07561118772719055,
|
| 34 |
+
0.09149547014385462,
|
| 35 |
+
0.1619343557395041
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5109732219636988,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.2928893775458398,
|
| 41 |
+
0.7923855375710611,
|
| 42 |
+
-0.1588941119269952
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
{
|
| 49 |
+
"part_name": "lid",
|
| 50 |
+
"mask_color": "Green",
|
| 51 |
+
"graspable": true,
|
| 52 |
+
"grasp_scenarios": [
|
| 53 |
+
{
|
| 54 |
+
"scenario": "grasp the lid to twist and open the thermos",
|
| 55 |
+
"confidence": 0.86
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"scenario": "grasp the lid to close and tighten it",
|
| 59 |
+
"confidence": 0.84
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"scenario": "hold the top cap to stabilize the thermos during handling",
|
| 63 |
+
"confidence": 0.52
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"functional_labels": [
|
| 67 |
+
"cover the opening",
|
| 68 |
+
"seal the container",
|
| 69 |
+
"enable opening and closing",
|
| 70 |
+
"support pouring access"
|
| 71 |
+
],
|
| 72 |
+
"semantic_description": "A dark gray plastic top cap with a mostly matte smooth finish, slightly domed cylindrical shape, and medium size at the bottle top, integrating the carry loop attachment.",
|
| 73 |
+
"id": 1,
|
| 74 |
+
"grasp_group": {
|
| 75 |
+
"grasp_20": {
|
| 76 |
+
"confidence": 0.8251927495002747,
|
| 77 |
+
"position": [
|
| 78 |
+
0.002275205566547811,
|
| 79 |
+
0.018455482088029385,
|
| 80 |
+
0.2082503237761557
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.02644726918833594,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.9995750859798865,
|
| 86 |
+
0.011919566211797166,
|
| 87 |
+
-0.0028483999200946005
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_21": {
|
| 92 |
+
"confidence": 0.8192001581192017,
|
| 93 |
+
"position": [
|
| 94 |
+
0.0015453501837328076,
|
| 95 |
+
0.010759229771792889,
|
| 96 |
+
0.20793471718207002
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.03398605692344099,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.9974691137589388,
|
| 102 |
+
-0.06196368963180057,
|
| 103 |
+
0.007798474143563636
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_24": {
|
| 108 |
+
"confidence": 0.8006147742271423,
|
| 109 |
+
"position": [
|
| 110 |
+
-0.0029509974410757422,
|
| 111 |
+
0.022860943339765072,
|
| 112 |
+
0.2068927981890738
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.02317157165976516,
|
| 116 |
+
"xyz": [
|
| 117 |
+
-0.06682315105837794,
|
| 118 |
+
0.9974844142292948,
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"w": 0.7120015243487219,
|
| 529 |
+
"xyz": [
|
| 530 |
+
-0.6957002219575158,
|
| 531 |
+
-0.0645132190367308,
|
| 532 |
+
0.06995051867483579
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_59": {
|
| 537 |
+
"confidence": 0.777756929397583,
|
| 538 |
+
"position": [
|
| 539 |
+
-0.0302115740487352,
|
| 540 |
+
-0.11690630670636892,
|
| 541 |
+
0.022166762966662645
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.7015765570208664,
|
| 545 |
+
"xyz": [
|
| 546 |
+
-0.6978520247044072,
|
| 547 |
+
0.10124323676276215,
|
| 548 |
+
-0.10267761812832163
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
}
|
| 552 |
+
}
|
| 553 |
+
},
|
| 554 |
+
{
|
| 555 |
+
"part_name": "bottom base",
|
| 556 |
+
"mask_color": "Yellow",
|
| 557 |
+
"graspable": false,
|
| 558 |
+
"grasp_scenarios": [],
|
| 559 |
+
"functional_labels": [
|
| 560 |
+
"support upright standing",
|
| 561 |
+
"protect the bottom",
|
| 562 |
+
"provide contact surface",
|
| 563 |
+
"stabilize placement"
|
| 564 |
+
],
|
| 565 |
+
"semantic_description": "A circular dark gray base pad at the bottom, likely plastic or rubber, with a matte smooth surface and broad flat shape for stable contact with a table.",
|
| 566 |
+
"id": 3,
|
| 567 |
+
"grasp_group": {}
|
| 568 |
+
}
|
| 569 |
+
],
|
| 570 |
+
"quality_check": {
|
| 571 |
+
"success": true,
|
| 572 |
+
"message": "YES"
|
| 573 |
+
}
|
| 574 |
+
}
|
dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a65ee4684274a93daba242c8a948330a754a76174e4de5b46cf6e5d6c01dea34
|
| 3 |
+
size 1499072
|