Add asset desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302
Browse files
.gitattributes
CHANGED
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@@ -6084,3 +6084,4 @@ dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mes
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| 6084 |
dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6085 |
dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6086 |
dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6084 |
dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6085 |
dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6086 |
dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6087 |
+
dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1262 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top knob",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the small top knob for very light reorientation or fine alignment of the pawn",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "nudge the pawn by contacting the top knob in low-force manipulation",
|
| 14 |
+
"confidence": 0.22
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"indicate top orientation",
|
| 19 |
+
"provide a small manipulation point",
|
| 20 |
+
"complete the pawn silhouette"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Small rounded gold knob at the very top of the pawn, with a glossy reflective metallic-looking finish, smooth hard surface, and compact spherical-cylindrical shape.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.9789296984672546,
|
| 27 |
+
"position": [
|
| 28 |
+
0.09038856907864101,
|
| 29 |
+
-0.03775190858868882,
|
| 30 |
+
0.058881583623588085
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.576331035860989,
|
| 34 |
+
"xyz": [
|
| 35 |
+
-0.5997263867490279,
|
| 36 |
+
-0.42849824366398714,
|
| 37 |
+
0.352930663611471
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_1": {
|
| 42 |
+
"confidence": 0.9704464673995972,
|
| 43 |
+
"position": [
|
| 44 |
+
-0.09864992366055958,
|
| 45 |
+
0.0006839108391432092,
|
| 46 |
+
0.053033153526484966
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.4825794857375889,
|
| 50 |
+
"xyz": [
|
| 51 |
+
0.5292826920849918,
|
| 52 |
+
0.508597559190222,
|
| 53 |
+
0.47781313773300216
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_2": {
|
| 58 |
+
"confidence": 0.9613143801689148,
|
| 59 |
+
"position": [
|
| 60 |
+
0.0826640082814265,
|
| 61 |
+
-0.00865400506881997,
|
| 62 |
+
0.10543734114617109
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.347553370646768,
|
| 66 |
+
"xyz": [
|
| 67 |
+
-0.6395729068072679,
|
| 68 |
+
-0.610163439884864,
|
| 69 |
+
0.3128158053200672
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_3": {
|
| 74 |
+
"confidence": 0.9558327198028564,
|
| 75 |
+
"position": [
|
| 76 |
+
0.08281097843428142,
|
| 77 |
+
-0.01450679375557229,
|
| 78 |
+
0.10212391894310713
|
| 79 |
+
],
|
| 80 |
+
"orientation": {
|
| 81 |
+
"w": 0.29760785597835304,
|
| 82 |
+
"xyz": [
|
| 83 |
+
0.5624252582315916,
|
| 84 |
+
-0.6773237557392834,
|
| 85 |
+
-0.3692423633256711
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_4": {
|
| 90 |
+
"confidence": 0.9555617570877075,
|
| 91 |
+
"position": [
|
| 92 |
+
0.042953277967171744,
|
| 93 |
+
0.08934011386008933,
|
| 94 |
+
0.04865799378603697
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
+
"w": 0.6829495768422575,
|
| 98 |
+
"xyz": [
|
| 99 |
+
0.6935728695977857,
|
| 100 |
+
-0.1838565802569454,
|
| 101 |
+
-0.13686967503832312
|
| 102 |
+
]
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"grasp_5": {
|
| 106 |
+
"confidence": 0.9516305327415466,
|
| 107 |
+
"position": [
|
| 108 |
+
0.08353780492325313,
|
| 109 |
+
-0.008879197936039418,
|
| 110 |
+
0.10511101316660643
|
| 111 |
+
],
|
| 112 |
+
"orientation": {
|
| 113 |
+
"w": 0.3096552972245192,
|
| 114 |
+
"xyz": [
|
| 115 |
+
0.5934163927853927,
|
| 116 |
+
-0.6513357768350345,
|
| 117 |
+
-0.3573965409584571
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"grasp_6": {
|
| 122 |
+
"confidence": 0.9494532942771912,
|
| 123 |
+
"position": [
|
| 124 |
+
-0.0505221942148637,
|
| 125 |
+
-0.06196938006905839,
|
| 126 |
+
0.10100751649588346
|
| 127 |
+
],
|
| 128 |
+
"orientation": {
|
| 129 |
+
"w": 0.1683823225986179,
|
| 130 |
+
"xyz": [
|
| 131 |
+
0.2996672748783955,
|
| 132 |
+
0.8244687124394332,
|
| 133 |
+
0.4495534006230123
|
| 134 |
+
]
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"grasp_8": {
|
| 138 |
+
"confidence": 0.9431902766227722,
|
| 139 |
+
"position": [
|
| 140 |
+
0.05583151712198742,
|
| 141 |
+
0.061007563781458884,
|
| 142 |
+
0.10542422812432051
|
| 143 |
+
],
|
| 144 |
+
"orientation": {
|
| 145 |
+
"w": 0.19524642413825424,
|
| 146 |
+
"xyz": [
|
| 147 |
+
-0.25972770938094153,
|
| 148 |
+
-0.8477074115590184,
|
| 149 |
+
0.41930000623522923
|
| 150 |
+
]
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
"grasp_9": {
|
| 154 |
+
"confidence": 0.9388192296028137,
|
| 155 |
+
"position": [
|
| 156 |
+
-0.04674560666899197,
|
| 157 |
+
-0.004462695389520377,
|
| 158 |
+
0.1388707859441638
|
| 159 |
+
],
|
| 160 |
+
"orientation": {
|
| 161 |
+
"w": 0.17331442137777422,
|
| 162 |
+
"xyz": [
|
| 163 |
+
-0.729896338672725,
|
| 164 |
+
0.6400843882770613,
|
| 165 |
+
-0.1658475867132784
|
| 166 |
+
]
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"grasp_11": {
|
| 170 |
+
"confidence": 0.9352445602416992,
|
| 171 |
+
"position": [
|
| 172 |
+
0.043765886715846136,
|
| 173 |
+
0.08435509429546073,
|
| 174 |
+
0.06204256694763899
|
| 175 |
+
],
|
| 176 |
+
"orientation": {
|
| 177 |
+
"w": 0.6256550328714783,
|
| 178 |
+
"xyz": [
|
| 179 |
+
0.7468266891122246,
|
| 180 |
+
-0.1479961414127159,
|
| 181 |
+
-0.17000828920735003
|
| 182 |
+
]
|
| 183 |
+
}
|
| 184 |
+
},
|
| 185 |
+
"grasp_13": {
|
| 186 |
+
"confidence": 0.9335132837295532,
|
| 187 |
+
"position": [
|
| 188 |
+
0.021237819484667853,
|
| 189 |
+
0.09564659075113013,
|
| 190 |
+
0.04565850552171469
|
| 191 |
+
],
|
| 192 |
+
"orientation": {
|
| 193 |
+
"w": 0.7037161299288368,
|
| 194 |
+
"xyz": [
|
| 195 |
+
0.7031442368689793,
|
| 196 |
+
-0.050841915498513024,
|
| 197 |
+
-0.08824335818838372
|
| 198 |
+
]
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
"grasp_16": {
|
| 202 |
+
"confidence": 0.9294308423995972,
|
| 203 |
+
"position": [
|
| 204 |
+
0.02033964081783779,
|
| 205 |
+
0.08066383824916556,
|
| 206 |
+
0.0970813287422061
|
| 207 |
+
],
|
| 208 |
+
"orientation": {
|
| 209 |
+
"w": 0.4939949604610165,
|
| 210 |
+
"xyz": [
|
| 211 |
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0.86474673307034,
|
| 212 |
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-0.07059384664011836,
|
| 213 |
+
-0.056555950171880094
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
},
|
| 217 |
+
"grasp_19": {
|
| 218 |
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{
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| 1256 |
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}
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| 1257 |
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],
|
| 1258 |
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"quality_check": {
|
| 1259 |
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"success": false,
|
| 1260 |
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"message": "Blue part is body, not neck; orange collar location/name mismatched; some grasp labels overstate tiny decorative parts."
|
| 1261 |
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}
|
| 1262 |
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}
|
dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1733064
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