Add asset desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6
Browse files
.gitattributes
CHANGED
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@@ -6514,4 +6514,4 @@ dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/affo
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| 6514 |
dataset/desktop_supplies/office_stationery/d5fb0ba7e5ef54588550a2b57d6c7cba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6515 |
dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6516 |
dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6517 |
-
dataset/desktop_supplies/office_stationery/
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| 6514 |
dataset/desktop_supplies/office_stationery/d5fb0ba7e5ef54588550a2b57d6c7cba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6515 |
dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6516 |
dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6517 |
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dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,381 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base ring",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lower base ring to pick up the pen holder from below",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base ring to stabilize the pen holder during placement",
|
| 14 |
+
"confidence": 0.64
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support on a flat surface",
|
| 19 |
+
"stabilize the container",
|
| 20 |
+
"provide a lower contact edge",
|
| 21 |
+
"protect the bottom perimeter"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A narrow light gray ring around the bottom edge, likely rubber or plastic, with a matte slightly rough surface that forms the small supporting perimeter at the base.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "holder body",
|
| 29 |
+
"mask_color": "Green",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the cylindrical body from the sides to lift the pen holder",
|
| 34 |
+
"confidence": 0.94
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "hold the body to reposition or rotate the pen holder on a desk",
|
| 38 |
+
"confidence": 0.91
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "grasp the upper rim area to steady the holder while inserting or removing pens",
|
| 42 |
+
"confidence": 0.72
|
| 43 |
+
}
|
| 44 |
+
],
|
| 45 |
+
"functional_labels": [
|
| 46 |
+
"contain pens and tools",
|
| 47 |
+
"provide the main structure",
|
| 48 |
+
"support side grasping",
|
| 49 |
+
"define the open storage cavity"
|
| 50 |
+
],
|
| 51 |
+
"semantic_description": "A light beige wooden cylindrical cup with a matte smooth finish, visible vertical wood grain, hard texture, and blue printed lettering on the outside, forming the large hollow main body.",
|
| 52 |
+
"id": 1,
|
| 53 |
+
"grasp_group": {
|
| 54 |
+
"grasp_20": {
|
| 55 |
+
"confidence": 0.9667884707450867,
|
| 56 |
+
"position": [
|
| 57 |
+
-0.042175929818768054,
|
| 58 |
+
0.06030410379753448,
|
| 59 |
+
0.16367759346030653
|
| 60 |
+
],
|
| 61 |
+
"orientation": {
|
| 62 |
+
"w": 0.01753676971735466,
|
| 63 |
+
"xyz": [
|
| 64 |
+
0.46366251260449887,
|
| 65 |
+
0.8850653726309543,
|
| 66 |
+
-0.03699759833818098
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"grasp_21": {
|
| 71 |
+
"confidence": 0.9667783379554749,
|
| 72 |
+
"position": [
|
| 73 |
+
0.051712881948333234,
|
| 74 |
+
0.06992163360700943,
|
| 75 |
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0.16074692248366773
|
| 76 |
+
],
|
| 77 |
+
"orientation": {
|
| 78 |
+
"w": 0.11668369192185722,
|
| 79 |
+
"xyz": [
|
| 80 |
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-0.7049540498415311,
|
| 81 |
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-0.6690281661140967,
|
| 82 |
+
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|
| 83 |
+
]
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"grasp_22": {
|
| 87 |
+
"confidence": 0.9665964245796204,
|
| 88 |
+
"position": [
|
| 89 |
+
0.05416943895397708,
|
| 90 |
+
0.06732620150432922,
|
| 91 |
+
0.15833741961978376
|
| 92 |
+
],
|
| 93 |
+
"orientation": {
|
| 94 |
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"w": 0.11327810633570849,
|
| 95 |
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"xyz": [
|
| 96 |
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-0.7339394898285619,
|
| 97 |
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-0.6347305835380659,
|
| 98 |
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0.21358366561282846
|
| 99 |
+
]
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"grasp_23": {
|
| 103 |
+
"confidence": 0.9625614881515503,
|
| 104 |
+
"position": [
|
| 105 |
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0.05535761656938121,
|
| 106 |
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0.07155568004236557,
|
| 107 |
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|
| 108 |
+
],
|
| 109 |
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"orientation": {
|
| 110 |
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"w": 0.24733368961820393,
|
| 111 |
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"xyz": [
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
+
]
|
| 116 |
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}
|
| 117 |
+
},
|
| 118 |
+
"grasp_24": {
|
| 119 |
+
"confidence": 0.9618682861328125,
|
| 120 |
+
"position": [
|
| 121 |
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0.03993310424266383,
|
| 122 |
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-0.0636634394468274,
|
| 123 |
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|
| 124 |
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],
|
| 125 |
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"orientation": {
|
| 126 |
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"w": 0.11179885982865832,
|
| 127 |
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"xyz": [
|
| 128 |
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-0.48395313498263587,
|
| 129 |
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|
| 130 |
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|
| 131 |
+
]
|
| 132 |
+
}
|
| 133 |
+
},
|
| 134 |
+
"grasp_25": {
|
| 135 |
+
"confidence": 0.9608272314071655,
|
| 136 |
+
"position": [
|
| 137 |
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0.05831806379137561,
|
| 138 |
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-0.00779560356750153,
|
| 139 |
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0.16432461678050458
|
| 140 |
+
],
|
| 141 |
+
"orientation": {
|
| 142 |
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"w": 0.18924917093650043,
|
| 143 |
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"xyz": [
|
| 144 |
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|
| 145 |
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-0.28323351428590854,
|
| 146 |
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-0.0609150475123552
|
| 147 |
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]
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"grasp_26": {
|
| 151 |
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"confidence": 0.9606645107269287,
|
| 152 |
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"position": [
|
| 153 |
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-0.04827127215685323,
|
| 154 |
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0.048882259434321895,
|
| 155 |
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|
| 156 |
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],
|
| 157 |
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"orientation": {
|
| 158 |
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"w": 0.02099653448769419,
|
| 159 |
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"xyz": [
|
| 160 |
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0.5045272438243076,
|
| 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 |
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"grasp_27": {
|
| 167 |
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"confidence": 0.9600972533226013,
|
| 168 |
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"position": [
|
| 169 |
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0.03620694967685267,
|
| 170 |
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0.09172658473835327,
|
| 171 |
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0.15234171389602125
|
| 172 |
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],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.08150557296779368,
|
| 175 |
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"xyz": [
|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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]
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"grasp_28": {
|
| 183 |
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"confidence": 0.9598572254180908,
|
| 184 |
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"position": [
|
| 185 |
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-0.011669125233311206,
|
| 186 |
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0.07286614031181671,
|
| 187 |
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|
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],
|
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"orientation": {
|
| 190 |
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"w": 0.07147954615592218,
|
| 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 |
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},
|
| 198 |
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"grasp_29": {
|
| 199 |
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"confidence": 0.9590885043144226,
|
| 200 |
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"position": [
|
| 201 |
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|
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dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3781976
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