Add asset livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734
Browse files
.gitattributes
CHANGED
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@@ -7780,3 +7780,4 @@ dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/affordanc
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| 7780 |
dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7781 |
dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7782 |
dataset/livingroom_supplies/ornaments/e9d3a9a0bb4a5ab6b444c14898e1b5c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7780 |
dataset/livingroom_supplies/ornaments/e57a399cb3335073a6fa0349b8880dc0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7781 |
dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7782 |
dataset/livingroom_supplies/ornaments/e9d3a9a0bb4a5ab6b444c14898e1b5c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7783 |
+
dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,372 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "vase body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bulbous body to pick up and move the vase",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the body to stabilize the vase during placement",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp around the narrow neck area of the main body for controlled reorientation",
|
| 18 |
+
"confidence": 0.62
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain flowers or liquid",
|
| 23 |
+
"provide the main structure",
|
| 24 |
+
"support upright placement",
|
| 25 |
+
"provide the main grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large cream-white ceramic or porcelain body with a glossy smooth hard surface, featuring a rounded bulbous lower section and slender neck that forms the main central vessel.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9849493503570557,
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| 32 |
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"position": [
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| 33 |
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],
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| 44 |
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| 45 |
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},
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| 46 |
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"grasp_1": {
|
| 47 |
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| 59 |
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}
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| 61 |
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},
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"grasp_2": {
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| 63 |
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"confidence": 0.983817994594574,
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"position": [
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"orientation": {
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}
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},
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"grasp_3": {
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]
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}
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},
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"grasp_4": {
|
| 95 |
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"confidence": 0.9826582074165344,
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"position": [
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| 352 |
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{
|
| 353 |
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"part_name": "rim of vase",
|
| 354 |
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"mask_color": "Red",
|
| 355 |
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|
| 356 |
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|
| 357 |
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"functional_labels": [
|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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"provide pouring boundary"
|
| 362 |
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| 363 |
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"semantic_description": "Small circular cream-white glossy ceramic rim at the top opening, with a hard smooth slightly flared lip forming the mouth of the vase.",
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| 364 |
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| 369 |
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"success": true,
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| 371 |
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| 372 |
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}
|
dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:b683f3fc93af0a0ad7ae5f951992f701b271e63d12cd0db4901a165b45431650
|
| 3 |
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size 1012960
|