Add asset desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f
Browse files
.gitattributes
CHANGED
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@@ -8246,3 +8246,4 @@ dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/affordanc
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| 8246 |
dataset/desktop_supplies/office_tools/0d880e1f14cb5574acfaacbf4786e865/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8247 |
dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8248 |
dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8246 |
dataset/desktop_supplies/office_tools/0d880e1f14cb5574acfaacbf4786e865/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8247 |
dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8248 |
dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8249 |
+
dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pen holder body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls to pick up and relocate the pen holder",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "grasp around the upper outer body to stabilize it while inserting or removing pens",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "grasp the body from opposite side faces to empty or reposition the container",
|
| 18 |
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"confidence": 0.81
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain pens and pencils",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support upright storage",
|
| 25 |
+
"form the outer structure",
|
| 26 |
+
"stabilize items placed inside"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "A medium-sized hexagonal cup body in light beige wood with a smooth matte finish, hard slightly polished surfaces, visible wood grain inside and out, tapered walls, and a darker brown bottom/interior.",
|
| 29 |
+
"id": 1,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_0": {
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| 32 |
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"confidence": 0.9726133346557617,
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| 33 |
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| 37 |
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],
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"orientation": {
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| 40 |
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"xyz": [
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| 44 |
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]
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| 45 |
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}
|
| 46 |
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},
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| 47 |
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"grasp_1": {
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| 48 |
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"confidence": 0.971510112285614,
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| 49 |
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"position": [
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},
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"grasp_2": {
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},
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"grasp_3": {
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}
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},
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"grasp_5": {
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| 96 |
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"grasp_6": {
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dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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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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oid sha256:ddb14a771b73e4d7a77a53e5269bf56b1ad173df6e8720382737f5277e9f6d98
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| 3 |
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size 1860440
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