Add asset desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720
Browse files
.gitattributes
CHANGED
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@@ -6583,4 +6583,4 @@ dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/affordanc
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| 6583 |
dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6584 |
dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6585 |
dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6586 |
-
dataset/desktop_supplies/office_tools/
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| 6583 |
dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6584 |
dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6585 |
dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6586 |
+
dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,594 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical body from opposite sides to pick up the tape roll",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the roll by the outer rim to stabilize it while dispensing tape",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the roll body to reposition or place it onto a holder",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main structural body",
|
| 23 |
+
"support tape winding",
|
| 24 |
+
"provide outer grasp surface",
|
| 25 |
+
"stabilize during dispensing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white plastic-like tape roll body with a matte to slightly satin finish, hard smooth surface, thick cylindrical ring shape, and layered tape edges visible around the outer circumference.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9762608408927917,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.07782600272912532,
|
| 34 |
+
0.1055931614828296,
|
| 35 |
+
0.00766646524425596
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5789236644804386,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.39737924197548546,
|
| 41 |
+
0.5995503024182235,
|
| 42 |
+
-0.3840267746157117
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9731189012527466,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.12135070760268718,
|
| 50 |
+
0.07430807669879869,
|
| 51 |
+
0.007734943996183574
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.18969350833335233,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6880835426502628,
|
| 57 |
+
-0.1906903775745371,
|
| 58 |
+
0.6739396049576908
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9723586440086365,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.13924110133666545,
|
| 66 |
+
0.026384247292298824,
|
| 67 |
+
0.0012329243545536883
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7021239242318443,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.09975788774955906,
|
| 73 |
+
0.7030451186673948,
|
| 74 |
+
-0.052895368142882954
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9717273116111755,
|
| 80 |
+
"position": [
|
| 81 |
+
0.10299674968700856,
|
| 82 |
+
-0.0946173949050717,
|
| 83 |
+
-0.0025222291005775332
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6608843268310415,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.23027191870085126,
|
| 89 |
+
-0.666825601869594,
|
| 90 |
+
-0.25602805841970416
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9708379507064819,
|
| 96 |
+
"position": [
|
| 97 |
+
0.08036477665882558,
|
| 98 |
+
-0.11506358365295455,
|
| 99 |
+
-0.005436318111605942
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6272087966759752,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.32353672845723214,
|
| 105 |
+
-0.616459293217725,
|
| 106 |
+
-0.3491576298994039
|
| 107 |
+
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dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/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 sha256:942863e141aea50c6411d746aef579f1fed5ea97f389123e755cc2f81c8a44f4
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| 3 |
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size 3782332
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