Add asset desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633
Browse files
.gitattributes
CHANGED
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@@ -6572,3 +6572,4 @@ dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/affordanc
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| 6572 |
dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6573 |
dataset/desktop_supplies/office_tools/48f5501684ae566483372aa8f2c3b756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6574 |
dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6572 |
dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6573 |
dataset/desktop_supplies/office_tools/48f5501684ae566483372aa8f2c3b756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6574 |
dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6575 |
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dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,462 @@
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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 to pick up and move the tape roll",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer rim to stabilize the roll while dispensing tape",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the side of the roll to reorient it on a work surface",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main structural body",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support tape dispensing",
|
| 25 |
+
"protect wound tape layers"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large ring-shaped tape body with a bright pink outer surface covered in white polka-dot pattern, smooth slightly glossy finish, and thick cylindrical form around the roll exterior.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9395166635513306,
|
| 32 |
+
"position": [
|
| 33 |
+
0.01950442953966558,
|
| 34 |
+
-0.16231425775913522,
|
| 35 |
+
0.0031571118161082268
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5260289447709676,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.4585699423031361,
|
| 41 |
+
-0.5525986884585418,
|
| 42 |
+
-0.45567734944052257
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9389702677726746,
|
| 48 |
+
"position": [
|
| 49 |
+
0.006396196549758315,
|
| 50 |
+
-0.16160305513767526,
|
| 51 |
+
-0.0009333220732514746
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5002859912664809,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.507839994160703,
|
| 57 |
+
-0.49780546104385937,
|
| 58 |
+
-0.4939657783979399
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9381019473075867,
|
| 64 |
+
"position": [
|
| 65 |
+
0.03541460423730314,
|
| 66 |
+
-0.15682191326050088,
|
| 67 |
+
-0.002192564425058663
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5764720129921321,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.41496488460413006,
|
| 73 |
+
-0.5688247908404487,
|
| 74 |
+
-0.41463540623974715
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9365789294242859,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0392628104891628,
|
| 82 |
+
-0.15278806461719796,
|
| 83 |
+
-0.001109996264858637
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5818701426527276,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.3802126490467703,
|
| 89 |
+
-0.5990258111318755,
|
| 90 |
+
-0.3975343459274062
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9330686330795288,
|
| 96 |
+
"position": [
|
| 97 |
+
0.014163795625790954,
|
| 98 |
+
-0.15931042208103463,
|
| 99 |
+
-0.006624628324061632
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5273033345390349,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.4815224136414026,
|
| 105 |
+
-0.5007269736286539,
|
| 106 |
+
-0.48924416851472163
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9326789975166321,
|
| 112 |
+
"position": [
|
| 113 |
+
0.010552606312558055,
|
| 114 |
+
-0.16073214187053964,
|
| 115 |
+
-0.002141194650903344
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
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"w": 0.4703356024911106,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.5273939194731049,
|
| 121 |
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0.46928569633735884,
|
| 122 |
+
0.5295384876902529
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9316536784172058,
|
| 128 |
+
"position": [
|
| 129 |
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0.012447851477190852,
|
| 130 |
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-0.15844321920303628,
|
| 131 |
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-0.0032171818893402815
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
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"w": 0.5556445666098114,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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-0.45156049754989097
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9309002161026001,
|
| 144 |
+
"position": [
|
| 145 |
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0.03237369819544256,
|
| 146 |
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-0.16018020285991952,
|
| 147 |
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-0.004366169683635235
|
| 148 |
+
],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.5618280260242575,
|
| 151 |
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"xyz": [
|
| 152 |
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|
| 153 |
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|
| 154 |
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-0.43638617357964626
|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9308108687400818,
|
| 160 |
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"position": [
|
| 161 |
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0.015300404047593474,
|
| 162 |
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-0.15733634604839608,
|
| 163 |
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-0.0033240492921322584
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.5259925013889284,
|
| 167 |
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"xyz": [
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|
dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:cd13c3334071e9830cf318e3e4e53954ca2d98b42cab6bbe690dfd102ff249f1
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| 3 |
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size 488528
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