Add asset desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89
Browse files
.gitattributes
CHANGED
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@@ -6650,3 +6650,4 @@ dataset/desktop_supplies/office_tools/c2fa647eee055aa0820c3e790190871a/affordanc
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| 6650 |
dataset/desktop_supplies/office_tools/bf6e330df7125fe5a788c1455a8d3850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6651 |
dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6652 |
dataset/desktop_supplies/office_tools/c48e7a3c9cd054e087bd253bafbdaf31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6650 |
dataset/desktop_supplies/office_tools/bf6e330df7125fe5a788c1455a8d3850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6651 |
dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6652 |
dataset/desktop_supplies/office_tools/c48e7a3c9cd054e087bd253bafbdaf31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6653 |
+
dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,579 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tissue box body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the box body from the sides to pick up and move the tissue box",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the box body to stabilize it while pulling a tissue",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the box body from the top edges to reposition it on a surface",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain tissues",
|
| 23 |
+
"support the dispensing opening",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"stabilize on a tabletop",
|
| 26 |
+
"protect the tissue stack"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Rectangular reddish-orange box with a smooth hard semi-gloss finish, straight flat sides, and a large oval opening on the top surface; the bottom appears darker than the sides.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9375371336936951,
|
| 33 |
+
"position": [
|
| 34 |
+
0.07305432064458728,
|
| 35 |
+
0.04240281507372856,
|
| 36 |
+
0.10346788726747036
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.16443404444573018,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.9860213911341255,
|
| 42 |
+
0.01214430716883208,
|
| 43 |
+
-0.02399535489490606
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9349587559700012,
|
| 49 |
+
"position": [
|
| 50 |
+
0.06539247883483768,
|
| 51 |
+
0.026654880493879318,
|
| 52 |
+
0.10724197886884212
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.1081058792373625,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.9941195902586067,
|
| 58 |
+
0.00546046074556894,
|
| 59 |
+
0.003089094822577493
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9348861575126648,
|
| 65 |
+
"position": [
|
| 66 |
+
0.07522261841222644,
|
| 67 |
+
0.031844448298215866,
|
| 68 |
+
0.10588735900819302
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.08615843735997382,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.995657453279926,
|
| 74 |
+
0.0006824130157289249,
|
| 75 |
+
-0.03524902427437337
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.93449467420578,
|
| 81 |
+
"position": [
|
| 82 |
+
0.061072036158293486,
|
| 83 |
+
0.035501547157764435,
|
| 84 |
+
0.10975726507604122
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.09352047767338811,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.9950237182120039,
|
| 90 |
+
0.02283849845396216,
|
| 91 |
+
0.02569286748629894
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9344459176063538,
|
| 97 |
+
"position": [
|
| 98 |
+
0.0742480750195682,
|
| 99 |
+
0.01729442924261093,
|
| 100 |
+
0.10910446010529995
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.03178604994562771,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.9985472635248567,
|
| 106 |
+
0.02672150582321301,
|
| 107 |
+
-0.034336142217994595
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9318506121635437,
|
| 113 |
+
"position": [
|
| 114 |
+
0.05632254062220454,
|
| 115 |
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dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/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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size 1313704
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