Add asset desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61
Browse files
.gitattributes
CHANGED
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@@ -6626,3 +6626,4 @@ dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/affordanc
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| 6626 |
dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6627 |
dataset/desktop_supplies/office_tools/a524711ecf785806b2994f156b5477cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6628 |
dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6626 |
dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6627 |
dataset/desktop_supplies/office_tools/a524711ecf785806b2994f156b5477cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6628 |
dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6629 |
+
dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,467 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical body to pick up and move the tape roll",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer rim to stabilize the roll while dispensing tape",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the sidewall to reorient the tape roll on a surface",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main structure",
|
| 23 |
+
"support dispensing",
|
| 24 |
+
"provide grasp surface",
|
| 25 |
+
"protect the tape layers",
|
| 26 |
+
"enable rolling orientation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Thick cylindrical tape roll body made of glossy smooth plastic or coated film, predominantly light pink with pastel multicolor swirled graphics on the outer sidewall and occupying most of the object's volume.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.893307089805603,
|
| 33 |
+
"position": [
|
| 34 |
+
0.12769496976397932,
|
| 35 |
+
-0.11016549123451114,
|
| 36 |
+
-0.0027577160799410194
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.26380341714794703,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.6583104908689423,
|
| 42 |
+
0.2481655014560329,
|
| 43 |
+
0.6598855496220799
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.8904489874839783,
|
| 49 |
+
"position": [
|
| 50 |
+
0.13170868693850935,
|
| 51 |
+
-0.10697220219299197,
|
| 52 |
+
-0.00995927638723515
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.24746271819085117,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.6566683243343139,
|
| 58 |
+
0.22415730438558745,
|
| 59 |
+
0.6762413901944683
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_23": {
|
| 64 |
+
"confidence": 0.8847278356552124,
|
| 65 |
+
"position": [
|
| 66 |
+
0.13612895249389112,
|
| 67 |
+
-0.09942293865606189,
|
| 68 |
+
-0.01332167032524012
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.22403958230327609,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.6585829130202249,
|
| 74 |
+
0.1904464954927344,
|
| 75 |
+
0.6926795396095541
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_24": {
|
| 80 |
+
"confidence": 0.8846802711486816,
|
| 81 |
+
"position": [
|
| 82 |
+
0.12499969988130033,
|
| 83 |
+
-0.11377210123464465,
|
| 84 |
+
-0.005168478091945872
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.6539819679000536,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.2656588746083715,
|
| 90 |
+
-0.6515784371979377,
|
| 91 |
+
-0.2778101657284713
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_25": {
|
| 96 |
+
"confidence": 0.8836398720741272,
|
| 97 |
+
"position": [
|
| 98 |
+
0.12888828455470502,
|
| 99 |
+
-0.11136475158855319,
|
| 100 |
+
-0.003089619189267978
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.24225976215809633,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.6682713168323299,
|
| 106 |
+
0.21973490320958378,
|
| 107 |
+
0.6681618269923549
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_26": {
|
| 112 |
+
"confidence": 0.8801380395889282,
|
| 113 |
+
"position": [
|
| 114 |
+
0.1095554509665817,
|
| 115 |
+
-0.1250448669306934,
|
| 116 |
+
-0.006221088202437386
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.33120911157988914,
|
| 120 |
+
"xyz": [
|
| 121 |
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-0.630760952627382,
|
| 122 |
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0.3066058941630191,
|
| 123 |
+
0.631216263028412
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_27": {
|
| 128 |
+
"confidence": 0.8800255060195923,
|
| 129 |
+
"position": [
|
| 130 |
+
0.12638019560836256,
|
| 131 |
+
-0.11193823767825961,
|
| 132 |
+
-0.003860641358187422
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.6661532980361481,
|
| 136 |
+
"xyz": [
|
| 137 |
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-0.24037217702035474,
|
| 138 |
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-0.6544190765989082,
|
| 139 |
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-0.26494654595500894
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_28": {
|
| 144 |
+
"confidence": 0.8798727989196777,
|
| 145 |
+
"position": [
|
| 146 |
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0.13666748045943677,
|
| 147 |
+
-0.10503831459209323,
|
| 148 |
+
0.0009004570601973683
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
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"w": 0.23312373811935586,
|
| 152 |
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"xyz": [
|
| 153 |
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-0.6848705918433169,
|
| 154 |
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0.21703936093229925,
|
| 155 |
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0.6553621220054928
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_29": {
|
| 160 |
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"confidence": 0.8790515661239624,
|
| 161 |
+
"position": [
|
| 162 |
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0.1349984162952751,
|
| 163 |
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-0.10269495053216815,
|
| 164 |
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-0.012760878162225708
|
| 165 |
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],
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|
dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:70274c79bb7a5c239577d4b2bfbf78cc4f67907596b24b28faab264a470a1140
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| 3 |
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size 3780232
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