Add asset desktop_supplies/office_tools/975523fc1df05dbda2067ff05e1eb32b
Browse files
.gitattributes
CHANGED
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@@ -6611,4 +6611,5 @@ dataset/desktop_supplies/office_tools/8d414b3dd30852cda857df9bd00574f5/affordanc
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| 6611 |
dataset/desktop_supplies/office_tools/8e63e3d8c34056d9a7deabeb08d47778/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6612 |
dataset/desktop_supplies/office_tools/8fb03f5a2e7b5e488e8df7acca2e1e1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6613 |
dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6614 |
-
dataset/desktop_supplies/office_tools/
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| 6611 |
dataset/desktop_supplies/office_tools/8e63e3d8c34056d9a7deabeb08d47778/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6612 |
dataset/desktop_supplies/office_tools/8fb03f5a2e7b5e488e8df7acca2e1e1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6613 |
dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6614 |
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dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6615 |
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dataset/desktop_supplies/office_tools/975523fc1df05dbda2067ff05e1eb32b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/975523fc1df05dbda2067ff05e1eb32b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,478 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical roll from the sides to pick up the tape",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer roll to stabilize it while locating or peeling the tape end",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the roll around its outer surface to reposition or place it down",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"dispense adhesive tape",
|
| 24 |
+
"support wound tape layers",
|
| 25 |
+
"provide object body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large red plastic-like tape body formed by many tightly wound layers, with a slightly glossy smooth outer cylindrical surface and firm hard feel around the outside of the roll.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9409635066986084,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.007863915234338492,
|
| 34 |
+
0.015960271703079343,
|
| 35 |
+
0.09575871155539062
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.06229936360909304,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.9889117135340517,
|
| 41 |
+
0.13266559783457738,
|
| 42 |
+
0.02392177418675003
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9333091974258423,
|
| 48 |
+
"position": [
|
| 49 |
+
0.004137514450121671,
|
| 50 |
+
-0.00493929791264236,
|
| 51 |
+
0.10185998455563094
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.025033201430675056,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.009868466613854945,
|
| 57 |
+
-0.9992382092900647,
|
| 58 |
+
-0.028265761755296867
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9182609915733337,
|
| 64 |
+
"position": [
|
| 65 |
+
0.004311547440011054,
|
| 66 |
+
-0.005945905344560742,
|
| 67 |
+
0.09977808372059371
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.01269015927334625,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.0294196293553395,
|
| 73 |
+
-0.9990731511293688,
|
| 74 |
+
-0.028745155394334927
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9158836007118225,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.02553510357392952,
|
| 82 |
+
0.050839073257520795,
|
| 83 |
+
0.08374963478127029
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.25700148236486514,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.9399891726461427,
|
| 89 |
+
0.21394311453130083,
|
| 90 |
+
0.06781546368586223
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9146580696105957,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.03484250855399296,
|
| 98 |
+
-0.05021571437828243,
|
| 99 |
+
0.0807622872380307
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.11209216742749835,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.18658013969318513,
|
| 105 |
+
0.9386691882566525,
|
| 106 |
+
0.2674385022600054
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_25": {
|
| 111 |
+
"confidence": 0.9125621318817139,
|
| 112 |
+
"position": [
|
| 113 |
+
0.016258907795418054,
|
| 114 |
+
0.05370417912490666,
|
| 115 |
+
0.08719689921417739
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.05612672286968936,
|
| 119 |
+
"xyz": [
|
| 120 |
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-0.06513016391785832,
|
| 121 |
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-0.963249342634127,
|
| 122 |
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0.2544770257663051
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_26": {
|
| 127 |
+
"confidence": 0.9125373363494873,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.03600480285240337,
|
| 130 |
+
0.08505051885731518,
|
| 131 |
+
0.05374206379929092
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.15601966504017034,
|
| 135 |
+
"xyz": [
|
| 136 |
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-0.050373491049147595,
|
| 137 |
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0.8728660752029718,
|
| 138 |
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-0.45959241756151104
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_27": {
|
| 143 |
+
"confidence": 0.9119709730148315,
|
| 144 |
+
"position": [
|
| 145 |
+
0.07320737588452175,
|
| 146 |
+
-0.06141462619416416,
|
| 147 |
+
-0.052460408202023245
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.3685381262114722,
|
| 151 |
+
"xyz": [
|
| 152 |
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0.2063084711527724,
|
| 153 |
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-0.47491660091634214,
|
| 154 |
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-0.7720561420215571
|
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|
dataset/desktop_supplies/office_tools/975523fc1df05dbda2067ff05e1eb32b/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:f68511ccfcaf0e2627088410f1d3ece7340c003e65242e5c073fed864f4652c6
|
| 3 |
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size 3774096
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