Add asset desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb
Browse files
.gitattributes
CHANGED
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@@ -6668,3 +6668,4 @@ dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/affordanc
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| 6668 |
dataset/desktop_supplies/office_tools/dae8caed57e75202b64be22e18b7db84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6669 |
dataset/desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6670 |
dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6668 |
dataset/desktop_supplies/office_tools/dae8caed57e75202b64be22e18b7db84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6669 |
dataset/desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6670 |
dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6671 |
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dataset/desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,494 @@
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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": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer body to stabilize the roll while orienting it for dispensing",
|
| 14 |
+
"confidence": 0.87
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the roll from opposite outer sides for placement or storage",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main structural body",
|
| 23 |
+
"support wound tape",
|
| 24 |
+
"provide outer grasp surface",
|
| 25 |
+
"enable rolling and handling"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large dark blue to black plastic-looking cylindrical outer roll with a glossy smooth hard surface, forming most of the object's volume around the perimeter.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9604671597480774,
|
| 32 |
+
"position": [
|
| 33 |
+
0.0027294430474285036,
|
| 34 |
+
0.11226318520493805,
|
| 35 |
+
-0.0951818639296107
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.0020824216533254416,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.005967757761567191,
|
| 41 |
+
-0.44240401141065544,
|
| 42 |
+
0.8967935883329663
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9598417282104492,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0008133487717714161,
|
| 50 |
+
-0.08863255637697875,
|
| 51 |
+
0.1154373696190305
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.2555246948438923,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.9666068992431666,
|
| 57 |
+
-0.015731281459724467,
|
| 58 |
+
-0.01143500957943116
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9575745463371277,
|
| 64 |
+
"position": [
|
| 65 |
+
0.0036456772650126368,
|
| 66 |
+
0.1136961926240474,
|
| 67 |
+
-0.09286331030307338
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.00019200235825987962,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.013577692280703442,
|
| 73 |
+
-0.42674740224129626,
|
| 74 |
+
0.9042689113796462
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9573273658752441,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.004889177478617057,
|
| 82 |
+
-0.10384673136286438,
|
| 83 |
+
0.10665766504826024
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.34189121421682406,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.9394363146175417,
|
| 89 |
+
-0.012820637729759277,
|
| 90 |
+
-0.02013553245780365
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9572795033454895,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.0023233269748743623,
|
| 98 |
+
-0.037130824057385325,
|
| 99 |
+
-0.13778979721246287
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.004815961101147481,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.005424099865552793,
|
| 105 |
+
0.07828712745731226,
|
| 106 |
+
0.996904464496876
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_25": {
|
| 111 |
+
"confidence": 0.9571080803871155,
|
| 112 |
+
"position": [
|
| 113 |
+
4.800816532224417e-05,
|
| 114 |
+
-0.11937325703911483,
|
| 115 |
+
0.09237251040758565
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.42909628027082874,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.9031405361783061,
|
| 121 |
+
-0.011352317593371963,
|
| 122 |
+
-0.009202122285626606
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_26": {
|
| 127 |
+
"confidence": 0.9560533165931702,
|
| 128 |
+
"position": [
|
| 129 |
+
0.00358179458999075,
|
| 130 |
+
-0.10573264467529953,
|
| 131 |
+
0.10523534921230748
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.3762019172413508,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.9263111895617749,
|
| 137 |
+
-0.020274141293608827,
|
| 138 |
+
-0.002942235780498165
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_27": {
|
| 143 |
+
"confidence": 0.9551226496696472,
|
| 144 |
+
"position": [
|
| 145 |
+
0.0009316423384007066,
|
| 146 |
+
-0.11528499680571258,
|
| 147 |
+
0.09382264671148732
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.40988766276442773,
|
| 151 |
+
"xyz": [
|
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|
dataset/desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb/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 489716
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