Add asset desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c
Browse files
.gitattributes
CHANGED
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@@ -6640,4 +6640,4 @@ dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/affordanc
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| 6640 |
dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6641 |
dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6642 |
dataset/desktop_supplies/office_tools/baf0c3048da65eadaffce846780ed15a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6643 |
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dataset/desktop_supplies/office_tools/
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| 6640 |
dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6641 |
dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6642 |
dataset/desktop_supplies/office_tools/baf0c3048da65eadaffce846780ed15a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6643 |
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dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,562 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical roll to pick up and move the tape",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the outer rim to stabilize the roll while dispensing tape",
|
| 14 |
+
"confidence": 0.8
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the roll body while orienting it for placement on a dispenser or surface",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"store adhesive tape in a roll",
|
| 24 |
+
"support dispensing by rotation",
|
| 25 |
+
"protect and carry the tape layers"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Translucent light blue plastic tape wound into a medium-sized hollow cylinder, with a glossy smooth slightly tacky surface and visible layered wrapping around the outer circumference.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.8825919032096863,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09778864571126178,
|
| 34 |
+
-0.11460289485694375,
|
| 35 |
+
-0.0019394938135519624
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.26553438529542855,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.663082246462107,
|
| 41 |
+
0.24651122632500644,
|
| 42 |
+
0.6550157554962212
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.8763953447341919,
|
| 48 |
+
"position": [
|
| 49 |
+
0.09775704034836963,
|
| 50 |
+
-0.09962174422980752,
|
| 51 |
+
0.00016849511303007603
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6865910576070533,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.17735539115319926,
|
| 57 |
+
-0.6818815651186675,
|
| 58 |
+
-0.1793747919698869
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.8651508092880249,
|
| 64 |
+
"position": [
|
| 65 |
+
0.0949068505433388,
|
| 66 |
+
-0.0969711107754847,
|
| 67 |
+
-0.002120895660482347
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6898797179653353,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.1578246089142282,
|
| 73 |
+
-0.6855935828346206,
|
| 74 |
+
-0.17064233571165358
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.85254967212677,
|
| 80 |
+
"position": [
|
| 81 |
+
0.09480322041781619,
|
| 82 |
+
-0.10668279357196297,
|
| 83 |
+
-0.007988134282641113
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.22209172554368928,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6777267248170488,
|
| 89 |
+
0.18928948694408787,
|
| 90 |
+
0.6749305460906527
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.843860924243927,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.04803897178499028,
|
| 98 |
+
-0.14242374278546777,
|
| 99 |
+
0.003382774884812534
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5286897894946443,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.46038148863483364,
|
| 105 |
+
0.5495590383035509,
|
| 106 |
+
0.4544456566250354
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.8432928919792175,
|
| 112 |
+
"position": [
|
| 113 |
+
0.054092640813905746,
|
| 114 |
+
-0.1233336938166758,
|
| 115 |
+
0.00037244481075049407
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6350308702140718,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.27429533919861393,
|
| 121 |
+
-0.6628535225786722,
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-0.19817188225657342,
|
| 534 |
+
0.14902104224456525,
|
| 535 |
+
-0.5112588847843458
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
"grasp_39": {
|
| 540 |
+
"confidence": 0.8406330347061157,
|
| 541 |
+
"position": [
|
| 542 |
+
0.11154352762969211,
|
| 543 |
+
-0.08833235628844704,
|
| 544 |
+
-0.022798642399720848
|
| 545 |
+
],
|
| 546 |
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"orientation": {
|
| 547 |
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"w": 0.2810159820361457,
|
| 548 |
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"xyz": [
|
| 549 |
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-0.6207258162473973,
|
| 550 |
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|
| 551 |
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0.7061817227193448
|
| 552 |
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]
|
| 553 |
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}
|
| 554 |
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}
|
| 555 |
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}
|
| 556 |
+
}
|
| 557 |
+
],
|
| 558 |
+
"quality_check": {
|
| 559 |
+
"success": true,
|
| 560 |
+
"message": "YES"
|
| 561 |
+
}
|
| 562 |
+
}
|
dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9e98a13f6be25dbfe36b7929674187b6b40328fea49ebb9a420d5137ca0c9c5b
|
| 3 |
+
size 3781928
|