Add asset desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a
Browse files
.gitattributes
CHANGED
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@@ -6620,4 +6620,4 @@ dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/affordanc
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| 6620 |
dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6621 |
dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6622 |
dataset/desktop_supplies/office_tools/a1e8baec13885edea3e8d0bf6f88f9b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6623 |
-
dataset/desktop_supplies/office_tools/
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| 6620 |
dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6621 |
dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6622 |
dataset/desktop_supplies/office_tools/a1e8baec13885edea3e8d0bf6f88f9b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6623 |
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dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,534 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer tape sidewall",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical sidewall from opposite sides to pick up the tape roll",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sidewall to stabilize the roll while dispensing or repositioning it",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the sidewall to reorient or place the roll on a surface",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"outer surface of wound tape roll",
|
| 24 |
+
"support roll structure",
|
| 25 |
+
"stabilize during dispensing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large light blue cylindrical outer sidewall of the tape roll with a smooth glossy finish and printed black, white, and gray dog-and-bone graphics around the circumference.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9078262448310852,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.012369795906124637,
|
| 34 |
+
-0.0470622741850093,
|
| 35 |
+
0.08810661071038339
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.03702052266205377,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.11433927762928726,
|
| 41 |
+
0.9590345812837903,
|
| 42 |
+
0.25653202995896274
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.900511622428894,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.016713173332391307,
|
| 50 |
+
0.09622392046730965,
|
| 51 |
+
-0.053494638865231536
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.8631426833418011,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.4973860635205338,
|
| 57 |
+
0.08249784635507251,
|
| 58 |
+
0.028034217589188323
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.8996468782424927,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.03286260293680243,
|
| 66 |
+
0.10378083575051278,
|
| 67 |
+
-0.0017764499498298392
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7008102340092477,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.686379763812531,
|
| 73 |
+
0.04276889772825143,
|
| 74 |
+
0.1895221810861956
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.8986825942993164,
|
| 80 |
+
"position": [
|
| 81 |
+
0.04769851712626405,
|
| 82 |
+
0.07796391088049859,
|
| 83 |
+
0.0481014446268091
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.13616812782188542,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.25133818532534047,
|
| 89 |
+
-0.8253667235450279,
|
| 90 |
+
0.48688512939644546
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.8969448804855347,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.022796643170295283,
|
| 98 |
+
-0.05669059616047889,
|
| 99 |
+
0.08348918789124582
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.05258037750375604,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.16663661896207296,
|
| 105 |
+
0.9440849817336143,
|
| 106 |
+
0.2795909304457
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.8965252041816711,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.024529070797143504,
|
| 114 |
+
0.10361425566952676,
|
| 115 |
+
-0.004505408098339103
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.7045641862970607,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.6842714456146994,
|
| 121 |
+
-0.01444490295654055,
|
| 122 |
+
0.1874919755149698
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.8951254487037659,
|
| 128 |
+
"position": [
|
| 129 |
+
0.10281092373770662,
|
| 130 |
+
0.008094781427644193,
|
| 131 |
+
0.012432356263161637
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
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| 530 |
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"quality_check": {
|
| 531 |
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"success": false,
|
| 532 |
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"message": "Red part description mismatches appearance; blue part misidentified as separate edges and graspability overstated."
|
| 533 |
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}
|
| 534 |
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}
|
dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/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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oid sha256:949fb6e632690f512be770cf44a89b8c592e334c8c95f385b0724fcab989e536
|
| 3 |
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size 3784524
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