Add asset desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76
Browse files
.gitattributes
CHANGED
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@@ -6636,4 +6636,4 @@ dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordanc
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| 6636 |
dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6637 |
dataset/desktop_supplies/office_tools/b501c5f9ae3f5c1d9f0e6257652f4229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6638 |
dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6639 |
-
dataset/desktop_supplies/office_tools/
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| 6636 |
dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6637 |
dataset/desktop_supplies/office_tools/b501c5f9ae3f5c1d9f0e6257652f4229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6638 |
dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6639 |
+
dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,430 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical body to pick up the tape roll",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer body to stabilize the roll while dispensing tape",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the roll from opposite outer sides for placement or reorientation",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main structural body",
|
| 23 |
+
"provide outer grasp surface",
|
| 24 |
+
"store wound adhesive tape",
|
| 25 |
+
"support rolling during dispensing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white plastic-like tape roll body with a matte to slightly satin finish, hard smooth feel, thick cylindrical shape, and the adhesive tape wound around the outer circumference.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9727202653884888,
|
| 32 |
+
"position": [
|
| 33 |
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-0.007452980848029256,
|
| 34 |
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-0.13868603651644662,
|
| 35 |
+
-6.925241905264556e-05
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
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"w": 0.48053986594367754,
|
| 39 |
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"xyz": [
|
| 40 |
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-0.5210944848772606,
|
| 41 |
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-0.46961746007083494,
|
| 42 |
+
-0.5263092401487482
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9722176790237427,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0027011401834897697,
|
| 50 |
+
-0.1389403695357032,
|
| 51 |
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-0.0016245384758803993
|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.48872038045150135,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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-0.4695062516677091,
|
| 58 |
+
-0.5175479572613212
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9714683890342712,
|
| 64 |
+
"position": [
|
| 65 |
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|
| 66 |
+
-0.1386202180874534,
|
| 67 |
+
0.0010913085716310889
|
| 68 |
+
],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.4494415547658588,
|
| 71 |
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"xyz": [
|
| 72 |
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-0.5486214649148117,
|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
+
"confidence": 0.9707369804382324,
|
| 80 |
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"position": [
|
| 81 |
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-0.013138125417754054,
|
| 82 |
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-0.13852412049891427,
|
| 83 |
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-0.0018286082486156374
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
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"w": 0.5064017754139957,
|
| 87 |
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"xyz": [
|
| 88 |
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-0.495858801740544,
|
| 89 |
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-0.49910864281898737,
|
| 90 |
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-0.49856980780766635
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9703887701034546,
|
| 96 |
+
"position": [
|
| 97 |
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-0.01998477871529758,
|
| 98 |
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-0.14271036331774667,
|
| 99 |
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0.0021233268489595503
|
| 100 |
+
],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.4734757629404803,
|
| 103 |
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"xyz": [
|
| 104 |
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-0.5325037076627602,
|
| 105 |
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-0.4697346216259386,
|
| 106 |
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-0.5211620558706093
|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
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"grasp_5": {
|
| 111 |
+
"confidence": 0.9702379107475281,
|
| 112 |
+
"position": [
|
| 113 |
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0.037698929430916905,
|
| 114 |
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-0.1346945816767402,
|
| 115 |
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-0.004028897878015414
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.5893259507459494,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.39209217422720194,
|
| 121 |
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-0.5759716852540101,
|
| 122 |
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-0.40891963571443146
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9700050950050354,
|
| 128 |
+
"position": [
|
| 129 |
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0.03177446988411248,
|
| 130 |
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-0.13655779307009652,
|
| 131 |
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-0.0027934905665460974
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.42491470282344596,
|
| 135 |
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"xyz": [
|
| 136 |
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-0.5618063305758065,
|
| 137 |
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|
| 138 |
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0.5724447586081725
|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_8": {
|
| 143 |
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"confidence": 0.9699060916900635,
|
| 144 |
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"position": [
|
| 145 |
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0.03323971596546471,
|
| 146 |
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-0.13376728241564706,
|
| 147 |
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-0.0008665782224852592
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.5716340652199375,
|
| 151 |
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"xyz": [
|
| 152 |
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-0.41828846770830025,
|
| 153 |
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-0.5650561320227186,
|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_9": {
|
| 159 |
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"confidence": 0.9699050784111023,
|
| 160 |
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"position": [
|
| 161 |
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0.015420380281284451,
|
| 162 |
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-0.13662028854014352,
|
| 163 |
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0.0024169654061552137
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.5602776115013222,
|
| 167 |
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"xyz": [
|
| 168 |
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-0.4315933866035053,
|
| 169 |
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|
| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_10": {
|
| 175 |
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"confidence": 0.9698665142059326,
|
| 176 |
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"position": [
|
| 177 |
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-0.09447112563066185,
|
| 178 |
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0.10193811560748145,
|
| 179 |
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0.002916578290751204
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|
dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:5970d95bb8da876bb1faae2135eff1fe5834020b4503f901eddc87d84498d41d
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| 3 |
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size 3771104
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