Add asset desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4
Browse files
.gitattributes
CHANGED
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@@ -6574,4 +6574,4 @@ dataset/desktop_supplies/office_tools/48f5501684ae566483372aa8f2c3b756/affordanc
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| 6574 |
dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6575 |
dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6576 |
dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6577 |
-
dataset/desktop_supplies/office_tools/
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| 6574 |
dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6575 |
dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6576 |
dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6577 |
+
dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,622 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll outer body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical surface to pick up the tape roll",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer rim to stabilize the roll while dispensing tape",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the side of the roll to reposition or place it",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support the wound tape",
|
| 24 |
+
"provide outer circumference for handling",
|
| 25 |
+
"enable tape dispensing by rotation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large ring-shaped outer portion of the tape roll. The top and bottom rims appear shiny metallic copper-gold, while the side surface of the wound tape looks translucent clear to milky white with a glossy smooth cylindrical finish surrounding the roll.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9744789600372314,
|
| 32 |
+
"position": [
|
| 33 |
+
0.1079377662827028,
|
| 34 |
+
-0.09142431523650885,
|
| 35 |
+
-0.0040926939400378615
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.683871419054584,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.18212891613582802,
|
| 41 |
+
-0.6710012600501216,
|
| 42 |
+
-0.22114757316915487
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9740062952041626,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.02697432781860698,
|
| 50 |
+
-0.1427595680579543,
|
| 51 |
+
0.0007861688209231943
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4772461465945781,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.534047675521829,
|
| 57 |
+
-0.46758806063305414,
|
| 58 |
+
-0.5180642830612596
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9736054539680481,
|
| 64 |
+
"position": [
|
| 65 |
+
0.09922770973935258,
|
| 66 |
+
-0.10296523477882147,
|
| 67 |
+
-0.007227656577015296
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6610329814364323,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.253875568888463,
|
| 73 |
+
-0.6491060806476946,
|
| 74 |
+
-0.27792784862443953
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9727286696434021,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.0067978300648974255,
|
| 82 |
+
-0.13970097061246634,
|
| 83 |
+
-0.0024005080631468445
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5317810828050106,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.461862585331418,
|
| 89 |
+
-0.5154693078774049,
|
| 90 |
+
-0.48804018776950964
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
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| 615 |
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],
|
| 618 |
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"quality_check": {
|
| 619 |
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"success": false,
|
| 620 |
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"message": "Inner core graspability is overstated; center opening is not a reliable gripper contact surface."
|
| 621 |
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}
|
| 622 |
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}
|
dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/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:f86304157df42c0bf84dfe97aafa39c8468949beacc810fc83435a1b51a5d763
|
| 3 |
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size 3780776
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