Add asset desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2
Browse files
.gitattributes
CHANGED
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@@ -6625,3 +6625,4 @@ dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/affordanc
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| 6625 |
dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6626 |
dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6627 |
dataset/desktop_supplies/office_tools/a524711ecf785806b2994f156b5477cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6625 |
dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6626 |
dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6627 |
dataset/desktop_supplies/office_tools/a524711ecf785806b2994f156b5477cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6628 |
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dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,471 @@
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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 the tape roll",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer body to stabilize the roll while dispensing tape",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the side of the roll to reorient or place it",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support the wound tape",
|
| 24 |
+
"provide roll structure",
|
| 25 |
+
"enable handling and dispensing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large bright yellow tape body with a slightly glossy smooth surface, hard layered texture from the wound tape, thick cylindrical ring shape, and it forms the main outer bulk of the roll.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9297174215316772,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.024874074500985444,
|
| 34 |
+
0.10343918367289007,
|
| 35 |
+
-0.034968988271430135
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.15671022185429928,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.04501133808492571,
|
| 41 |
+
0.5848674921174162,
|
| 42 |
+
-0.7945727798474247
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9243662357330322,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.007919456926174462,
|
| 50 |
+
0.0063673879485577345,
|
| 51 |
+
0.10191966849379241
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.013177564744086906,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.9958828885285012,
|
| 57 |
+
0.08896527787362464,
|
| 58 |
+
0.011349161044464477
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_23": {
|
| 63 |
+
"confidence": 0.9141906499862671,
|
| 64 |
+
"position": [
|
| 65 |
+
0.10318139370065182,
|
| 66 |
+
-0.003519837511703372,
|
| 67 |
+
-0.029415850760415196
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6068349966069979,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.4072595915765454,
|
| 73 |
+
-0.4380658429475983,
|
| 74 |
+
0.5234398047574336
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_24": {
|
| 79 |
+
"confidence": 0.911558985710144,
|
| 80 |
+
"position": [
|
| 81 |
+
0.09002079989295453,
|
| 82 |
+
-0.0697905255947262,
|
| 83 |
+
-0.006314273690804839
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.33221808305955214,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.2919494984445127,
|
| 89 |
+
-0.6375349971148732,
|
| 90 |
+
-0.6308294247258714
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_25": {
|
| 95 |
+
"confidence": 0.9115196466445923,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.04989236418623477,
|
| 98 |
+
0.09501973702572286,
|
| 99 |
+
0.03462623315863311
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5801585850703731,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.780099022169234,
|
| 105 |
+
0.20032183819230887,
|
| 106 |
+
0.12137830499311578
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_27": {
|
| 111 |
+
"confidence": 0.9104862213134766,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.019525256124325097,
|
| 114 |
+
0.0552034021820873,
|
| 115 |
+
0.08129156637005508
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.06691715632850735,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.09243037265456776,
|
| 121 |
+
0.9554791389856746,
|
| 122 |
+
-0.2720998628500896
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_28": {
|
| 127 |
+
"confidence": 0.909461498260498,
|
| 128 |
+
"position": [
|
| 129 |
+
0.0826002376852557,
|
| 130 |
+
-0.03698494494892657,
|
| 131 |
+
0.060475758044049144
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.4050308958179161,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.7303001897950643,
|
| 137 |
+
-0.4859036158923379,
|
| 138 |
+
0.257893936107426
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_29": {
|
| 143 |
+
"confidence": 0.9083081483840942,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.017080748570151627,
|
| 146 |
+
0.09623181237839162,
|
| 147 |
+
0.049744951305910945
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.05401325716973684,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.060459906158411,
|
| 153 |
+
0.862693238927018,
|
| 154 |
+
-0.49918688214619855
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_30": {
|
| 159 |
+
"confidence": 0.9064403772354126,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.028475163620896637,
|
| 162 |
+
0.05072548775933683,
|
| 163 |
+
0.08359135943464935
|
| 164 |
+
],
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|
dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:b042d58f4918386daa786646c6daea26267f73949d867423e719d851c10b2164
|
| 3 |
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size 3786920
|