xinjjj commited on
Commit
0b71189
·
verified ·
1 Parent(s): 1cf8c87

Add asset desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e

Browse files
.gitattributes CHANGED
@@ -6517,4 +6517,4 @@ dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/affo
6517
  dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6518
  dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6519
  dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6520
- dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6517
  dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6518
  dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6519
  dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6520
+ dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "stamp handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and move the stamp",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle to press the stamp onto a surface",
14
+ "confidence": 0.99
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to orient the stamp before placement",
18
+ "confidence": 0.94
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary grip",
23
+ "lift the stamp",
24
+ "press downward",
25
+ "control orientation",
26
+ "manipulate placement"
27
+ ],
28
+ "semantic_description": "Rounded knob handle in metallic gold, likely metal, with a glossy reflective finish and hard smooth surface; it is medium-sized, bulbous, and centered on top for comfortable gripping.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.9682151079177856,
33
+ "position": [
34
+ -0.09689480002271011,
35
+ 0.006125282408902422,
36
+ -0.004139938740991056
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5065681121048266,
40
+ "xyz": [
41
+ -0.4591905214970352,
42
+ 0.5004082291616093,
43
+ -0.5311538543145244
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.9570770263671875,
49
+ "position": [
50
+ -0.06371196295367554,
51
+ -0.07418285039602779,
52
+ -0.013477887376211584
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7171600411342365,
56
+ "xyz": [
57
+ -0.6001786456043563,
58
+ 0.21929828994754186,
59
+ -0.2781642119089811
60
+ ]
61
+ }
62
+ },
63
+ "grasp_22": {
64
+ "confidence": 0.9563049077987671,
65
+ "position": [
66
+ -0.0005146301300555933,
67
+ -0.060031202709069476,
68
+ 0.10483962821308523
69
+ ],
70
+ "orientation": {
71
+ "w": 0.2890093755248433,
72
+ "xyz": [
73
+ -0.9553468471621893,
74
+ 0.054280156345610175,
75
+ 0.02897666480291284
76
+ ]
77
+ }
78
+ },
79
+ "grasp_24": {
80
+ "confidence": 0.9509595036506653,
81
+ "position": [
82
+ -0.01017949014203623,
83
+ 0.005887660110602155,
84
+ 0.12468424963299185
85
+ ],
86
+ "orientation": {
87
+ "w": 0.042788864028910745,
88
+ "xyz": [
89
+ 0.9887779233734995,
90
+ 0.14019371464098634,
91
+ 0.028862670345397228
92
+ ]
93
+ }
94
+ },
95
+ "grasp_26": {
96
+ "confidence": 0.9501644968986511,
97
+ "position": [
98
+ 0.013637458614539355,
99
+ -0.013259579514851794,
100
+ 0.12391266750637442
101
+ ],
102
+ "orientation": {
103
+ "w": 0.0782976948570421,
104
+ "xyz": [
105
+ -0.9715678979888671,
106
+ -0.21888637407318223,
107
+ 0.044878121870940216
108
+ ]
109
+ }
110
+ },
111
+ "grasp_29": {
112
+ "confidence": 0.9494082927703857,
113
+ "position": [
114
+ -0.05009474541293457,
115
+ -0.009654658933868632,
116
+ 0.10910498874727637
117
+ ],
118
+ "orientation": {
119
+ "w": 0.14545966374008068,
120
+ "xyz": [
121
+ 0.6719266956273021,
122
+ 0.7017030303809844,
123
+ 0.18699962321390168
124
+ ]
125
+ }
126
+ },
127
+ "grasp_31": {
128
+ "confidence": 0.9479445815086365,
129
+ "position": [
130
+ 0.021499373659025878,
131
+ -0.021483791148057207,
132
+ 0.1233650796348229
133
+ ],
134
+ "orientation": {
135
+ "w": 0.1508773272715115,
136
+ "xyz": [
137
+ -0.7765831430061966,
138
+ -0.6109661904694401,
139
+ 0.02957986168463298
140
+ ]
141
+ }
142
+ },
143
+ "grasp_32": {
144
+ "confidence": 0.9478654265403748,
145
+ "position": [
146
+ 0.00736727163894102,
147
+ -0.020694716920843348,
148
+ 0.12495961564127356
149
+ ],
150
+ "orientation": {
151
+ "w": 0.0545159325930248,
152
+ "xyz": [
153
+ -0.02190240560079748,
154
+ -0.995294408770886,
155
+ -0.07705412118650616
156
+ ]
157
+ }
158
+ },
159
+ "grasp_34": {
160
+ "confidence": 0.9469972848892212,
161
+ "position": [
162
+ -0.040908026800025254,
163
+ 0.0006915753183420748,
164
+ 0.11882833915296942
165
+ ],
166
+ "orientation": {
167
+ "w": 0.11373539525842931,
168
+ "xyz": [
169
+ 0.7607771570885102,
170
+ 0.6211112183072034,
171
+ 0.15001077164882035
172
+ ]
173
+ }
174
+ },
175
+ "grasp_35": {
176
+ "confidence": 0.9466457962989807,
177
+ "position": [
178
+ 0.0004457252216525376,
179
+ -0.02399482307373546,
180
+ 0.12001651304308325
181
+ ],
182
+ "orientation": {
183
+ "w": 0.11173702109986425,
184
+ "xyz": [
185
+ -0.9860385055726293,
186
+ 0.12090548499525197,
187
+ 0.02499534640463014
188
+ ]
189
+ }
190
+ },
191
+ "grasp_37": {
192
+ "confidence": 0.9456181526184082,
193
+ "position": [
194
+ 0.012017505883704871,
195
+ -0.01767327552079223,
196
+ 0.12115074472967535
197
+ ],
198
+ "orientation": {
199
+ "w": 0.10130255334347728,
200
+ "xyz": [
201
+ -0.8653206965782154,
202
+ -0.4907194321821061,
203
+ 0.012341946295266444
204
+ ]
205
+ }
206
+ },
207
+ "grasp_38": {
208
+ "confidence": 0.9455490708351135,
209
+ "position": [
210
+ 0.055976853414904326,
211
+ -0.07487094876705669,
212
+ 0.05763853492680937
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5497055717474947,
216
+ "xyz": [
217
+ -0.7474006781597403,
218
+ -0.34874740171686736,
219
+ 0.13263204918817348
220
+ ]
221
+ }
222
+ }
223
+ }
224
+ },
225
+ {
226
+ "part_name": "stamp base",
227
+ "mask_color": "Red",
228
+ "graspable": true,
229
+ "grasp_scenarios": [
230
+ {
231
+ "scenario": "grasp the base sidewall to pick up the stamp when the handle is unavailable",
232
+ "confidence": 0.46
233
+ },
234
+ {
235
+ "scenario": "hold the base to stabilize the stamp during inspection or repositioning",
236
+ "confidence": 0.41
237
+ }
238
+ ],
239
+ "functional_labels": [
240
+ "mount the stamp face",
241
+ "support pressing",
242
+ "transfer the stamped impression",
243
+ "stabilize the tool body"
244
+ ],
245
+ "semantic_description": "Wide cylindrical base in metallic gold with a glossy reflective finish and hard smooth surface; it forms the larger lower portion, with flat circular underside and gently rounded side edges.",
246
+ "id": 0,
247
+ "grasp_group": {
248
+ "grasp_0": {
249
+ "confidence": 0.968489408493042,
250
+ "position": [
251
+ 0.09629439626587555,
252
+ 0.0188549765443895,
253
+ -0.016380185610614717
254
+ ],
255
+ "orientation": {
256
+ "w": 0.4616220043494914,
257
+ "xyz": [
258
+ -0.4449473129140953,
259
+ -0.5097493519846957,
260
+ 0.5736572251633087
261
+ ]
262
+ }
263
+ },
264
+ "grasp_3": {
265
+ "confidence": 0.9672043919563293,
266
+ "position": [
267
+ 0.09693760488880798,
268
+ 0.011899413453647867,
269
+ -0.009412332787178457
270
+ ],
271
+ "orientation": {
272
+ "w": 0.49352484555399634,
273
+ "xyz": [
274
+ -0.45664933372189553,
275
+ -0.531190926645417,
276
+ 0.5155005453749165
277
+ ]
278
+ }
279
+ },
280
+ "grasp_4": {
281
+ "confidence": 0.9665138125419617,
282
+ "position": [
283
+ -0.004989786830265075,
284
+ 0.005564840888837352,
285
+ -0.10562450659926981
286
+ ],
287
+ "orientation": {
288
+ "w": 0.7826113678524674,
289
+ "xyz": [
290
+ 0.008637978677551391,
291
+ 0.03364225616030958,
292
+ -0.6215408521029816
293
+ ]
294
+ }
295
+ },
296
+ "grasp_7": {
297
+ "confidence": 0.9656306505203247,
298
+ "position": [
299
+ -0.09872228588210419,
300
+ -0.0020359271147754043,
301
+ -0.011721559218131006
302
+ ],
303
+ "orientation": {
304
+ "w": 0.5074770338425431,
305
+ "xyz": [
306
+ -0.508085628446625,
307
+ 0.45111678900281393,
308
+ -0.5299148016126388
309
+ ]
310
+ }
311
+ },
312
+ "grasp_10": {
313
+ "confidence": 0.9645054936408997,
314
+ "position": [
315
+ -0.10152370418654755,
316
+ -0.0007123454415705055,
317
+ -0.008727754815481603
318
+ ],
319
+ "orientation": {
320
+ "w": 0.48867732650753976,
321
+ "xyz": [
322
+ 0.5092277255400508,
323
+ 0.47276438923742736,
324
+ 0.5276129512888332
325
+ ]
326
+ }
327
+ },
328
+ "grasp_12": {
329
+ "confidence": 0.963983416557312,
330
+ "position": [
331
+ -0.004227800585795194,
332
+ 0.004341840656707063,
333
+ -0.10700796020682901
334
+ ],
335
+ "orientation": {
336
+ "w": 0.6510990628467898,
337
+ "xyz": [
338
+ 0.02379123686490169,
339
+ 0.002137159518643905,
340
+ 0.7586167806987018
341
+ ]
342
+ }
343
+ },
344
+ "grasp_13": {
345
+ "confidence": 0.9635844826698303,
346
+ "position": [
347
+ -0.09584918554173782,
348
+ -0.004832482984056696,
349
+ -0.015518870553933084
350
+ ],
351
+ "orientation": {
352
+ "w": 0.5300533211849757,
353
+ "xyz": [
354
+ -0.49435247996566706,
355
+ 0.45962672242251423,
356
+ -0.5132274138115664
357
+ ]
358
+ }
359
+ },
360
+ "grasp_15": {
361
+ "confidence": 0.9634895324707031,
362
+ "position": [
363
+ -0.10120827640639618,
364
+ -0.010706575674703345,
365
+ -0.02404670452233404
366
+ ],
367
+ "orientation": {
368
+ "w": 0.5489776085612814,
369
+ "xyz": [
370
+ -0.4938686564930956,
371
+ 0.4343100376439859,
372
+ -0.5158411835378413
373
+ ]
374
+ }
375
+ },
376
+ "grasp_17": {
377
+ "confidence": 0.9633546471595764,
378
+ "position": [
379
+ 0.0041586311417631805,
380
+ -0.09888840941130184,
381
+ -0.01618178782518953
382
+ ],
383
+ "orientation": {
384
+ "w": 0.7310237655490036,
385
+ "xyz": [
386
+ -0.681757915203554,
387
+ -0.02830995926815283,
388
+ -0.0029908972056670547
389
+ ]
390
+ }
391
+ }
392
+ }
393
+ }
394
+ ],
395
+ "quality_check": {
396
+ "success": true,
397
+ "message": "YES"
398
+ }
399
+ }
dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:31b48269b38e4237d9c45cff722d678bda7a06dd5cc7c633b8064f1a990e7d88
3
+ size 3779328