xinjjj commited on
Commit
1a4afc9
·
verified ·
1 Parent(s): de1d971

Add asset desktop_supplies/office_tools/1e546ae440f15062b218a332c0115a6c

Browse files
.gitattributes CHANGED
@@ -6527,3 +6527,4 @@ dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/affordanc
6527
  dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6528
  dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6529
  dataset/desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6527
  dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6528
  dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6529
  dataset/desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6530
+ dataset/desktop_supplies/office_tools/1e546ae440f15062b218a332c0115a6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/1e546ae440f15062b218a332c0115a6c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,337 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "round container body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the sidewalls to pick up and reposition the container",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body steady while the lid is twisted or lifted off",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize the container from the sides during opening or closing",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "serve as the main structural body",
23
+ "provide internal storage volume",
24
+ "support and align the lid",
25
+ "act as the main grasp area for handling"
26
+ ],
27
+ "semantic_description": "A small, round pink body with smooth sides and a matte to slightly satin finish, decorated with scattered watermelon slice prints around the curved side surface.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.8683512210845947,
32
+ "position": [
33
+ -0.011440556932939216,
34
+ -0.09150021827372257,
35
+ 0.04863548777939286
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5113258166529463,
39
+ "xyz": [
40
+ -0.8575195975413592,
41
+ 0.04254154426046852,
42
+ -0.03736664379680974
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.8669489026069641,
48
+ "position": [
49
+ -0.025599014450563118,
50
+ 0.08179220253077801,
51
+ -0.056545483545050956
52
+ ],
53
+ "orientation": {
54
+ "w": 0.8731577089747329,
55
+ "xyz": [
56
+ 0.46902096498459445,
57
+ 0.1321108645211635,
58
+ 0.01271491794652694
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.8571317791938782,
64
+ "position": [
65
+ 0.028000093559967354,
66
+ 0.09839624607411679,
67
+ -0.032823445872054435
68
+ ],
69
+ "orientation": {
70
+ "w": 0.8153310964587323,
71
+ "xyz": [
72
+ 0.563828373416418,
73
+ -0.11861099859067725,
74
+ -0.05713317329993301
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.8544716835021973,
80
+ "position": [
81
+ -0.0074156154587399215,
82
+ -0.10488315230759326,
83
+ -0.029729426503763534
84
+ ],
85
+ "orientation": {
86
+ "w": 0.8050234924549385,
87
+ "xyz": [
88
+ -0.5918662609472176,
89
+ 0.012799544414414221,
90
+ -0.038310278135203296
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.8383268713951111,
96
+ "position": [
97
+ -0.0014013676845934242,
98
+ -0.09016594594868366,
99
+ -0.052152580246911384
100
+ ],
101
+ "orientation": {
102
+ "w": 0.8592366778034147,
103
+ "xyz": [
104
+ -0.5056329528562301,
105
+ 0.038306942048975556,
106
+ 0.06767737209804475
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.835378885269165,
112
+ "position": [
113
+ 0.05138675638590939,
114
+ 0.05348937654343899,
115
+ -0.06783562026976142
116
+ ],
117
+ "orientation": {
118
+ "w": 0.8845407835574406,
119
+ "xyz": [
120
+ 0.3675153260073493,
121
+ -0.22071235528450062,
122
+ -0.1838644707333887
123
+ ]
124
+ }
125
+ },
126
+ "grasp_8": {
127
+ "confidence": 0.8026607036590576,
128
+ "position": [
129
+ 0.060445604409324005,
130
+ -0.06965307450445835,
131
+ 0.04486724860907998
132
+ ],
133
+ "orientation": {
134
+ "w": 0.20470835136592722,
135
+ "xyz": [
136
+ 0.2319776937972194,
137
+ -0.833194966586053,
138
+ -0.45833065369581516
139
+ ]
140
+ }
141
+ },
142
+ "grasp_9": {
143
+ "confidence": 0.8014783263206482,
144
+ "position": [
145
+ 0.06578409069334157,
146
+ 0.03314908662287053,
147
+ -0.07011447720287833
148
+ ],
149
+ "orientation": {
150
+ "w": 0.34059286343943096,
151
+ "xyz": [
152
+ -0.2511308956568913,
153
+ -0.31192421977200524,
154
+ 0.8506662422715046
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.8005404472351074,
160
+ "position": [
161
+ 0.07929667228017934,
162
+ -0.02515557339938823,
163
+ -0.05679937698005233
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6002776379538259,
167
+ "xyz": [
168
+ -0.43317967593413403,
169
+ -0.2268952561163009,
170
+ 0.6328828236586078
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.800146222114563,
176
+ "position": [
177
+ 0.0648106127337087,
178
+ 0.07862762802687939,
179
+ 0.034560867919935845
180
+ ],
181
+ "orientation": {
182
+ "w": 0.2066115480595106,
183
+ "xyz": [
184
+ -0.26528822386679585,
185
+ -0.7833033738826664,
186
+ 0.5228476364583521
187
+ ]
188
+ }
189
+ },
190
+ "grasp_12": {
191
+ "confidence": 0.7999548316001892,
192
+ "position": [
193
+ 0.08992932879482396,
194
+ 0.009317859759903513,
195
+ 0.04202425233961549
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4115516232864477,
199
+ "xyz": [
200
+ 0.5990157232911096,
201
+ -0.5905647396761583,
202
+ -0.3507687455739895
203
+ ]
204
+ }
205
+ },
206
+ "grasp_13": {
207
+ "confidence": 0.7964498996734619,
208
+ "position": [
209
+ 0.035408621217356995,
210
+ 0.08423308724013623,
211
+ -0.03856487445591483
212
+ ],
213
+ "orientation": {
214
+ "w": 0.8247931972458011,
215
+ "xyz": [
216
+ 0.5324406042883244,
217
+ -0.12329168818246261,
218
+ -0.1449908421496024
219
+ ]
220
+ }
221
+ },
222
+ "grasp_14": {
223
+ "confidence": 0.7948610782623291,
224
+ "position": [
225
+ 0.09413080805097707,
226
+ -0.007884203238063492,
227
+ 0.03486940391303506
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4007173679193388,
231
+ "xyz": [
232
+ -0.6270429931008877,
233
+ -0.5406276246866945,
234
+ 0.39238303642805455
235
+ ]
236
+ }
237
+ },
238
+ "grasp_15": {
239
+ "confidence": 0.793560266494751,
240
+ "position": [
241
+ 0.0466473116830457,
242
+ -0.07908442920597736,
243
+ -0.05785831682442222
244
+ ],
245
+ "orientation": {
246
+ "w": 0.8704974590040627,
247
+ "xyz": [
248
+ -0.44610488488392214,
249
+ -0.185323789915535,
250
+ 0.09423215184593636
251
+ ]
252
+ }
253
+ },
254
+ "grasp_17": {
255
+ "confidence": 0.7904055118560791,
256
+ "position": [
257
+ 0.0933581083372701,
258
+ 0.014180274432874285,
259
+ 0.043763150795712136
260
+ ],
261
+ "orientation": {
262
+ "w": 0.34361270220988405,
263
+ "xyz": [
264
+ -0.5759697528857142,
265
+ -0.6181700913749205,
266
+ 0.40994498749260644
267
+ ]
268
+ }
269
+ },
270
+ "grasp_18": {
271
+ "confidence": 0.7847732901573181,
272
+ "position": [
273
+ 0.09787894928012975,
274
+ -0.02708789637836162,
275
+ 4.754032579512568e-05
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5822520349120197,
279
+ "xyz": [
280
+ -0.5546125668036961,
281
+ -0.4255991295090087,
282
+ 0.4150335523128242
283
+ ]
284
+ }
285
+ },
286
+ "grasp_19": {
287
+ "confidence": 0.7810189723968506,
288
+ "position": [
289
+ -0.0437648915394675,
290
+ -0.08364809608610813,
291
+ -0.0482055941974977
292
+ ],
293
+ "orientation": {
294
+ "w": 0.8283049452527247,
295
+ "xyz": [
296
+ -0.5062181471213036,
297
+ 0.11761848078682413,
298
+ -0.20933226739409821
299
+ ]
300
+ }
301
+ }
302
+ }
303
+ },
304
+ {
305
+ "part_name": "top lid",
306
+ "mask_color": "Green",
307
+ "graspable": true,
308
+ "grasp_scenarios": [
309
+ {
310
+ "scenario": "grasp the lid from above and around the rim to remove or open it",
311
+ "confidence": 0.87
312
+ },
313
+ {
314
+ "scenario": "hold the top surface and edge while closing or aligning the lid",
315
+ "confidence": 0.84
316
+ },
317
+ {
318
+ "scenario": "pinch the lid edge to manipulate it during opening",
319
+ "confidence": 0.8
320
+ }
321
+ ],
322
+ "functional_labels": [
323
+ "cover the container opening",
324
+ "protect contents inside",
325
+ "provide access when removed or opened",
326
+ "complete the outer enclosure"
327
+ ],
328
+ "semantic_description": "A flat, round pink top piece with a smooth matte surface, covered in many small watermelon illustrations, forming the upper lid of the container.",
329
+ "id": 1,
330
+ "grasp_group": {}
331
+ }
332
+ ],
333
+ "quality_check": {
334
+ "success": true,
335
+ "message": "YES"
336
+ }
337
+ }
dataset/desktop_supplies/office_tools/1e546ae440f15062b218a332c0115a6c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1523f542093fd05c045d50812e4a01664feaddd1a0a4a57002a4731622fea23d
3
+ size 3782080