xinjjj commited on
Commit
2ca75bd
·
verified ·
1 Parent(s): 547d92c

Add asset desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633

Browse files
.gitattributes CHANGED
@@ -6572,3 +6572,4 @@ dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/affordanc
6572
  dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6573
  dataset/desktop_supplies/office_tools/48f5501684ae566483372aa8f2c3b756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6574
  dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6572
  dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6573
  dataset/desktop_supplies/office_tools/48f5501684ae566483372aa8f2c3b756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6574
  dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6575
+ dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/affordance/affordance_annot.json ADDED
@@ -0,0 +1,462 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 and move the tape roll",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the outer rim to stabilize the roll while dispensing tape",
14
+ "confidence": 0.82
15
+ },
16
+ {
17
+ "scenario": "pinch the side of the roll to reorient it on a work surface",
18
+ "confidence": 0.79
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main structural body",
23
+ "provide main grasp surface",
24
+ "support tape dispensing",
25
+ "protect wound tape layers"
26
+ ],
27
+ "semantic_description": "Large ring-shaped tape body with a bright pink outer surface covered in white polka-dot pattern, smooth slightly glossy finish, and thick cylindrical form around the roll exterior.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9395166635513306,
32
+ "position": [
33
+ 0.01950442953966558,
34
+ -0.16231425775913522,
35
+ 0.0031571118161082268
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5260289447709676,
39
+ "xyz": [
40
+ -0.4585699423031361,
41
+ -0.5525986884585418,
42
+ -0.45567734944052257
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9389702677726746,
48
+ "position": [
49
+ 0.006396196549758315,
50
+ -0.16160305513767526,
51
+ -0.0009333220732514746
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5002859912664809,
55
+ "xyz": [
56
+ -0.507839994160703,
57
+ -0.49780546104385937,
58
+ -0.4939657783979399
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9381019473075867,
64
+ "position": [
65
+ 0.03541460423730314,
66
+ -0.15682191326050088,
67
+ -0.002192564425058663
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5764720129921321,
71
+ "xyz": [
72
+ -0.41496488460413006,
73
+ -0.5688247908404487,
74
+ -0.41463540623974715
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9365789294242859,
80
+ "position": [
81
+ 0.0392628104891628,
82
+ -0.15278806461719796,
83
+ -0.001109996264858637
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5818701426527276,
87
+ "xyz": [
88
+ -0.3802126490467703,
89
+ -0.5990258111318755,
90
+ -0.3975343459274062
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9330686330795288,
96
+ "position": [
97
+ 0.014163795625790954,
98
+ -0.15931042208103463,
99
+ -0.006624628324061632
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5273033345390349,
103
+ "xyz": [
104
+ -0.4815224136414026,
105
+ -0.5007269736286539,
106
+ -0.48924416851472163
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9326789975166321,
112
+ "position": [
113
+ 0.010552606312558055,
114
+ -0.16073214187053964,
115
+ -0.002141194650903344
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4703356024911106,
119
+ "xyz": [
120
+ -0.5273939194731049,
121
+ 0.46928569633735884,
122
+ 0.5295384876902529
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9316536784172058,
128
+ "position": [
129
+ 0.012447851477190852,
130
+ -0.15844321920303628,
131
+ -0.0032171818893402815
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5556445666098114,
135
+ "xyz": [
136
+ -0.43711444613332373,
137
+ -0.5443190182522079,
138
+ -0.45156049754989097
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9309002161026001,
144
+ "position": [
145
+ 0.03237369819544256,
146
+ -0.16018020285991952,
147
+ -0.004366169683635235
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5618280260242575,
151
+ "xyz": [
152
+ -0.4396078951405755,
153
+ -0.5483258841348579,
154
+ -0.43638617357964626
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9308108687400818,
160
+ "position": [
161
+ 0.015300404047593474,
162
+ -0.15733634604839608,
163
+ -0.0033240492921322584
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5259925013889284,
167
+ "xyz": [
168
+ -0.46357157224178697,
169
+ -0.5232219524412728,
170
+ -0.4844296382091397
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.930575430393219,
176
+ "position": [
177
+ 0.006446691928431392,
178
+ -0.1577252663555555,
179
+ -0.003350052982568741
180
+ ],
181
+ "orientation": {
182
+ "w": 0.48397767527804236,
183
+ "xyz": [
184
+ -0.5193545359285835,
185
+ 0.47099702433108137,
186
+ 0.5236394550777607
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9303277134895325,
192
+ "position": [
193
+ 0.02302494808100164,
194
+ -0.160036645072978,
195
+ -0.003466658527031541
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5700664369008591,
199
+ "xyz": [
200
+ -0.42944064085549705,
201
+ -0.5546967056143162,
202
+ -0.4276874539677353
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9303092956542969,
208
+ "position": [
209
+ 0.011000774567946792,
210
+ -0.15951720549492165,
211
+ -0.0025267875753343105
212
+ ],
213
+ "orientation": {
214
+ "w": 0.46343124793953366,
215
+ "xyz": [
216
+ -0.5301090813569606,
217
+ 0.46816808425734646,
218
+ 0.533886209953855
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9298895597457886,
224
+ "position": [
225
+ 0.011812989367172122,
226
+ -0.15923527552513406,
227
+ -0.004242880968376994
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5039475399070406,
231
+ "xyz": [
232
+ -0.4965155747006472,
233
+ -0.4975987675892196,
234
+ -0.501901013741771
235
+ ]
236
+ }
237
+ },
238
+ "grasp_14": {
239
+ "confidence": 0.9291670918464661,
240
+ "position": [
241
+ 0.12404263555072248,
242
+ -0.10349672212032601,
243
+ -0.0033930912613868713
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6465620539554493,
247
+ "xyz": [
248
+ -0.2499946539320264,
249
+ -0.6640704834034539,
250
+ -0.2801260010470652
251
+ ]
252
+ }
253
+ },
254
+ "grasp_15": {
255
+ "confidence": 0.9290708899497986,
256
+ "position": [
257
+ 0.13141494034789503,
258
+ -0.09442825539736077,
259
+ -0.003690222045406699
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6658940647279997,
263
+ "xyz": [
264
+ -0.2116664821844135,
265
+ -0.6715918128667704,
266
+ -0.24646872371565304
267
+ ]
268
+ }
269
+ },
270
+ "grasp_16": {
271
+ "confidence": 0.928972601890564,
272
+ "position": [
273
+ 0.06365614919923246,
274
+ -0.1447734452667646,
275
+ -0.0019984993268735707
276
+ ],
277
+ "orientation": {
278
+ "w": 0.3347706346511436,
279
+ "xyz": [
280
+ -0.626795175759814,
281
+ 0.327009362797549,
282
+ 0.6229938253805051
283
+ ]
284
+ }
285
+ },
286
+ "grasp_17": {
287
+ "confidence": 0.9288116693496704,
288
+ "position": [
289
+ 0.0077602004166692495,
290
+ -0.1548893369617872,
291
+ -0.0032536208163946867
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5385355863564029,
295
+ "xyz": [
296
+ -0.45323969722292706,
297
+ -0.5279706358236551,
298
+ -0.47518439241730226
299
+ ]
300
+ }
301
+ },
302
+ "grasp_18": {
303
+ "confidence": 0.9287042021751404,
304
+ "position": [
305
+ -0.00648534344509244,
306
+ -0.1633806891622953,
307
+ -0.0013464136573020369
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5129719376560613,
311
+ "xyz": [
312
+ -0.4823837033023069,
313
+ 0.5183289635938275,
314
+ 0.4852842872641628
315
+ ]
316
+ }
317
+ },
318
+ "grasp_19": {
319
+ "confidence": 0.928531289100647,
320
+ "position": [
321
+ -0.08948204875923693,
322
+ -0.12619049026397988,
323
+ -0.002487733610905707
324
+ ],
325
+ "orientation": {
326
+ "w": 0.6504058957322368,
327
+ "xyz": [
328
+ -0.2599438134406263,
329
+ 0.6574175231883737,
330
+ 0.27785533080284036
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "inner lining",
338
+ "mask_color": "Green",
339
+ "graspable": true,
340
+ "grasp_scenarios": [
341
+ {
342
+ "scenario": "insert a slim gripper into the inner opening and contact the inner lining to lift or index the tape roll",
343
+ "confidence": 0.61
344
+ },
345
+ {
346
+ "scenario": "grasp the inner rim lightly to stabilize the roll during dispensing or placement",
347
+ "confidence": 0.55
348
+ }
349
+ ],
350
+ "functional_labels": [
351
+ "form inner surface of central opening",
352
+ "support the rolled tape structure",
353
+ "allow mounting on a spindle or holder",
354
+ "provide inner alignment surface"
355
+ ],
356
+ "semantic_description": "Inner cylindrical lining visible inside the central opening, appearing light lavender to white with dense blue-purple dot pattern and a matte paper-like surface.",
357
+ "id": 1,
358
+ "grasp_group": {
359
+ "grasp_33": {
360
+ "confidence": 0.811556339263916,
361
+ "position": [
362
+ 0.05389619409106672,
363
+ 0.009680437680799514,
364
+ 0.11974638560786843
365
+ ],
366
+ "orientation": {
367
+ "w": 0.02400485019334526,
368
+ "xyz": [
369
+ 0.9995519330440532,
370
+ 0.01091567899264951,
371
+ 0.0141615065307687
372
+ ]
373
+ }
374
+ },
375
+ "grasp_34": {
376
+ "confidence": 0.7547748684883118,
377
+ "position": [
378
+ -0.014865795383229852,
379
+ -0.05236477329162881,
380
+ -0.12154994299635291
381
+ ],
382
+ "orientation": {
383
+ "w": 0.6585828195836072,
384
+ "xyz": [
385
+ 0.011123396709794679,
386
+ 0.020371968154344278,
387
+ -0.7521501995668557
388
+ ]
389
+ }
390
+ },
391
+ "grasp_35": {
392
+ "confidence": 0.7457068562507629,
393
+ "position": [
394
+ 0.03895057155750692,
395
+ 0.04489703179569915,
396
+ 0.11962775001302361
397
+ ],
398
+ "orientation": {
399
+ "w": 0.016043765808764474,
400
+ "xyz": [
401
+ -0.8741021071122134,
402
+ -0.4854681471881844,
403
+ 0.0029634416366116126
404
+ ]
405
+ }
406
+ },
407
+ "grasp_36": {
408
+ "confidence": 0.745681881904602,
409
+ "position": [
410
+ 0.004925840301439166,
411
+ 0.06134883762570098,
412
+ 0.11523453751578927
413
+ ],
414
+ "orientation": {
415
+ "w": 0.14404682401849866,
416
+ "xyz": [
417
+ -0.5048305147312361,
418
+ -0.8319247570716866,
419
+ 0.17971606065567577
420
+ ]
421
+ }
422
+ },
423
+ "grasp_37": {
424
+ "confidence": 0.7327120304107666,
425
+ "position": [
426
+ -0.03682721988297999,
427
+ -0.05021747126011178,
428
+ -0.12159414729103446
429
+ ],
430
+ "orientation": {
431
+ "w": 0.8815819599920716,
432
+ "xyz": [
433
+ 0.009236921951520316,
434
+ -0.008115641005923768,
435
+ 0.47187081225740357
436
+ ]
437
+ }
438
+ },
439
+ "grasp_39": {
440
+ "confidence": 0.7033707499504089,
441
+ "position": [
442
+ 0.013785538962110877,
443
+ -0.054933606821577996,
444
+ -0.121228092815727
445
+ ],
446
+ "orientation": {
447
+ "w": 0.6681035259666345,
448
+ "xyz": [
449
+ 0.0190270710841906,
450
+ -0.003572712543491674,
451
+ 0.7438164322478962
452
+ ]
453
+ }
454
+ }
455
+ }
456
+ }
457
+ ],
458
+ "quality_check": {
459
+ "success": true,
460
+ "message": "YES"
461
+ }
462
+ }
dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cd13c3334071e9830cf318e3e4e53954ca2d98b42cab6bbe690dfd102ff249f1
3
+ size 488528