Add asset desktop_supplies/office_stationery/c072a0b55974573aaa0cc7493d526f36
Browse files
.gitattributes
CHANGED
|
@@ -6483,4 +6483,4 @@ dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/affo
|
|
| 6483 |
dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6484 |
dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6485 |
dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6486 |
-
dataset/desktop_supplies/office_stationery/
|
|
|
|
| 6483 |
dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6484 |
dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6485 |
dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6486 |
+
dataset/desktop_supplies/office_stationery/c072a0b55974573aaa0cc7493d526f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/c072a0b55974573aaa0cc7493d526f36/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,349 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "click button",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the click button end to pull the pen from a holder or pocket",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the button end briefly to reorient the pen before grasping the barrel",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"retract or extend the writing tip",
|
| 19 |
+
"actuate the pen mechanism",
|
| 20 |
+
"indicate the rear end",
|
| 21 |
+
"provide a small pulling point"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small black plastic rear button with a slightly glossy smooth hard surface, rounded cylindrical shape, and protruding position at the back end of the pen.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.8089773654937744,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.005051114903835696,
|
| 30 |
+
-0.15056590299354866,
|
| 31 |
+
0.0034429561637807637
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7084192643281942,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.7056244873658494,
|
| 37 |
+
0.0029530233999981448,
|
| 38 |
+
-0.015083381954368327
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_5": {
|
| 43 |
+
"confidence": 0.7345922589302063,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.0996155173797888,
|
| 46 |
+
-0.06164985086070374,
|
| 47 |
+
0.010963187116431072
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.029697298407929486,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.7327906848453322,
|
| 53 |
+
0.07456564505413776,
|
| 54 |
+
0.6757039642098005
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_8": {
|
| 59 |
+
"confidence": 0.7063100934028625,
|
| 60 |
+
"position": [
|
| 61 |
+
0.017358951894493657,
|
| 62 |
+
-0.14209854166256264,
|
| 63 |
+
0.03957097840611823
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.5269983847121119,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.8463404674701284,
|
| 69 |
+
-0.03562799903991143,
|
| 70 |
+
0.06863790000926435
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_9": {
|
| 75 |
+
"confidence": 0.6809261441230774,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.04859790143564169,
|
| 78 |
+
-0.1427842781995423,
|
| 79 |
+
0.005800683080451563
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.3214271941782346,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.610655013220749,
|
| 85 |
+
-0.3968875979486186,
|
| 86 |
+
-0.6051985197153493
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_14": {
|
| 91 |
+
"confidence": 0.8575589060783386,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.010629081474689883,
|
| 94 |
+
-0.10652105818735436,
|
| 95 |
+
0.08177089554374106
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.26411768511706535,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.9612552343386711,
|
| 101 |
+
-0.042847243309522276,
|
| 102 |
+
-0.06628979262061406
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_15": {
|
| 107 |
+
"confidence": 0.7887513637542725,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.0420019545872492,
|
| 110 |
+
-0.14412261109100655,
|
| 111 |
+
-0.005869743850780651
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.620365428061927,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.38230275670550445,
|
| 117 |
+
0.5696157580170892,
|
| 118 |
+
0.38016999631681986
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"part_name": "pen barrel",
|
| 126 |
+
"mask_color": "Green",
|
| 127 |
+
"graspable": true,
|
| 128 |
+
"grasp_scenarios": [
|
| 129 |
+
{
|
| 130 |
+
"scenario": "grasp the barrel to pick up and hold the pen",
|
| 131 |
+
"confidence": 0.97
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"scenario": "hold the barrel to stabilize the pen while pressing the click button",
|
| 135 |
+
"confidence": 0.93
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "grasp the barrel to place or reorient the pen on a surface",
|
| 139 |
+
"confidence": 0.9
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"functional_labels": [
|
| 143 |
+
"main grasp surface",
|
| 144 |
+
"house the ink mechanism",
|
| 145 |
+
"support writing control",
|
| 146 |
+
"stabilize the pen during actuation"
|
| 147 |
+
],
|
| 148 |
+
"semantic_description": "Long dark gray to black plastic barrel with a semi-gloss smooth hard surface, faceted cylindrical shape, and medium slender size forming most of the pen body.",
|
| 149 |
+
"id": 1,
|
| 150 |
+
"grasp_group": {
|
| 151 |
+
"grasp_20": {
|
| 152 |
+
"confidence": 0.9930618405342102,
|
| 153 |
+
"position": [
|
| 154 |
+
0.08312443333670672,
|
| 155 |
+
-0.007490628689993173,
|
| 156 |
+
0.04288307813112624
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.5179507873418094,
|
| 160 |
+
"xyz": [
|
| 161 |
+
-0.055481474328805194,
|
| 162 |
+
-0.8428931887699581,
|
| 163 |
+
-0.13483271199346467
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_24": {
|
| 168 |
+
"confidence": 0.9922020435333252,
|
| 169 |
+
"position": [
|
| 170 |
+
0.08662418710991915,
|
| 171 |
+
-0.016261111304629594,
|
| 172 |
+
0.0349549004167784
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.5490226323452267,
|
| 176 |
+
"xyz": [
|
| 177 |
+
-0.03945018109541926,
|
| 178 |
+
-0.8205132421363445,
|
| 179 |
+
-0.15419420178191195
|
| 180 |
+
]
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"grasp_25": {
|
| 184 |
+
"confidence": 0.9917339086532593,
|
| 185 |
+
"position": [
|
| 186 |
+
0.0027140767033415614,
|
| 187 |
+
-0.029272617131937295,
|
| 188 |
+
-0.09315410393173806
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.9825415130399038,
|
| 192 |
+
"xyz": [
|
| 193 |
+
-0.18578709278861746,
|
| 194 |
+
-0.008849750933380252,
|
| 195 |
+
-0.0041247078475305805
|
| 196 |
+
]
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"grasp_27": {
|
| 200 |
+
"confidence": 0.9916349649429321,
|
| 201 |
+
"position": [
|
| 202 |
+
0.08344623881384905,
|
| 203 |
+
-0.00669893465237692,
|
| 204 |
+
0.04728362199966796
|
| 205 |
+
],
|
| 206 |
+
"orientation": {
|
| 207 |
+
"w": 0.5156007035950595,
|
| 208 |
+
"xyz": [
|
| 209 |
+
0.009799062073643228,
|
| 210 |
+
-0.856722119368435,
|
| 211 |
+
-0.009332899850197668
|
| 212 |
+
]
|
| 213 |
+
}
|
| 214 |
+
},
|
| 215 |
+
"grasp_29": {
|
| 216 |
+
"confidence": 0.9915673136711121,
|
| 217 |
+
"position": [
|
| 218 |
+
0.0090319073478895,
|
| 219 |
+
0.00518750975606963,
|
| 220 |
+
-0.09820412236149423
|
| 221 |
+
],
|
| 222 |
+
"orientation": {
|
| 223 |
+
"w": 0.0043165108478344675,
|
| 224 |
+
"xyz": [
|
| 225 |
+
-0.04777369525100807,
|
| 226 |
+
0.017724101618628696,
|
| 227 |
+
0.998691593034595
|
| 228 |
+
]
|
| 229 |
+
}
|
| 230 |
+
},
|
| 231 |
+
"grasp_31": {
|
| 232 |
+
"confidence": 0.9914854168891907,
|
| 233 |
+
"position": [
|
| 234 |
+
0.025825620321484166,
|
| 235 |
+
0.0025997631601057947,
|
| 236 |
+
-0.0915111391514074
|
| 237 |
+
],
|
| 238 |
+
"orientation": {
|
| 239 |
+
"w": 0.012447946185341062,
|
| 240 |
+
"xyz": [
|
| 241 |
+
0.12740488751036863,
|
| 242 |
+
-0.07095773289651475,
|
| 243 |
+
-0.9892310364199175
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_32": {
|
| 248 |
+
"confidence": 0.9913115501403809,
|
| 249 |
+
"position": [
|
| 250 |
+
0.08606531905934389,
|
| 251 |
+
-0.01885191659675911,
|
| 252 |
+
0.0394945093721617
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.534879751322054,
|
| 256 |
+
"xyz": [
|
| 257 |
+
0.01777547535093685,
|
| 258 |
+
-0.844680546320968,
|
| 259 |
+
-0.010122191887971312
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_34": {
|
| 264 |
+
"confidence": 0.9912505149841309,
|
| 265 |
+
"position": [
|
| 266 |
+
0.09099640387103136,
|
| 267 |
+
0.004419162578415126,
|
| 268 |
+
0.02629234505002387
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.6009834677996184,
|
| 272 |
+
"xyz": [
|
| 273 |
+
0.016512342205229322,
|
| 274 |
+
-0.7989441551016453,
|
| 275 |
+
0.015311793342405513
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_35": {
|
| 280 |
+
"confidence": 0.991104245185852,
|
| 281 |
+
"position": [
|
| 282 |
+
0.0006755833583156345,
|
| 283 |
+
0.03577553172362968,
|
| 284 |
+
-0.09272375094587915
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.9916562662389401,
|
| 288 |
+
"xyz": [
|
| 289 |
+
0.12873332000356144,
|
| 290 |
+
-0.005802673710037842,
|
| 291 |
+
-0.0034512211925827384
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_36": {
|
| 296 |
+
"confidence": 0.9910370111465454,
|
| 297 |
+
"position": [
|
| 298 |
+
0.07302062648341234,
|
| 299 |
+
-0.015208864875603467,
|
| 300 |
+
0.05552700025145896
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.13442240763976973,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.8868177468725456,
|
| 306 |
+
0.05545281326493018,
|
| 307 |
+
0.43864551252376244
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_39": {
|
| 312 |
+
"confidence": 0.9910205006599426,
|
| 313 |
+
"position": [
|
| 314 |
+
-0.0191344854702038,
|
| 315 |
+
0.03523160208715126,
|
| 316 |
+
0.09431918573682196
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.07661868075488693,
|
| 320 |
+
"xyz": [
|
| 321 |
+
0.9925012711148508,
|
| 322 |
+
0.005179669170219017,
|
| 323 |
+
0.09509981925363231
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
}
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"part_name": "tip cone",
|
| 331 |
+
"mask_color": "Blue",
|
| 332 |
+
"graspable": false,
|
| 333 |
+
"grasp_scenarios": [],
|
| 334 |
+
"functional_labels": [
|
| 335 |
+
"guide the writing tip",
|
| 336 |
+
"position the writing end",
|
| 337 |
+
"protect and support the nib mechanism",
|
| 338 |
+
"indicate writing orientation"
|
| 339 |
+
],
|
| 340 |
+
"semantic_description": "Small tapered black plastic cone at the front of the pen with a smooth slightly glossy hard surface and narrow pointed shape leading to the writing end.",
|
| 341 |
+
"id": 2,
|
| 342 |
+
"grasp_group": {}
|
| 343 |
+
}
|
| 344 |
+
],
|
| 345 |
+
"quality_check": {
|
| 346 |
+
"success": true,
|
| 347 |
+
"message": "YES"
|
| 348 |
+
}
|
| 349 |
+
}
|
dataset/desktop_supplies/office_stationery/c072a0b55974573aaa0cc7493d526f36/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0c9e23db9af5a6fabcdaaa658ec331120161d7ffa0af25e08b6ac79a7ee54f6d
|
| 3 |
+
size 542560
|