Add asset desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587
Browse files
.gitattributes
CHANGED
|
@@ -6471,3 +6471,4 @@ dataset/desktop_supplies/office_stationery/b46f079da16b5bdd91d161669fcaa770/affo
|
|
| 6471 |
dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6472 |
dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6473 |
dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6471 |
dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6472 |
dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6473 |
dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6474 |
+
dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,259 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "marker barrel",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and reposition the marker",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel while writing or drawing with the tip exposed",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the marker by the barrel while using or setting it down",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain ink reservoir",
|
| 24 |
+
"support writing assembly",
|
| 25 |
+
"provide structural body",
|
| 26 |
+
"display product label"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long white plastic cylindrical body with a smooth slightly matte finish, hard texture, printed black label text, and the largest central portion of the marker.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.8962034583091736,
|
| 33 |
+
"position": [
|
| 34 |
+
0.11884870659559965,
|
| 35 |
+
-0.011757095577195287,
|
| 36 |
+
0.0482713321398478
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.4151475022473377,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5718018861742344,
|
| 42 |
+
-0.6491722929510939,
|
| 43 |
+
0.281550152566116
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_3": {
|
| 48 |
+
"confidence": 0.8883640170097351,
|
| 49 |
+
"position": [
|
| 50 |
+
0.12872724514454603,
|
| 51 |
+
0.005062852753326297,
|
| 52 |
+
-0.0019207992882002145
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.4507808290544784,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.560185346098646,
|
| 58 |
+
-0.41617963681791337,
|
| 59 |
+
-0.5565820083971514
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_4": {
|
| 64 |
+
"confidence": 0.8872458934783936,
|
| 65 |
+
"position": [
|
| 66 |
+
0.12613699864596128,
|
| 67 |
+
-0.0027646899688988924,
|
| 68 |
+
-0.0004489334241952747
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5880456882650528,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.4133182401443351,
|
| 74 |
+
-0.5725611621702842,
|
| 75 |
+
0.39439069011715283
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.8855980634689331,
|
| 81 |
+
"position": [
|
| 82 |
+
0.10815366636961699,
|
| 83 |
+
0.007395707769319415,
|
| 84 |
+
0.04991312345373444
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.3927527142109679,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.5759403570303304,
|
| 90 |
+
-0.6508693205984905,
|
| 91 |
+
-0.3006777978623505
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_8": {
|
| 96 |
+
"confidence": 0.8837372660636902,
|
| 97 |
+
"position": [
|
| 98 |
+
0.11500246357172728,
|
| 99 |
+
0.001598990522325039,
|
| 100 |
+
0.04597216864931397
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.39338814582521686,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.5806260541329604,
|
| 106 |
+
-0.6275747766094865,
|
| 107 |
+
-0.33803705677002377
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_13": {
|
| 112 |
+
"confidence": 0.8806852698326111,
|
| 113 |
+
"position": [
|
| 114 |
+
0.12472924869507551,
|
| 115 |
+
-0.0025441832840442657,
|
| 116 |
+
-0.0014418653736356646
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.3723663194736477,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.6151160807755328,
|
| 122 |
+
-0.34105174897586976,
|
| 123 |
+
0.6055239349633483
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_14": {
|
| 128 |
+
"confidence": 0.8796816468238831,
|
| 129 |
+
"position": [
|
| 130 |
+
0.11386631708592176,
|
| 131 |
+
0.04836998390965164,
|
| 132 |
+
0.01613750701653771
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.08437063267364028,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.6990495302354792,
|
| 138 |
+
0.2998106828531756,
|
| 139 |
+
-0.6436807477833391
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_15": {
|
| 144 |
+
"confidence": 0.8791597485542297,
|
| 145 |
+
"position": [
|
| 146 |
+
0.12976502161473036,
|
| 147 |
+
-0.004378442885354161,
|
| 148 |
+
0.00018075985281029716
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.5216463712570111,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.49920623083194776,
|
| 154 |
+
-0.48987080977789776,
|
| 155 |
+
0.488574244286884
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_16": {
|
| 160 |
+
"confidence": 0.8788675665855408,
|
| 161 |
+
"position": [
|
| 162 |
+
0.12430315744131804,
|
| 163 |
+
0.0005200680461712182,
|
| 164 |
+
0.047092255408642814
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.37939604306849006,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.5927472197218544,
|
| 170 |
+
-0.6201344194758864,
|
| 171 |
+
-0.34661603799779545
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_17": {
|
| 176 |
+
"confidence": 0.8781501054763794,
|
| 177 |
+
"position": [
|
| 178 |
+
0.12994795572012663,
|
| 179 |
+
0.0014257262228056788,
|
| 180 |
+
0.0019670834008138627
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.5330304492164892,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.47763779713709387,
|
| 186 |
+
-0.5397582944148486,
|
| 187 |
+
0.44317226736841886
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_18": {
|
| 192 |
+
"confidence": 0.8767592310905457,
|
| 193 |
+
"position": [
|
| 194 |
+
0.11294290702790022,
|
| 195 |
+
0.028531995369121432,
|
| 196 |
+
0.03941132148611359
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.5261320599016116,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.4738792496726042,
|
| 202 |
+
-0.6897432029195947,
|
| 203 |
+
-0.15125417779233682
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_19": {
|
| 208 |
+
"confidence": 0.8765896558761597,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.09533847589045763,
|
| 211 |
+
0.044875773368403316,
|
| 212 |
+
0.01881084611522965
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.08671865143229249,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.7080202121233952,
|
| 218 |
+
-0.26947801120565495,
|
| 219 |
+
0.6469689762230892
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"part_name": "rear end face",
|
| 227 |
+
"mask_color": "Red",
|
| 228 |
+
"graspable": false,
|
| 229 |
+
"grasp_scenarios": [],
|
| 230 |
+
"functional_labels": [
|
| 231 |
+
"terminate the back end",
|
| 232 |
+
"close the body end",
|
| 233 |
+
"indicate opposite end from the writing tip"
|
| 234 |
+
],
|
| 235 |
+
"semantic_description": "Small flat white circular end surface at the back of the marker, opposite the writing tip; compact, hard-looking, and not a distinct removable cap.",
|
| 236 |
+
"id": 0,
|
| 237 |
+
"grasp_group": {}
|
| 238 |
+
},
|
| 239 |
+
{
|
| 240 |
+
"part_name": "marker tip end",
|
| 241 |
+
"mask_color": "Blue",
|
| 242 |
+
"graspable": false,
|
| 243 |
+
"grasp_scenarios": [],
|
| 244 |
+
"functional_labels": [
|
| 245 |
+
"apply ink to a surface",
|
| 246 |
+
"make marks",
|
| 247 |
+
"provide writing contact point",
|
| 248 |
+
"indicate writing end"
|
| 249 |
+
],
|
| 250 |
+
"semantic_description": "Small writing-end area of the marker, visible mainly as a narrow end face at one end of the white body; compact and positioned opposite the rear end.",
|
| 251 |
+
"id": 2,
|
| 252 |
+
"grasp_group": {}
|
| 253 |
+
}
|
| 254 |
+
],
|
| 255 |
+
"quality_check": {
|
| 256 |
+
"success": false,
|
| 257 |
+
"message": "Red and blue end parts are swapped relative to images and writing tip is not visible."
|
| 258 |
+
}
|
| 259 |
+
}
|
dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6a6385f1e76511910286bae4a9d5c638b06eee06fc681f87cacf523e09b5d00d
|
| 3 |
+
size 3782652
|