xinjjj commited on
Commit
51cff06
·
verified ·
1 Parent(s): 5cebdaf

Add asset desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6

Browse files
.gitattributes CHANGED
@@ -6514,4 +6514,4 @@ dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/affo
6514
  dataset/desktop_supplies/office_stationery/d5fb0ba7e5ef54588550a2b57d6c7cba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6515
  dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6516
  dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/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
 
6514
  dataset/desktop_supplies/office_stationery/d5fb0ba7e5ef54588550a2b57d6c7cba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6515
  dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6516
  dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6517
+ dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,381 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "base ring",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the lower base ring to pick up the pen holder from below",
10
+ "confidence": 0.58
11
+ },
12
+ {
13
+ "scenario": "hold the base ring to stabilize the pen holder during placement",
14
+ "confidence": 0.64
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support on a flat surface",
19
+ "stabilize the container",
20
+ "provide a lower contact edge",
21
+ "protect the bottom perimeter"
22
+ ],
23
+ "semantic_description": "A narrow light gray ring around the bottom edge, likely rubber or plastic, with a matte slightly rough surface that forms the small supporting perimeter at the base.",
24
+ "id": 0,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "holder body",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the cylindrical body from the sides to lift the pen holder",
34
+ "confidence": 0.94
35
+ },
36
+ {
37
+ "scenario": "hold the body to reposition or rotate the pen holder on a desk",
38
+ "confidence": 0.91
39
+ },
40
+ {
41
+ "scenario": "grasp the upper rim area to steady the holder while inserting or removing pens",
42
+ "confidence": 0.72
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "contain pens and tools",
47
+ "provide the main structure",
48
+ "support side grasping",
49
+ "define the open storage cavity"
50
+ ],
51
+ "semantic_description": "A light beige wooden cylindrical cup with a matte smooth finish, visible vertical wood grain, hard texture, and blue printed lettering on the outside, forming the large hollow main body.",
52
+ "id": 1,
53
+ "grasp_group": {
54
+ "grasp_20": {
55
+ "confidence": 0.9667884707450867,
56
+ "position": [
57
+ -0.042175929818768054,
58
+ 0.06030410379753448,
59
+ 0.16367759346030653
60
+ ],
61
+ "orientation": {
62
+ "w": 0.01753676971735466,
63
+ "xyz": [
64
+ 0.46366251260449887,
65
+ 0.8850653726309543,
66
+ -0.03699759833818098
67
+ ]
68
+ }
69
+ },
70
+ "grasp_21": {
71
+ "confidence": 0.9667783379554749,
72
+ "position": [
73
+ 0.051712881948333234,
74
+ 0.06992163360700943,
75
+ 0.16074692248366773
76
+ ],
77
+ "orientation": {
78
+ "w": 0.11668369192185722,
79
+ "xyz": [
80
+ -0.7049540498415311,
81
+ -0.6690281661140967,
82
+ 0.20451409877443205
83
+ ]
84
+ }
85
+ },
86
+ "grasp_22": {
87
+ "confidence": 0.9665964245796204,
88
+ "position": [
89
+ 0.05416943895397708,
90
+ 0.06732620150432922,
91
+ 0.15833741961978376
92
+ ],
93
+ "orientation": {
94
+ "w": 0.11327810633570849,
95
+ "xyz": [
96
+ -0.7339394898285619,
97
+ -0.6347305835380659,
98
+ 0.21358366561282846
99
+ ]
100
+ }
101
+ },
102
+ "grasp_23": {
103
+ "confidence": 0.9625614881515503,
104
+ "position": [
105
+ 0.05535761656938121,
106
+ 0.07155568004236557,
107
+ 0.16129164933227003
108
+ ],
109
+ "orientation": {
110
+ "w": 0.24733368961820393,
111
+ "xyz": [
112
+ 0.5850895780695674,
113
+ -0.7701752123910123,
114
+ -0.05767472438321917
115
+ ]
116
+ }
117
+ },
118
+ "grasp_24": {
119
+ "confidence": 0.9618682861328125,
120
+ "position": [
121
+ 0.03993310424266383,
122
+ -0.0636634394468274,
123
+ 0.16179068922065198
124
+ ],
125
+ "orientation": {
126
+ "w": 0.11179885982865832,
127
+ "xyz": [
128
+ -0.48395313498263587,
129
+ -0.8646860072730379,
130
+ -0.07488983180447772
131
+ ]
132
+ }
133
+ },
134
+ "grasp_25": {
135
+ "confidence": 0.9608272314071655,
136
+ "position": [
137
+ 0.05831806379137561,
138
+ -0.00779560356750153,
139
+ 0.16432461678050458
140
+ ],
141
+ "orientation": {
142
+ "w": 0.18924917093650043,
143
+ "xyz": [
144
+ 0.9382179302654948,
145
+ -0.28323351428590854,
146
+ -0.0609150475123552
147
+ ]
148
+ }
149
+ },
150
+ "grasp_26": {
151
+ "confidence": 0.9606645107269287,
152
+ "position": [
153
+ -0.04827127215685323,
154
+ 0.048882259434321895,
155
+ 0.16822824417613447
156
+ ],
157
+ "orientation": {
158
+ "w": 0.02099653448769419,
159
+ "xyz": [
160
+ 0.5045272438243076,
161
+ 0.8630736808557891,
162
+ 0.010734392977423365
163
+ ]
164
+ }
165
+ },
166
+ "grasp_27": {
167
+ "confidence": 0.9600972533226013,
168
+ "position": [
169
+ 0.03620694967685267,
170
+ 0.09172658473835327,
171
+ 0.15234171389602125
172
+ ],
173
+ "orientation": {
174
+ "w": 0.08150557296779368,
175
+ "xyz": [
176
+ -0.6471879673837357,
177
+ -0.6964130826943703,
178
+ 0.2991878919692857
179
+ ]
180
+ }
181
+ },
182
+ "grasp_28": {
183
+ "confidence": 0.9598572254180908,
184
+ "position": [
185
+ -0.011669125233311206,
186
+ 0.07286614031181671,
187
+ 0.16101545630954206
188
+ ],
189
+ "orientation": {
190
+ "w": 0.07147954615592218,
191
+ "xyz": [
192
+ -0.40556048271910794,
193
+ -0.8821889668364208,
194
+ 0.22837249425023853
195
+ ]
196
+ }
197
+ },
198
+ "grasp_29": {
199
+ "confidence": 0.9590885043144226,
200
+ "position": [
201
+ -0.03668722865404561,
202
+ 0.061248446261743084,
203
+ 0.16199103533290327
204
+ ],
205
+ "orientation": {
206
+ "w": 0.11739345552953383,
207
+ "xyz": [
208
+ 0.9207989218603556,
209
+ -0.371507126629734,
210
+ 0.018181775572288963
211
+ ]
212
+ }
213
+ },
214
+ "grasp_30": {
215
+ "confidence": 0.9584918022155762,
216
+ "position": [
217
+ 0.04758473130641505,
218
+ -0.039001339668175206,
219
+ 0.16476822434924543
220
+ ],
221
+ "orientation": {
222
+ "w": 0.07028318372089187,
223
+ "xyz": [
224
+ -0.4390224506984202,
225
+ -0.8919168290938239,
226
+ 0.08248594939762244
227
+ ]
228
+ }
229
+ },
230
+ "grasp_31": {
231
+ "confidence": 0.9583362936973572,
232
+ "position": [
233
+ 0.06011196615872905,
234
+ -0.031178788834949955,
235
+ 0.15894826292060316
236
+ ],
237
+ "orientation": {
238
+ "w": 0.12760439275516514,
239
+ "xyz": [
240
+ -0.40466974910117204,
241
+ -0.8878208009656188,
242
+ 0.17813966005566376
243
+ ]
244
+ }
245
+ },
246
+ "grasp_32": {
247
+ "confidence": 0.9573421478271484,
248
+ "position": [
249
+ 0.053592737938743085,
250
+ -0.02391326575889252,
251
+ 0.1658819371368736
252
+ ],
253
+ "orientation": {
254
+ "w": 0.06600936479036146,
255
+ "xyz": [
256
+ -0.41234276305978285,
257
+ -0.892120426537173,
258
+ 0.17244522048270766
259
+ ]
260
+ }
261
+ },
262
+ "grasp_33": {
263
+ "confidence": 0.9570212364196777,
264
+ "position": [
265
+ -0.0009715103078633547,
266
+ -0.09096852093352936,
267
+ 0.15776195167563856
268
+ ],
269
+ "orientation": {
270
+ "w": 0.19875521060717397,
271
+ "xyz": [
272
+ -0.7166974480217642,
273
+ -0.6665754343849059,
274
+ -0.050182910738241646
275
+ ]
276
+ }
277
+ },
278
+ "grasp_34": {
279
+ "confidence": 0.9569770097732544,
280
+ "position": [
281
+ -0.00035900151124224067,
282
+ 0.08391943425522186,
283
+ 0.16092557250522077
284
+ ],
285
+ "orientation": {
286
+ "w": 0.23333736474002806,
287
+ "xyz": [
288
+ 0.7894562397752793,
289
+ -0.5667796503510467,
290
+ -0.03276198473843276
291
+ ]
292
+ }
293
+ },
294
+ "grasp_35": {
295
+ "confidence": 0.9568866491317749,
296
+ "position": [
297
+ -0.04971761238994077,
298
+ 0.09019125104532577,
299
+ 0.15486670075915754
300
+ ],
301
+ "orientation": {
302
+ "w": 0.2227380776099537,
303
+ "xyz": [
304
+ 0.8770743600140842,
305
+ -0.3999546740750085,
306
+ 0.14548049516708478
307
+ ]
308
+ }
309
+ },
310
+ "grasp_36": {
311
+ "confidence": 0.9567707180976868,
312
+ "position": [
313
+ 0.02056839334545657,
314
+ -0.07811551689519547,
315
+ 0.15989825665019453
316
+ ],
317
+ "orientation": {
318
+ "w": 0.15298369336024528,
319
+ "xyz": [
320
+ -0.8608682762038488,
321
+ 0.48428163791404755,
322
+ 0.031194483021202573
323
+ ]
324
+ }
325
+ },
326
+ "grasp_37": {
327
+ "confidence": 0.9566800594329834,
328
+ "position": [
329
+ 0.014259475457947701,
330
+ 0.060201129323104396,
331
+ 0.1666979545261711
332
+ ],
333
+ "orientation": {
334
+ "w": 0.043813097938880975,
335
+ "xyz": [
336
+ 0.6678809868319068,
337
+ -0.7429642439050801,
338
+ 0.00441951988214602
339
+ ]
340
+ }
341
+ },
342
+ "grasp_38": {
343
+ "confidence": 0.9562992453575134,
344
+ "position": [
345
+ 0.0219548141467385,
346
+ -0.07241013794555329,
347
+ 0.16396043240092695
348
+ ],
349
+ "orientation": {
350
+ "w": 0.028492129803346634,
351
+ "xyz": [
352
+ -0.5163499991436338,
353
+ -0.8396357758920819,
354
+ -0.16608022388514598
355
+ ]
356
+ }
357
+ },
358
+ "grasp_39": {
359
+ "confidence": 0.9561086893081665,
360
+ "position": [
361
+ 0.030812185432296246,
362
+ 0.057851517951348796,
363
+ 0.16929303645156324
364
+ ],
365
+ "orientation": {
366
+ "w": 0.06294860922932691,
367
+ "xyz": [
368
+ -0.8238194872304764,
369
+ -0.559647931186086,
370
+ 0.06444469081733717
371
+ ]
372
+ }
373
+ }
374
+ }
375
+ }
376
+ ],
377
+ "quality_check": {
378
+ "success": true,
379
+ "message": "YES"
380
+ }
381
+ }
dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fda6f5351aea4c14ed5bc7ff66f5dcf761010f20f6ea0c65b3789f5a0ef6f3e1
3
+ size 3781976