Add asset desktop_supplies/office_tools/8d414b3dd30852cda857df9bd00574f5
Browse files
.gitattributes
CHANGED
|
@@ -6607,3 +6607,4 @@ dataset/desktop_supplies/office_tools/8c6de38e1748550daef2b3e8678cfa15/affordanc
|
|
| 6607 |
dataset/desktop_supplies/office_tools/8af89760b9dc5b708f1e601bdef7cb18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6608 |
dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6609 |
dataset/desktop_supplies/office_tools/8cab7d747ca253bfafefaade80bb5a32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6607 |
dataset/desktop_supplies/office_tools/8af89760b9dc5b708f1e601bdef7cb18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6608 |
dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6609 |
dataset/desktop_supplies/office_tools/8cab7d747ca253bfafefaade80bb5a32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6610 |
+
dataset/desktop_supplies/office_tools/8d414b3dd30852cda857df9bd00574f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/8d414b3dd30852cda857df9bd00574f5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,372 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glue stick cap body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap body around its side to pick up the cap",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the cap body to pull it off and open the glue stick",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the cap body to reorient or place the cap back onto the glue stick",
|
| 18 |
+
"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the glue stick",
|
| 23 |
+
"protect the adhesive tip",
|
| 24 |
+
"provide the main grasp surface",
|
| 25 |
+
"enable opening and closing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered blue plastic cap with a smooth slightly glossy surface, hollow interior, and one open end, forming most of the object's outer body.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.98686683177948,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.01839669467881322,
|
| 34 |
+
-0.03636224253568798,
|
| 35 |
+
0.09832208906300366
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.14503473273590486,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7024178647676124,
|
| 41 |
+
0.6856705862472227,
|
| 42 |
+
0.12421721583952365
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.986446738243103,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.032287627924233675,
|
| 50 |
+
-0.09292602969799191,
|
| 51 |
+
0.048882796661928296
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.3854733845013199,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6001637429124537,
|
| 57 |
+
0.602282762054374,
|
| 58 |
+
0.3584260398834976
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9859498143196106,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.030873911920934916,
|
| 66 |
+
-0.039843399659730494,
|
| 67 |
+
0.09893981670029461
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.15838314503653736,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6948527526235784,
|
| 73 |
+
0.6894715276212537,
|
| 74 |
+
0.12931915611921538
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9856941103935242,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.026494596619158983,
|
| 82 |
+
-0.03457441239152104,
|
| 83 |
+
0.10212761466391385
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.14872373409695183,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6929765301962759,
|
| 89 |
+
0.6977562332956933,
|
| 90 |
+
0.10392794816792633
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9856475591659546,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.018900544848293066,
|
| 98 |
+
-0.03721594496164471,
|
| 99 |
+
0.10105905239470303
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.140715459673514,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.7048889419582102,
|
| 105 |
+
0.6844891756586382,
|
| 106 |
+
0.12167706160186607
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9853445887565613,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.004744241945445538,
|
| 114 |
+
-0.005964106530882418,
|
| 115 |
+
0.10483504389412701
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.04040923720361471,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.718999202799033,
|
| 121 |
+
0.6936295586499353,
|
| 122 |
+
0.01689009443647575
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9847698211669922,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.018867999780923128,
|
| 130 |
+
-0.004312271368689835,
|
| 131 |
+
0.10545920138247311
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.03269597397352546,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.7029087271022781,
|
| 137 |
+
-0.7104430639773198,
|
| 138 |
+
-0.010997613190863136
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9844277501106262,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.027724646497517824,
|
| 146 |
+
-0.026600394980050623,
|
| 147 |
+
0.10210872744210064
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.11836058847140399,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.7092537185717073,
|
| 153 |
+
0.6910062917693325,
|
| 154 |
+
0.07389342679903618
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9843018054962158,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.03288512909784913,
|
| 162 |
+
-0.04193135036621243,
|
| 163 |
+
0.09888600860722363
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.18930958137083084,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.7003617374540863,
|
| 169 |
+
0.6779558159472694,
|
| 170 |
+
0.1184534960850334
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9839656352996826,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.019258966203778982,
|
| 178 |
+
-0.05689518584404141,
|
| 179 |
+
0.09017553483135998
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.21198186768722804,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.68537535048148,
|
| 185 |
+
0.6651350396503348,
|
| 186 |
+
0.2071706923132967
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9836969971656799,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.02425781125202775,
|
| 194 |
+
-0.05231209530029446,
|
| 195 |
+
0.090373131679371
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.20022306726641995,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.6899245213707007,
|
| 201 |
+
0.6677821887631048,
|
| 202 |
+
0.19488926732016992
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9835557341575623,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.030100832227617502,
|
| 210 |
+
-0.04280782921705395,
|
| 211 |
+
0.10101300780661404
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.16091102791611167,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.6994411877879755,
|
| 217 |
+
0.6820285718043846,
|
| 218 |
+
0.14045174674313385
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9834084510803223,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.022522783372551203,
|
| 226 |
+
-0.0385706095257774,
|
| 227 |
+
0.09554345463402569
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.1531841995841415,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.6956221621342503,
|
| 233 |
+
0.6893083788869163,
|
| 234 |
+
0.13228139454106363
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9833856225013733,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.02403834881260991,
|
| 242 |
+
-0.07512625737581402,
|
| 243 |
+
0.07464913581497967
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.2839018334146924,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.6367541916174477,
|
| 249 |
+
-0.661230724714153,
|
| 250 |
+
-0.2769797413808142
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9833304286003113,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.014401102904230356,
|
| 258 |
+
-0.08185255958233029,
|
| 259 |
+
0.06906275008805096
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.31084445372129277,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.6257073143660717,
|
| 265 |
+
-0.6508929348519406,
|
| 266 |
+
-0.29699237313327886
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.98325115442276,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.005144734168425202,
|
| 274 |
+
0.018787294044159353,
|
| 275 |
+
0.10360057954676449
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.05854411978575888,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.7063352789520008,
|
| 281 |
+
0.7027994625532139,
|
| 282 |
+
-0.061122624135614645
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.9830724000930786,
|
| 288 |
+
"position": [
|
| 289 |
+
0.0019343197345733643,
|
| 290 |
+
-0.09641819878015667,
|
| 291 |
+
0.0429672182071954
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.39795852791373076,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.5967407160205089,
|
| 297 |
+
-0.5895233703847841,
|
| 298 |
+
-0.3714723726930853
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.982944905757904,
|
| 304 |
+
"position": [
|
| 305 |
+
-0.024839831981807947,
|
| 306 |
+
-0.006357913021929562,
|
| 307 |
+
0.1056941703427583
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.06737710222737646,
|
| 311 |
+
"xyz": [
|
| 312 |
+
-0.7111014320757648,
|
| 313 |
+
0.6998536007562278,
|
| 314 |
+
0.00013001453782602985
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.9829040169715881,
|
| 320 |
+
"position": [
|
| 321 |
+
-0.01647216035053134,
|
| 322 |
+
-0.10400919301901013,
|
| 323 |
+
0.02689211000688374
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.44623330884502416,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.5524998464392928,
|
| 329 |
+
-0.5610891225120521,
|
| 330 |
+
-0.42520436305432613
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_19": {
|
| 335 |
+
"confidence": 0.98262619972229,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.019627902191132307,
|
| 338 |
+
-0.053166546509601176,
|
| 339 |
+
0.08950124983675778
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.19911419279831843,
|
| 343 |
+
"xyz": [
|
| 344 |
+
-0.6908838831440821,
|
| 345 |
+
0.6661391771698121,
|
| 346 |
+
0.19822107576530312
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "cap opening rim",
|
| 354 |
+
"mask_color": "Green",
|
| 355 |
+
"graspable": false,
|
| 356 |
+
"grasp_scenarios": [],
|
| 357 |
+
"functional_labels": [
|
| 358 |
+
"define the cap opening",
|
| 359 |
+
"interface with the glue stick body",
|
| 360 |
+
"help retain the cap on the glue stick",
|
| 361 |
+
"provide edge contact during capping and uncapping"
|
| 362 |
+
],
|
| 363 |
+
"semantic_description": "Small circular blue plastic rim area at the open end of the cap, smooth and slightly glossy, visible as the mouth edge/interior opening rather than the closed tip.",
|
| 364 |
+
"id": 1,
|
| 365 |
+
"grasp_group": {}
|
| 366 |
+
}
|
| 367 |
+
],
|
| 368 |
+
"quality_check": {
|
| 369 |
+
"success": true,
|
| 370 |
+
"message": "YES"
|
| 371 |
+
}
|
| 372 |
+
}
|
dataset/desktop_supplies/office_tools/8d414b3dd30852cda857df9bd00574f5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:06738116c71879b3cbd7d8c20be68f0975598c4fa0c1ecbf783f6176bf8feba6
|
| 3 |
+
size 2372852
|