xinjjj commited on
Commit
9899fcb
·
verified ·
1 Parent(s): 60e6126

Add asset desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c

Browse files
.gitattributes CHANGED
@@ -6640,4 +6640,4 @@ dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/affordanc
6640
  dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6641
  dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6642
  dataset/desktop_supplies/office_tools/baf0c3048da65eadaffce846780ed15a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6643
- dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6640
  dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6641
  dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6642
  dataset/desktop_supplies/office_tools/baf0c3048da65eadaffce846780ed15a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6643
+ dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,562 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tape roll",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer cylindrical roll to pick up and move the tape",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "pinch the outer rim to stabilize the roll while dispensing tape",
14
+ "confidence": 0.8
15
+ },
16
+ {
17
+ "scenario": "hold the roll body while orienting it for placement on a dispenser or surface",
18
+ "confidence": 0.78
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "store adhesive tape in a roll",
24
+ "support dispensing by rotation",
25
+ "protect and carry the tape layers"
26
+ ],
27
+ "semantic_description": "Translucent light blue plastic tape wound into a medium-sized hollow cylinder, with a glossy smooth slightly tacky surface and visible layered wrapping around the outer circumference.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.8825919032096863,
32
+ "position": [
33
+ 0.09778864571126178,
34
+ -0.11460289485694375,
35
+ -0.0019394938135519624
36
+ ],
37
+ "orientation": {
38
+ "w": 0.26553438529542855,
39
+ "xyz": [
40
+ -0.663082246462107,
41
+ 0.24651122632500644,
42
+ 0.6550157554962212
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.8763953447341919,
48
+ "position": [
49
+ 0.09775704034836963,
50
+ -0.09962174422980752,
51
+ 0.00016849511303007603
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6865910576070533,
55
+ "xyz": [
56
+ -0.17735539115319926,
57
+ -0.6818815651186675,
58
+ -0.1793747919698869
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.8651508092880249,
64
+ "position": [
65
+ 0.0949068505433388,
66
+ -0.0969711107754847,
67
+ -0.002120895660482347
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6898797179653353,
71
+ "xyz": [
72
+ -0.1578246089142282,
73
+ -0.6855935828346206,
74
+ -0.17064233571165358
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.85254967212677,
80
+ "position": [
81
+ 0.09480322041781619,
82
+ -0.10668279357196297,
83
+ -0.007988134282641113
84
+ ],
85
+ "orientation": {
86
+ "w": 0.22209172554368928,
87
+ "xyz": [
88
+ -0.6777267248170488,
89
+ 0.18928948694408787,
90
+ 0.6749305460906527
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.843860924243927,
96
+ "position": [
97
+ -0.04803897178499028,
98
+ -0.14242374278546777,
99
+ 0.003382774884812534
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5286897894946443,
103
+ "xyz": [
104
+ -0.46038148863483364,
105
+ 0.5495590383035509,
106
+ 0.4544456566250354
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.8432928919792175,
112
+ "position": [
113
+ 0.054092640813905746,
114
+ -0.1233336938166758,
115
+ 0.00037244481075049407
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6350308702140718,
119
+ "xyz": [
120
+ -0.27429533919861393,
121
+ -0.6628535225786722,
122
+ -0.28657122740100993
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.8427939414978027,
128
+ "position": [
129
+ -0.13652419409481809,
130
+ -0.005360211580409668,
131
+ 0.002260502311401069
132
+ ],
133
+ "orientation": {
134
+ "w": 0.09578548062004759,
135
+ "xyz": [
136
+ 0.7072827496573147,
137
+ -0.10990426726688174,
138
+ 0.6917349967842487
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.8370436429977417,
144
+ "position": [
145
+ -0.14779999217716977,
146
+ -0.013326069674803875,
147
+ 0.004354511038400233
148
+ ],
149
+ "orientation": {
150
+ "w": 0.10968229784189036,
151
+ "xyz": [
152
+ -0.7014933644004402,
153
+ -0.0853738622202519,
154
+ -0.6989908131670053
155
+ ]
156
+ }
157
+ },
158
+ "grasp_9": {
159
+ "confidence": 0.8279119729995728,
160
+ "position": [
161
+ -0.05943822971312329,
162
+ -0.1350984511518618,
163
+ 0.003035323112271726
164
+ ],
165
+ "orientation": {
166
+ "w": 0.564469069916013,
167
+ "xyz": [
168
+ -0.4738887587919835,
169
+ 0.5319769262283495,
170
+ 0.4168988646654992
171
+ ]
172
+ }
173
+ },
174
+ "grasp_10": {
175
+ "confidence": 0.8270052671432495,
176
+ "position": [
177
+ -0.12823831400601193,
178
+ 0.03364422790764365,
179
+ 0.0035559235839173198
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6670988136511431,
183
+ "xyz": [
184
+ 0.22371905180731497,
185
+ 0.6816078915442787,
186
+ -0.2008473073462434
187
+ ]
188
+ }
189
+ },
190
+ "grasp_11": {
191
+ "confidence": 0.8265124559402466,
192
+ "position": [
193
+ 0.01525341795058921,
194
+ -0.14364638306142297,
195
+ 0.0026183308800682425
196
+ ],
197
+ "orientation": {
198
+ "w": 0.39717163298955166,
199
+ "xyz": [
200
+ -0.5832430774431014,
201
+ 0.4015575480071144,
202
+ 0.5838096797772602
203
+ ]
204
+ }
205
+ },
206
+ "grasp_12": {
207
+ "confidence": 0.8260529041290283,
208
+ "position": [
209
+ 0.03859596961410716,
210
+ -0.12944997228623834,
211
+ 0.015711818006820977
212
+ ],
213
+ "orientation": {
214
+ "w": 0.588066562487265,
215
+ "xyz": [
216
+ -0.3333753373718661,
217
+ -0.6750267114421287,
218
+ -0.2955969237935863
219
+ ]
220
+ }
221
+ },
222
+ "grasp_13": {
223
+ "confidence": 0.8258295655250549,
224
+ "position": [
225
+ 0.04749932402046397,
226
+ -0.14237246788979974,
227
+ -0.00031874148407951
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5440781749260468,
231
+ "xyz": [
232
+ -0.4475253200965736,
233
+ -0.5394543295267478,
234
+ -0.4611822349098545
235
+ ]
236
+ }
237
+ },
238
+ "grasp_14": {
239
+ "confidence": 0.8216363191604614,
240
+ "position": [
241
+ 0.013951793138403445,
242
+ -0.13754942394734826,
243
+ -0.0007125554839149117
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5962369415718186,
247
+ "xyz": [
248
+ -0.3803855376148802,
249
+ -0.5923681274361617,
250
+ -0.3858864520507274
251
+ ]
252
+ }
253
+ },
254
+ "grasp_15": {
255
+ "confidence": 0.8208305239677429,
256
+ "position": [
257
+ -0.050341949972789735,
258
+ -0.13482973851205315,
259
+ -0.00549061584752053
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4716004110788037,
263
+ "xyz": [
264
+ -0.5206733475573144,
265
+ -0.46485557859994686,
266
+ -0.538889235797369
267
+ ]
268
+ }
269
+ },
270
+ "grasp_16": {
271
+ "confidence": 0.8201766610145569,
272
+ "position": [
273
+ 0.041881806042511016,
274
+ -0.1262718973302981,
275
+ -0.006719712051562965
276
+ ],
277
+ "orientation": {
278
+ "w": 0.3083043210109787,
279
+ "xyz": [
280
+ -0.6347088640255877,
281
+ 0.2837829908548465,
282
+ 0.6492767650815681
283
+ ]
284
+ }
285
+ },
286
+ "grasp_17": {
287
+ "confidence": 0.8201705813407898,
288
+ "position": [
289
+ -0.12016520014731213,
290
+ -0.07454978801251855,
291
+ 0.004290815093554556
292
+ ],
293
+ "orientation": {
294
+ "w": 0.6593763913227451,
295
+ "xyz": [
296
+ -0.288768470431417,
297
+ 0.6335164278258915,
298
+ 0.28371196789281855
299
+ ]
300
+ }
301
+ },
302
+ "grasp_18": {
303
+ "confidence": 0.8141699433326721,
304
+ "position": [
305
+ 0.019788634788710624,
306
+ -0.14408909656049218,
307
+ 0.0017272972036153078
308
+ ],
309
+ "orientation": {
310
+ "w": 0.46921894635830097,
311
+ "xyz": [
312
+ -0.5416284430991104,
313
+ -0.4715558167518842,
314
+ -0.5139137298145515
315
+ ]
316
+ }
317
+ },
318
+ "grasp_19": {
319
+ "confidence": 0.8105962872505188,
320
+ "position": [
321
+ -0.12289237341610715,
322
+ 0.042010566816315986,
323
+ 0.012218588148243725
324
+ ],
325
+ "orientation": {
326
+ "w": 0.641574419752012,
327
+ "xyz": [
328
+ 0.25456675453372596,
329
+ 0.6892490489031906,
330
+ -0.22025843909390286
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "cardboard core",
338
+ "mask_color": "Green",
339
+ "graspable": true,
340
+ "grasp_scenarios": [
341
+ {
342
+ "scenario": "insert or pinch inside the core to pick up the tape roll",
343
+ "confidence": 0.72
344
+ },
345
+ {
346
+ "scenario": "grasp the inner rim to stabilize the roll during tape dispensing",
347
+ "confidence": 0.66
348
+ },
349
+ {
350
+ "scenario": "hold the core opening to mount or align the roll on a spindle",
351
+ "confidence": 0.83
352
+ }
353
+ ],
354
+ "functional_labels": [
355
+ "maintain roll shape",
356
+ "provide central mounting hole",
357
+ "support rotation on a spindle",
358
+ "stiffen the tape roll"
359
+ ],
360
+ "semantic_description": "Beige cardboard inner ring with a matte smooth-to-fibrous surface, hard paperboard material, and a hollow cylindrical shape centered inside the tape roll.",
361
+ "id": 1,
362
+ "grasp_group": {
363
+ "grasp_21": {
364
+ "confidence": 0.07436612993478775,
365
+ "position": [
366
+ 0.02682870888384059,
367
+ 0.06587615482567344,
368
+ 0.10046052758116275
369
+ ],
370
+ "orientation": {
371
+ "w": 0.2973099658668848,
372
+ "xyz": [
373
+ 0.9411470084786684,
374
+ -0.15447152786385748,
375
+ -0.044582953101948146
376
+ ]
377
+ }
378
+ },
379
+ "grasp_22": {
380
+ "confidence": 0.048603642731904984,
381
+ "position": [
382
+ -0.046593205246608704,
383
+ 0.05539694301842246,
384
+ 0.10047199402470142
385
+ ],
386
+ "orientation": {
387
+ "w": 0.10417310502781946,
388
+ "xyz": [
389
+ -0.29799467844933747,
390
+ 0.9185703408768225,
391
+ -0.23785639504998818
392
+ ]
393
+ }
394
+ },
395
+ "grasp_23": {
396
+ "confidence": 0.02058720402419567,
397
+ "position": [
398
+ -0.05748795083491132,
399
+ 0.037435861901030876,
400
+ -0.09484616096597165
401
+ ],
402
+ "orientation": {
403
+ "w": 0.8940028794190125,
404
+ "xyz": [
405
+ 0.2421282801728882,
406
+ 0.15688791766799537,
407
+ 0.3428103394310543
408
+ ]
409
+ }
410
+ },
411
+ "grasp_24": {
412
+ "confidence": 0.08879590034484863,
413
+ "position": [
414
+ 0.05591005721362308,
415
+ 0.041601246819482185,
416
+ 0.09840538923162967
417
+ ],
418
+ "orientation": {
419
+ "w": 0.19308760643005143,
420
+ "xyz": [
421
+ -0.3552517264064922,
422
+ -0.8798850152947808,
423
+ 0.24963122198159537
424
+ ]
425
+ }
426
+ },
427
+ "grasp_27": {
428
+ "confidence": 0.1392379254102707,
429
+ "position": [
430
+ 0.055921661492902786,
431
+ -0.04457612089754548,
432
+ 0.10256244812626392
433
+ ],
434
+ "orientation": {
435
+ "w": 0.14877983469917022,
436
+ "xyz": [
437
+ 0.4285428199910616,
438
+ -0.8467085921623275,
439
+ -0.2780290851322689
440
+ ]
441
+ }
442
+ },
443
+ "grasp_29": {
444
+ "confidence": 0.771806538105011,
445
+ "position": [
446
+ -0.08349669090239331,
447
+ 0.10714284949062858,
448
+ -0.030877688783220947
449
+ ],
450
+ "orientation": {
451
+ "w": 0.733867043850138,
452
+ "xyz": [
453
+ 0.3067185770840227,
454
+ 0.5252868535265024,
455
+ -0.30238485070260784
456
+ ]
457
+ }
458
+ },
459
+ "grasp_30": {
460
+ "confidence": 0.5978270173072815,
461
+ "position": [
462
+ 0.018432303157169372,
463
+ 0.13265652082918677,
464
+ -0.03572709660511464
465
+ ],
466
+ "orientation": {
467
+ "w": 0.6035928544297269,
468
+ "xyz": [
469
+ 0.3752849189420517,
470
+ -0.47808031268615936,
471
+ 0.5160194863742419
472
+ ]
473
+ }
474
+ },
475
+ "grasp_31": {
476
+ "confidence": 0.5461583137512207,
477
+ "position": [
478
+ 0.052070631470996886,
479
+ 0.11879891775606666,
480
+ 0.010230147396214306
481
+ ],
482
+ "orientation": {
483
+ "w": 0.6299030927055388,
484
+ "xyz": [
485
+ 0.3157544799435276,
486
+ -0.6534985267277298,
487
+ 0.2765156012963405
488
+ ]
489
+ }
490
+ },
491
+ "grasp_33": {
492
+ "confidence": 0.41946178674697876,
493
+ "position": [
494
+ -0.12739832064835355,
495
+ 0.020041235387907363,
496
+ 0.0036230658879503608
497
+ ],
498
+ "orientation": {
499
+ "w": 0.6968248720136732,
500
+ "xyz": [
501
+ -0.01812352861564507,
502
+ 0.7142288508839475,
503
+ 0.06311722442124475
504
+ ]
505
+ }
506
+ },
507
+ "grasp_34": {
508
+ "confidence": 0.29375016689300537,
509
+ "position": [
510
+ 0.04725600668461993,
511
+ 0.1118478240823606,
512
+ 0.043637951952405274
513
+ ],
514
+ "orientation": {
515
+ "w": 0.4744403594508566,
516
+ "xyz": [
517
+ 0.4154931467509934,
518
+ -0.7377460076889728,
519
+ 0.24083732780879674
520
+ ]
521
+ }
522
+ },
523
+ "grasp_38": {
524
+ "confidence": 0.8672976493835449,
525
+ "position": [
526
+ -0.015484443109016865,
527
+ -0.06821043170930352,
528
+ -0.10794904257636517
529
+ ],
530
+ "orientation": {
531
+ "w": 0.8228821220444016,
532
+ "xyz": [
533
+ -0.19817188225657342,
534
+ 0.14902104224456525,
535
+ -0.5112588847843458
536
+ ]
537
+ }
538
+ },
539
+ "grasp_39": {
540
+ "confidence": 0.8406330347061157,
541
+ "position": [
542
+ 0.11154352762969211,
543
+ -0.08833235628844704,
544
+ -0.022798642399720848
545
+ ],
546
+ "orientation": {
547
+ "w": 0.2810159820361457,
548
+ "xyz": [
549
+ -0.6207258162473973,
550
+ 0.19244961257794524,
551
+ 0.7061817227193448
552
+ ]
553
+ }
554
+ }
555
+ }
556
+ }
557
+ ],
558
+ "quality_check": {
559
+ "success": true,
560
+ "message": "YES"
561
+ }
562
+ }
dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9e98a13f6be25dbfe36b7929674187b6b40328fea49ebb9a420d5137ca0c9c5b
3
+ size 3781928