xinjjj commited on
Commit
a705b19
·
verified ·
1 Parent(s): f7e85bf

Add asset desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412

Browse files
.gitattributes CHANGED
@@ -6671,3 +6671,4 @@ dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/affordanc
6671
  dataset/desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6672
  dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6673
  dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6671
  dataset/desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6672
  dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6673
  dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6674
+ dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/affordance/affordance_annot.json ADDED
@@ -0,0 +1,622 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 body to pick up the tape roll",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the roll around its outer rim to stabilize it while dispensing tape",
14
+ "confidence": 0.83
15
+ },
16
+ {
17
+ "scenario": "pinch the roll from opposite outer sides to reorient or place it",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "support tape wound around the roll",
24
+ "stabilize during dispensing",
25
+ "provide structural body"
26
+ ],
27
+ "semantic_description": "Thick ring-shaped outer body made of translucent pale white plastic tape with a glossy smooth surface, hard yet slightly compliant, forming the large cylindrical exterior of the roll.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9845647811889648,
32
+ "position": [
33
+ -0.09999252541001624,
34
+ 0.09274687938159332,
35
+ -0.0002090961206704378
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6267681305209606,
39
+ "xyz": [
40
+ 0.33103491862808976,
41
+ 0.6285648622289457,
42
+ -0.32013092194172765
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9824004173278809,
48
+ "position": [
49
+ 0.10356307344500237,
50
+ -0.10235145367914811,
51
+ -0.0024057473347056657
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6639480881704894,
55
+ "xyz": [
56
+ -0.23240481442324573,
57
+ -0.6593853834766006,
58
+ -0.2652769392636032
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9818205237388611,
64
+ "position": [
65
+ 0.0755992116219204,
66
+ -0.12368686177069321,
67
+ -0.004234303982229903
68
+ ],
69
+ "orientation": {
70
+ "w": 0.35758309754177214,
71
+ "xyz": [
72
+ -0.6129702254557631,
73
+ 0.34147016841723343,
74
+ 0.6162791211279584
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.981280505657196,
80
+ "position": [
81
+ 0.07414352463547402,
82
+ -0.12555340357357636,
83
+ 0.0026871564041357487
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3666803851175526,
87
+ "xyz": [
88
+ -0.626007179985652,
89
+ 0.35021481439469737,
90
+ 0.5924610447573261
91
+ ]
92
+ }
93
+ },
94
+ "grasp_5": {
95
+ "confidence": 0.9809563755989075,
96
+ "position": [
97
+ 0.1064314203149479,
98
+ -0.09812013484770432,
99
+ -0.00576481016469188
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6652526298080995,
103
+ "xyz": [
104
+ -0.21522081660194947,
105
+ -0.67046827646088,
106
+ -0.2481758023945414
107
+ ]
108
+ }
109
+ },
110
+ "grasp_6": {
111
+ "confidence": 0.9809353351593018,
112
+ "position": [
113
+ 0.06345296220843011,
114
+ -0.13162151403957978,
115
+ -0.0033709830895531923
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5980187431010753,
119
+ "xyz": [
120
+ -0.3679227021989934,
121
+ -0.5973264914400838,
122
+ -0.38756616303578495
123
+ ]
124
+ }
125
+ },
126
+ "grasp_7": {
127
+ "confidence": 0.9809243679046631,
128
+ "position": [
129
+ 0.08769163804117852,
130
+ -0.11547179945046082,
131
+ -0.003259951510699466
132
+ ],
133
+ "orientation": {
134
+ "w": 0.3006207920104681,
135
+ "xyz": [
136
+ -0.6549802498650996,
137
+ 0.27257475845256973,
138
+ 0.6374409876625242
139
+ ]
140
+ }
141
+ },
142
+ "grasp_8": {
143
+ "confidence": 0.9804561138153076,
144
+ "position": [
145
+ -0.14129692001279182,
146
+ 0.0031809373176656663,
147
+ 0.00514756582560949
148
+ ],
149
+ "orientation": {
150
+ "w": 0.05829111304013561,
151
+ "xyz": [
152
+ 0.7097167855581713,
153
+ -0.06669174425993074,
154
+ 0.6988965886918369
155
+ ]
156
+ }
157
+ },
158
+ "grasp_9": {
159
+ "confidence": 0.9803596138954163,
160
+ "position": [
161
+ 0.06943047361437493,
162
+ -0.128632654028479,
163
+ -0.00043901955359615386
164
+ ],
165
+ "orientation": {
166
+ "w": 0.3730039907134583,
167
+ "xyz": [
168
+ -0.6114051808258927,
169
+ 0.3661194802268688,
170
+ 0.5941449772315668
171
+ ]
172
+ }
173
+ },
174
+ "grasp_10": {
175
+ "confidence": 0.9803459048271179,
176
+ "position": [
177
+ 0.07153745310370141,
178
+ -0.12634884245926514,
179
+ -0.0026707556389737874
180
+ ],
181
+ "orientation": {
182
+ "w": 0.36862913005739395,
183
+ "xyz": [
184
+ -0.6035949536470957,
185
+ 0.3556326739569726,
186
+ 0.6109918965249075
187
+ ]
188
+ }
189
+ },
190
+ "grasp_11": {
191
+ "confidence": 0.9803255796432495,
192
+ "position": [
193
+ 0.023432753402630624,
194
+ -0.138630811648909,
195
+ -0.0023608501360286027
196
+ ],
197
+ "orientation": {
198
+ "w": 0.48723043143056716,
199
+ "xyz": [
200
+ -0.4836125921269627,
201
+ -0.5127905758334315,
202
+ -0.5155300115033477
203
+ ]
204
+ }
205
+ },
206
+ "grasp_12": {
207
+ "confidence": 0.979912519454956,
208
+ "position": [
209
+ 0.0985268832928341,
210
+ -0.10459372826153412,
211
+ 0.00014122308857622556
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6402894675931815,
215
+ "xyz": [
216
+ -0.2775249460138842,
217
+ -0.6508160090464918,
218
+ -0.2990782914188644
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.9794780015945435,
224
+ "position": [
225
+ 0.060610647667090234,
226
+ -0.13206601567799225,
227
+ -0.00652502549928613
228
+ ],
229
+ "orientation": {
230
+ "w": 0.3753528042487559,
231
+ "xyz": [
232
+ -0.6054987084600623,
233
+ 0.33875545593118517,
234
+ 0.6145944414592817
235
+ ]
236
+ }
237
+ },
238
+ "grasp_17": {
239
+ "confidence": 0.979357123374939,
240
+ "position": [
241
+ 0.04156950803462678,
242
+ -0.13997371919685975,
243
+ -0.00482344048214145
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5560201143461777,
247
+ "xyz": [
248
+ -0.41661104253773923,
249
+ -0.5630915154039183,
250
+ -0.44744252922380995
251
+ ]
252
+ }
253
+ },
254
+ "grasp_18": {
255
+ "confidence": 0.9793087840080261,
256
+ "position": [
257
+ -0.1428579507582981,
258
+ -0.009368731232825667,
259
+ 0.003230468340916559
260
+ ],
261
+ "orientation": {
262
+ "w": 0.035898673444841565,
263
+ "xyz": [
264
+ 0.7104521940942268,
265
+ -0.035691818452401325,
266
+ 0.7019224025824795
267
+ ]
268
+ }
269
+ },
270
+ "grasp_19": {
271
+ "confidence": 0.9791027903556824,
272
+ "position": [
273
+ 0.05675633938972169,
274
+ -0.13407527335220948,
275
+ -0.001368309516692534
276
+ ],
277
+ "orientation": {
278
+ "w": 0.600970825513771,
279
+ "xyz": [
280
+ -0.35759194686698564,
281
+ -0.6020980547922865,
282
+ -0.38527911808521353
283
+ ]
284
+ }
285
+ }
286
+ }
287
+ },
288
+ {
289
+ "part_name": "cardboard core",
290
+ "mask_color": "Green",
291
+ "graspable": true,
292
+ "grasp_scenarios": [
293
+ {
294
+ "scenario": "insert parallel gripper fingers into the center opening and grasp the inner core to lift the roll",
295
+ "confidence": 0.72
296
+ },
297
+ {
298
+ "scenario": "hold the inner rim to stabilize the roll while peeling tape",
299
+ "confidence": 0.64
300
+ }
301
+ ],
302
+ "functional_labels": [
303
+ "provide central mounting hole",
304
+ "support the tape roll shape",
305
+ "enable spindle placement",
306
+ "stabilize during handling"
307
+ ],
308
+ "semantic_description": "Hollow cylindrical inner core with a white inner lining and a thin brown cardboard edge, showing a matte smooth paperboard surface inside the center opening.",
309
+ "id": 1,
310
+ "grasp_group": {
311
+ "grasp_20": {
312
+ "confidence": 0.03573997691273689,
313
+ "position": [
314
+ -0.0398991523497898,
315
+ -0.05538126133615151,
316
+ 0.09075252219918184
317
+ ],
318
+ "orientation": {
319
+ "w": 0.3190782377515206,
320
+ "xyz": [
321
+ -0.9076466240818823,
322
+ 0.23473318585596653,
323
+ -0.1388056751147233
324
+ ]
325
+ }
326
+ },
327
+ "grasp_21": {
328
+ "confidence": 0.9346923828125,
329
+ "position": [
330
+ -0.08653011603291816,
331
+ 0.0928396912640892,
332
+ -0.03301595643279143
333
+ ],
334
+ "orientation": {
335
+ "w": 0.7567963596275495,
336
+ "xyz": [
337
+ 0.21381673121412084,
338
+ 0.5462027159140652,
339
+ -0.288451501357674
340
+ ]
341
+ }
342
+ },
343
+ "grasp_22": {
344
+ "confidence": 0.7904305458068848,
345
+ "position": [
346
+ 0.07150847034517938,
347
+ 0.09948068432277068,
348
+ 0.0036892771895509213
349
+ ],
350
+ "orientation": {
351
+ "w": 0.5780591518631173,
352
+ "xyz": [
353
+ 0.40201797228334424,
354
+ -0.5927516784729241,
355
+ 0.3909918344109156
356
+ ]
357
+ }
358
+ },
359
+ "grasp_23": {
360
+ "confidence": 0.7831336259841919,
361
+ "position": [
362
+ -0.013391306270023051,
363
+ 0.12112058274215087,
364
+ -0.0038001225620973855
365
+ ],
366
+ "orientation": {
367
+ "w": 0.4611488876807082,
368
+ "xyz": [
369
+ 0.5447478507605784,
370
+ 0.4516307675171335,
371
+ -0.5353700891107588
372
+ ]
373
+ }
374
+ },
375
+ "grasp_24": {
376
+ "confidence": 0.7009583711624146,
377
+ "position": [
378
+ -0.02206473482783622,
379
+ 0.12014482490485534,
380
+ 0.007874477392761037
381
+ ],
382
+ "orientation": {
383
+ "w": 0.5250467112491604,
384
+ "xyz": [
385
+ 0.4734869766800596,
386
+ -0.519359097721913,
387
+ 0.4800022515929455
388
+ ]
389
+ }
390
+ },
391
+ "grasp_25": {
392
+ "confidence": 0.6584259271621704,
393
+ "position": [
394
+ -0.042866662722190085,
395
+ 0.1147389667457901,
396
+ 0.005446172988740727
397
+ ],
398
+ "orientation": {
399
+ "w": 0.517992049836386,
400
+ "xyz": [
401
+ 0.4899162738871965,
402
+ 0.5285084616317077,
403
+ -0.46080916534989824
404
+ ]
405
+ }
406
+ },
407
+ "grasp_26": {
408
+ "confidence": 0.602939248085022,
409
+ "position": [
410
+ -0.12342168821032828,
411
+ -0.0038744831108488142,
412
+ 0.002815548301441595
413
+ ],
414
+ "orientation": {
415
+ "w": 0.6838228654357952,
416
+ "xyz": [
417
+ -0.07586043227146068,
418
+ 0.7175386067627867,
419
+ 0.10848885347207124
420
+ ]
421
+ }
422
+ },
423
+ "grasp_28": {
424
+ "confidence": 0.04200465977191925,
425
+ "position": [
426
+ 0.035451467502753076,
427
+ -0.027879758330527693,
428
+ 0.10659963890793733
429
+ ],
430
+ "orientation": {
431
+ "w": 0.17692923175994715,
432
+ "xyz": [
433
+ -0.8869550414686694,
434
+ -0.42657128682432943,
435
+ 0.006613517912674152
436
+ ]
437
+ }
438
+ },
439
+ "grasp_29": {
440
+ "confidence": 0.027621837332844734,
441
+ "position": [
442
+ -0.06333877576525992,
443
+ 0.020642160845454782,
444
+ 0.09983412429573946
445
+ ],
446
+ "orientation": {
447
+ "w": 0.15833831070012186,
448
+ "xyz": [
449
+ -0.5888018816130538,
450
+ 0.757910904779329,
451
+ -0.23197496414513782
452
+ ]
453
+ }
454
+ },
455
+ "grasp_30": {
456
+ "confidence": 0.9625766277313232,
457
+ "position": [
458
+ -0.024473544787724677,
459
+ 0.12634661368792877,
460
+ 0.0068355009134393185
461
+ ],
462
+ "orientation": {
463
+ "w": 0.5686744331932476,
464
+ "xyz": [
465
+ 0.4440901660466195,
466
+ 0.5737494454992063,
467
+ -0.38756275265094586
468
+ ]
469
+ }
470
+ },
471
+ "grasp_31": {
472
+ "confidence": 0.9595886468887329,
473
+ "position": [
474
+ 0.12339537905518227,
475
+ 0.04315508104627952,
476
+ 0.00897352650645189
477
+ ],
478
+ "orientation": {
479
+ "w": 0.17114777848487486,
480
+ "xyz": [
481
+ 0.716214294275679,
482
+ 0.15966132070066397,
483
+ -0.6574601016540876
484
+ ]
485
+ }
486
+ },
487
+ "grasp_32": {
488
+ "confidence": 0.9563260674476624,
489
+ "position": [
490
+ -0.04737748263414687,
491
+ -0.12501893617445603,
492
+ -0.025289639161201194
493
+ ],
494
+ "orientation": {
495
+ "w": 0.6473630087127368,
496
+ "xyz": [
497
+ -0.386752215074073,
498
+ 0.49651007316298934,
499
+ 0.42990883490965137
500
+ ]
501
+ }
502
+ },
503
+ "grasp_33": {
504
+ "confidence": 0.9545268416404724,
505
+ "position": [
506
+ -0.0031814627536732587,
507
+ 0.1309142517275177,
508
+ 0.014025283715454862
509
+ ],
510
+ "orientation": {
511
+ "w": 0.43612113169122013,
512
+ "xyz": [
513
+ 0.5554437655344564,
514
+ 0.4885674437222792,
515
+ -0.512427980067396
516
+ ]
517
+ }
518
+ },
519
+ "grasp_34": {
520
+ "confidence": 0.9540290832519531,
521
+ "position": [
522
+ 0.0951142491585415,
523
+ 0.08884789369767532,
524
+ 0.031455817370442674
525
+ ],
526
+ "orientation": {
527
+ "w": 0.23456513447341637,
528
+ "xyz": [
529
+ 0.7315741053870627,
530
+ 0.29811311057459733,
531
+ -0.5664866276622291
532
+ ]
533
+ }
534
+ },
535
+ "grasp_35": {
536
+ "confidence": 0.9539065957069397,
537
+ "position": [
538
+ 0.12561032490793878,
539
+ 0.03013986482983455,
540
+ 0.0032573351345490664
541
+ ],
542
+ "orientation": {
543
+ "w": 0.15495251009471045,
544
+ "xyz": [
545
+ 0.7139039937103413,
546
+ 0.13060038836315224,
547
+ -0.6702793044240345
548
+ ]
549
+ }
550
+ },
551
+ "grasp_36": {
552
+ "confidence": 0.9505268931388855,
553
+ "position": [
554
+ 0.11333571689192468,
555
+ 0.05964568577473983,
556
+ 0.004894355981377885
557
+ ],
558
+ "orientation": {
559
+ "w": 0.22312459340248966,
560
+ "xyz": [
561
+ 0.6900768661628949,
562
+ 0.2193127995801074,
563
+ -0.6526187482336891
564
+ ]
565
+ }
566
+ },
567
+ "grasp_37": {
568
+ "confidence": 0.9388962388038635,
569
+ "position": [
570
+ 0.10516900138918572,
571
+ 0.06729339383309707,
572
+ 0.04079423725488596
573
+ ],
574
+ "orientation": {
575
+ "w": 0.5472172383415991,
576
+ "xyz": [
577
+ 0.2788894193718327,
578
+ -0.7820349593798387,
579
+ 0.10580788312791178
580
+ ]
581
+ }
582
+ },
583
+ "grasp_38": {
584
+ "confidence": 0.9370594620704651,
585
+ "position": [
586
+ 0.12081545906130486,
587
+ -0.030453743936959654,
588
+ 0.03873618200304918
589
+ ],
590
+ "orientation": {
591
+ "w": 0.5611034123738917,
592
+ "xyz": [
593
+ -0.09501277655698581,
594
+ -0.8123080230640258,
595
+ -0.1276370188429721
596
+ ]
597
+ }
598
+ },
599
+ "grasp_39": {
600
+ "confidence": 0.9360272884368896,
601
+ "position": [
602
+ -0.13055942637856788,
603
+ -0.0015981276519596577,
604
+ 1.3554497854784131e-05
605
+ ],
606
+ "orientation": {
607
+ "w": 0.6944624617451989,
608
+ "xyz": [
609
+ -0.05912147504739149,
610
+ 0.7117106262522744,
611
+ 0.0877184410179243
612
+ ]
613
+ }
614
+ }
615
+ }
616
+ }
617
+ ],
618
+ "quality_check": {
619
+ "success": true,
620
+ "message": "YES"
621
+ }
622
+ }
dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:29b426054f9cb8409ff582b8e675a9a8ed08c4f8282df2855a96e99e43c0b039
3
+ size 3781884