xinjjj commited on
Commit
d945ff2
·
verified ·
1 Parent(s): 9b303f9

Add asset desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76

Browse files
.gitattributes CHANGED
@@ -6636,4 +6636,4 @@ dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordanc
6636
  dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6637
  dataset/desktop_supplies/office_tools/b501c5f9ae3f5c1d9f0e6257652f4229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6638
  dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6639
- dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6636
  dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6637
  dataset/desktop_supplies/office_tools/b501c5f9ae3f5c1d9f0e6257652f4229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6638
  dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6639
+ dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/affordance/affordance_annot.json ADDED
@@ -0,0 +1,430 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tape roll body",
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 outer body to stabilize the roll while dispensing tape",
14
+ "confidence": 0.86
15
+ },
16
+ {
17
+ "scenario": "pinch the roll from opposite outer sides for placement or reorientation",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main structural body",
23
+ "provide outer grasp surface",
24
+ "store wound adhesive tape",
25
+ "support rolling during dispensing"
26
+ ],
27
+ "semantic_description": "Large white plastic-like tape roll body with a matte to slightly satin finish, hard smooth feel, thick cylindrical shape, and the adhesive tape wound around the outer circumference.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9727202653884888,
32
+ "position": [
33
+ -0.007452980848029256,
34
+ -0.13868603651644662,
35
+ -6.925241905264556e-05
36
+ ],
37
+ "orientation": {
38
+ "w": 0.48053986594367754,
39
+ "xyz": [
40
+ -0.5210944848772606,
41
+ -0.46961746007083494,
42
+ -0.5263092401487482
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9722176790237427,
48
+ "position": [
49
+ -0.0027011401834897697,
50
+ -0.1389403695357032,
51
+ -0.0016245384758803993
52
+ ],
53
+ "orientation": {
54
+ "w": 0.48872038045150135,
55
+ "xyz": [
56
+ -0.5223603940871777,
57
+ -0.4695062516677091,
58
+ -0.5175479572613212
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9714683890342712,
64
+ "position": [
65
+ 0.01570872333832085,
66
+ -0.1386202180874534,
67
+ 0.0010913085716310889
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4494415547658588,
71
+ "xyz": [
72
+ -0.5486214649148117,
73
+ 0.440981434060294,
74
+ 0.5500474087735532
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9707369804382324,
80
+ "position": [
81
+ -0.013138125417754054,
82
+ -0.13852412049891427,
83
+ -0.0018286082486156374
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5064017754139957,
87
+ "xyz": [
88
+ -0.495858801740544,
89
+ -0.49910864281898737,
90
+ -0.49856980780766635
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9703887701034546,
96
+ "position": [
97
+ -0.01998477871529758,
98
+ -0.14271036331774667,
99
+ 0.0021233268489595503
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4734757629404803,
103
+ "xyz": [
104
+ -0.5325037076627602,
105
+ -0.4697346216259386,
106
+ -0.5211620558706093
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9702379107475281,
112
+ "position": [
113
+ 0.037698929430916905,
114
+ -0.1346945816767402,
115
+ -0.004028897878015414
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5893259507459494,
119
+ "xyz": [
120
+ -0.39209217422720194,
121
+ -0.5759716852540101,
122
+ -0.40891963571443146
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9700050950050354,
128
+ "position": [
129
+ 0.03177446988411248,
130
+ -0.13655779307009652,
131
+ -0.0027934905665460974
132
+ ],
133
+ "orientation": {
134
+ "w": 0.42491470282344596,
135
+ "xyz": [
136
+ -0.5618063305758065,
137
+ 0.41967623305524626,
138
+ 0.5724447586081725
139
+ ]
140
+ }
141
+ },
142
+ "grasp_8": {
143
+ "confidence": 0.9699060916900635,
144
+ "position": [
145
+ 0.03323971596546471,
146
+ -0.13376728241564706,
147
+ -0.0008665782224852592
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5716340652199375,
151
+ "xyz": [
152
+ -0.41828846770830025,
153
+ -0.5650561320227186,
154
+ -0.4230612496151054
155
+ ]
156
+ }
157
+ },
158
+ "grasp_9": {
159
+ "confidence": 0.9699050784111023,
160
+ "position": [
161
+ 0.015420380281284451,
162
+ -0.13662028854014352,
163
+ 0.0024169654061552137
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5602776115013222,
167
+ "xyz": [
168
+ -0.4315933866035053,
169
+ -0.5542855226258439,
170
+ -0.43884360095355873
171
+ ]
172
+ }
173
+ },
174
+ "grasp_10": {
175
+ "confidence": 0.9698665142059326,
176
+ "position": [
177
+ -0.09447112563066185,
178
+ 0.10193811560748145,
179
+ 0.002916578290751204
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6379087561361996,
183
+ "xyz": [
184
+ 0.3092779904204311,
185
+ 0.6479361556456027,
186
+ -0.27856468134611717
187
+ ]
188
+ }
189
+ },
190
+ "grasp_11": {
191
+ "confidence": 0.9697136878967285,
192
+ "position": [
193
+ -0.12430708738975227,
194
+ -0.06577289645792916,
195
+ 0.0005852822796441615
196
+ ],
197
+ "orientation": {
198
+ "w": 0.15112880716533067,
199
+ "xyz": [
200
+ -0.6917195554781204,
201
+ -0.13734918044880484,
202
+ -0.6926899326855971
203
+ ]
204
+ }
205
+ },
206
+ "grasp_12": {
207
+ "confidence": 0.968844473361969,
208
+ "position": [
209
+ -0.11521694692783058,
210
+ 0.08128425682662055,
211
+ 0.0011160584108438343
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6684410254492584,
215
+ "xyz": [
216
+ 0.23783941492521954,
217
+ 0.6701091147809326,
218
+ -0.21811185775167868
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.9678969383239746,
224
+ "position": [
225
+ -0.08150576683692634,
226
+ 0.11433726752875373,
227
+ 0.0070552889665123075
228
+ ],
229
+ "orientation": {
230
+ "w": 0.6064583878003228,
231
+ "xyz": [
232
+ 0.3587566554606316,
233
+ 0.6318892945060915,
234
+ -0.32282782643063623
235
+ ]
236
+ }
237
+ },
238
+ "grasp_16": {
239
+ "confidence": 0.9677263498306274,
240
+ "position": [
241
+ -0.02789888414554298,
242
+ -0.13991675322176889,
243
+ -0.0018760991806630045
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5343617382251598,
247
+ "xyz": [
248
+ -0.46839424576236915,
249
+ 0.5218747868967337,
250
+ 0.4719227373831192
251
+ ]
252
+ }
253
+ },
254
+ "grasp_17": {
255
+ "confidence": 0.9675989747047424,
256
+ "position": [
257
+ 0.08582479623146355,
258
+ -0.10485889558913186,
259
+ -0.006624922767514363
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6693751713408348,
263
+ "xyz": [
264
+ -0.23091776712048573,
265
+ -0.6535464023954791,
266
+ -0.26737794362371037
267
+ ]
268
+ }
269
+ },
270
+ "grasp_18": {
271
+ "confidence": 0.9671621322631836,
272
+ "position": [
273
+ -0.07753272238187492,
274
+ 0.1139427816378884,
275
+ 0.001819949335185811
276
+ ],
277
+ "orientation": {
278
+ "w": 0.6030934487548911,
279
+ "xyz": [
280
+ 0.3789474468871528,
281
+ 0.6125927819077805,
282
+ -0.3426473524210078
283
+ ]
284
+ }
285
+ },
286
+ "grasp_19": {
287
+ "confidence": 0.9670048952102661,
288
+ "position": [
289
+ -0.06383678573183715,
290
+ -0.12307306920411065,
291
+ -0.000446564081357792
292
+ ],
293
+ "orientation": {
294
+ "w": 0.6180581138298049,
295
+ "xyz": [
296
+ -0.34429486827340616,
297
+ 0.6129673596708776,
298
+ 0.35176160618784724
299
+ ]
300
+ }
301
+ }
302
+ }
303
+ },
304
+ {
305
+ "part_name": "cardboard core",
306
+ "mask_color": "Green",
307
+ "graspable": true,
308
+ "grasp_scenarios": [
309
+ {
310
+ "scenario": "insert a slim parallel gripper into the center hole to lift or orient the tape roll",
311
+ "confidence": 0.55
312
+ },
313
+ {
314
+ "scenario": "grasp the inner core edge to stabilize the roll during dispensing",
315
+ "confidence": 0.48
316
+ }
317
+ ],
318
+ "functional_labels": [
319
+ "maintain central opening",
320
+ "support the wound tape",
321
+ "enable mounting on a spindle",
322
+ "guide rotation around the center"
323
+ ],
324
+ "semantic_description": "Medium beige cardboard inner core with a matte finish, hard slightly fibrous texture, hollow cylindrical ring shape, and a recessed central position inside the tape roll.",
325
+ "id": 1,
326
+ "grasp_group": {
327
+ "grasp_20": {
328
+ "confidence": 0.03938958793878555,
329
+ "position": [
330
+ -0.0020437896309886128,
331
+ -0.00027779865195043385,
332
+ -0.1049790216202382
333
+ ],
334
+ "orientation": {
335
+ "w": 0.9990536983371352,
336
+ "xyz": [
337
+ -0.0015706818180975907,
338
+ 0.009624890520880225,
339
+ 0.0423863454426023
340
+ ]
341
+ }
342
+ },
343
+ "grasp_21": {
344
+ "confidence": 0.02566547691822052,
345
+ "position": [
346
+ 0.029667792143300176,
347
+ 0.04726604203460738,
348
+ -0.09577327049919404
349
+ ],
350
+ "orientation": {
351
+ "w": 0.922510859444792,
352
+ "xyz": [
353
+ 0.26800354880517924,
354
+ -0.07314950644792884,
355
+ -0.26794955073798166
356
+ ]
357
+ }
358
+ },
359
+ "grasp_23": {
360
+ "confidence": 0.05521528422832489,
361
+ "position": [
362
+ -0.04129493120126426,
363
+ 0.027723863895516843,
364
+ 0.10875917397788726
365
+ ],
366
+ "orientation": {
367
+ "w": 0.15938708603589308,
368
+ "xyz": [
369
+ 0.8796118742499701,
370
+ 0.418836922129333,
371
+ 0.15954416361831825
372
+ ]
373
+ }
374
+ },
375
+ "grasp_26": {
376
+ "confidence": 0.7790589928627014,
377
+ "position": [
378
+ 0.0656644117552787,
379
+ 0.1035006960737519,
380
+ -0.0053012479620520025
381
+ ],
382
+ "orientation": {
383
+ "w": 0.639238540405709,
384
+ "xyz": [
385
+ 0.42454301878511186,
386
+ -0.5526095747561438,
387
+ 0.3252075822434609
388
+ ]
389
+ }
390
+ },
391
+ "grasp_27": {
392
+ "confidence": 0.6722649335861206,
393
+ "position": [
394
+ 0.09245928493328393,
395
+ -0.079403979529161,
396
+ -0.013761304464424029
397
+ ],
398
+ "orientation": {
399
+ "w": 0.7051531272205498,
400
+ "xyz": [
401
+ -0.16744569094411335,
402
+ -0.6582822861697092,
403
+ -0.20343411579798648
404
+ ]
405
+ }
406
+ },
407
+ "grasp_29": {
408
+ "confidence": 0.2490430325269699,
409
+ "position": [
410
+ -0.12166304024867713,
411
+ 0.012468937959056348,
412
+ 0.015290600102161989
413
+ ],
414
+ "orientation": {
415
+ "w": 0.6991592444950402,
416
+ "xyz": [
417
+ 0.1755362384874595,
418
+ 0.6822013165412057,
419
+ 0.12233046850333132
420
+ ]
421
+ }
422
+ }
423
+ }
424
+ }
425
+ ],
426
+ "quality_check": {
427
+ "success": true,
428
+ "message": "YES"
429
+ }
430
+ }
dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5970d95bb8da876bb1faae2135eff1fe5834020b4503f901eddc87d84498d41d
3
+ size 3771104