Add asset desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157
Browse files
.gitattributes
CHANGED
|
@@ -6412,4 +6412,4 @@ dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affo
|
|
| 6412 |
dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6413 |
dataset/desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6414 |
dataset/desktop_supplies/office_stationery/916f83e617bf56ce857a74f0b267d9c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6415 |
-
dataset/desktop_supplies/office_stationery/
|
|
|
|
| 6412 |
dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6413 |
dataset/desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6414 |
dataset/desktop_supplies/office_stationery/916f83e617bf56ce857a74f0b267d9c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6415 |
+
dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,293 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the eraser body from the sides to pick it up and reposition it",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the eraser body while rubbing a surface to erase markings",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the eraser body to stabilize and orient it for precise contact",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"erase markings by surface rubbing",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support controlled positioning",
|
| 25 |
+
"present flat contact faces for rubbing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small rectangular block eraser with a white matte fine-grained body and a black matte top layer, featuring soft slightly textured surfaces, rounded edges, and a simple unmarked two-tone appearance.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9893909096717834,
|
| 32 |
+
"position": [
|
| 33 |
+
0.01642661340883933,
|
| 34 |
+
0.03136006176646333,
|
| 35 |
+
-0.10007839373429306
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.017406970956450066,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.061041314703769695,
|
| 41 |
+
0.0017641905544626413,
|
| 42 |
+
-0.9979818850525518
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.987987220287323,
|
| 48 |
+
"position": [
|
| 49 |
+
0.012673078890657052,
|
| 50 |
+
0.020002068878966384,
|
| 51 |
+
-0.1035960661538411
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.006534128682174099,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.058364343719728144,
|
| 57 |
+
0.007036830102303049,
|
| 58 |
+
0.9982491630683401
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9876558780670166,
|
| 64 |
+
"position": [
|
| 65 |
+
0.013150440383469686,
|
| 66 |
+
0.05928778454835992,
|
| 67 |
+
-0.09646273872931488
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.005891721012986621,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.05787876298433294,
|
| 73 |
+
0.2507368203338173,
|
| 74 |
+
-0.966305533124899
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9875212907791138,
|
| 80 |
+
"position": [
|
| 81 |
+
0.017208117846166715,
|
| 82 |
+
0.06324188590224367,
|
| 83 |
+
-0.09241133651812561
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.010634893401454355,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.07922553304638412,
|
| 89 |
+
0.24226199327527942,
|
| 90 |
+
-0.9669122713928834
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.986957311630249,
|
| 96 |
+
"position": [
|
| 97 |
+
0.013050791661953554,
|
| 98 |
+
-0.004520692469668575,
|
| 99 |
+
-0.09990911654313095
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.0008891382080174601,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.049998118305693416,
|
| 105 |
+
0.005006706746452427,
|
| 106 |
+
0.998736366858988
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_7": {
|
| 111 |
+
"confidence": 0.9863629937171936,
|
| 112 |
+
"position": [
|
| 113 |
+
0.012184864695882425,
|
| 114 |
+
0.0048999939317582175,
|
| 115 |
+
-0.09971625826437958
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.0003552873671129561,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.07198534456803848,
|
| 121 |
+
0.00023587657415857777,
|
| 122 |
+
0.9974055986911989
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_8": {
|
| 127 |
+
"confidence": 0.9863515496253967,
|
| 128 |
+
"position": [
|
| 129 |
+
0.008961889747297391,
|
| 130 |
+
-0.008595486244303174,
|
| 131 |
+
-0.0982443215616513
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.019531036630887833,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.04189299274125659,
|
| 137 |
+
0.09248119093813412,
|
| 138 |
+
0.9946410131750896
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_9": {
|
| 143 |
+
"confidence": 0.9862070083618164,
|
| 144 |
+
"position": [
|
| 145 |
+
0.01262970719835721,
|
| 146 |
+
0.004251733815181069,
|
| 147 |
+
-0.09839193246443756
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.030717026834946162,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.05820703737118388,
|
| 153 |
+
0.045667103340291226,
|
| 154 |
+
-0.9967862964223563
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_10": {
|
| 159 |
+
"confidence": 0.986099362373352,
|
| 160 |
+
"position": [
|
| 161 |
+
0.014570771571015939,
|
| 162 |
+
0.03496029034431558,
|
| 163 |
+
-0.10169922283967026
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.041787206708856876,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.07660739133305847,
|
| 169 |
+
0.012228521170387086,
|
| 170 |
+
-0.9961102349733187
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_11": {
|
| 175 |
+
"confidence": 0.9859943389892578,
|
| 176 |
+
"position": [
|
| 177 |
+
0.012611278187250718,
|
| 178 |
+
0.0176084562408505,
|
| 179 |
+
-0.09499576411326416
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.0009705264120119629,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.051476176985429396,
|
| 185 |
+
0.009342948302808574,
|
| 186 |
+
-0.9986300469135
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_12": {
|
| 191 |
+
"confidence": 0.9853613972663879,
|
| 192 |
+
"position": [
|
| 193 |
+
0.010452442656969652,
|
| 194 |
+
0.060990391226368956,
|
| 195 |
+
-0.09486966303666122
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.027661925729290198,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.061044130064012166,
|
| 201 |
+
0.2518364834917377,
|
| 202 |
+
-0.965446434367123
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_13": {
|
| 207 |
+
"confidence": 0.9851540923118591,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.0013534216268453747,
|
| 210 |
+
-0.1345505920035066,
|
| 211 |
+
0.0008640332089271396
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.034550060393445964,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.019442037883344327,
|
| 217 |
+
0.7014930600854802,
|
| 218 |
+
0.7115727560423186
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_14": {
|
| 223 |
+
"confidence": 0.9845095276832581,
|
| 224 |
+
"position": [
|
| 225 |
+
0.014439832273637876,
|
| 226 |
+
-0.008514513334375806,
|
| 227 |
+
-0.09727832398493774
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.020444236133674163,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.06265418567462244,
|
| 233 |
+
0.033469217031181,
|
| 234 |
+
0.9972644071346782
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_16": {
|
| 239 |
+
"confidence": 0.9843822121620178,
|
| 240 |
+
"position": [
|
| 241 |
+
0.009943650889908895,
|
| 242 |
+
0.05430704906757455,
|
| 243 |
+
-0.09591221532900818
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.035417136400666974,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.053243481472903885,
|
| 249 |
+
0.24536851084283884,
|
| 250 |
+
-0.9673184853069794
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_17": {
|
| 255 |
+
"confidence": 0.9843207597732544,
|
| 256 |
+
"position": [
|
| 257 |
+
0.017276642698561773,
|
| 258 |
+
0.03613257214601617,
|
| 259 |
+
-0.10951360038598068
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.015944237330098195,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.07725531108638399,
|
| 265 |
+
0.0041284066495286265,
|
| 266 |
+
-0.9968752953421222
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_18": {
|
| 271 |
+
"confidence": 0.984307050704956,
|
| 272 |
+
"position": [
|
| 273 |
+
0.09989801966003142,
|
| 274 |
+
0.006119396464782767,
|
| 275 |
+
0.008012296602828428
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.02325511378991941,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.7251231456269764,
|
| 281 |
+
0.015497585758129984,
|
| 282 |
+
0.6880519226005594
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
],
|
| 289 |
+
"quality_check": {
|
| 290 |
+
"success": true,
|
| 291 |
+
"message": "YES"
|
| 292 |
+
}
|
| 293 |
+
}
|
dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:233bea8cb15450f1632a0e652410619a3ba239952b0307d4dd3de2066e7aabf0
|
| 3 |
+
size 2008112
|