xinjjj commited on
Commit
714bd94
·
verified ·
1 Parent(s): 9bad601

Add asset desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f

Browse files
.gitattributes CHANGED
@@ -8246,3 +8246,4 @@ dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/affordanc
8246
  dataset/desktop_supplies/office_tools/0d880e1f14cb5574acfaacbf4786e865/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8247
  dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8248
  dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8246
  dataset/desktop_supplies/office_tools/0d880e1f14cb5574acfaacbf4786e865/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8247
  dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8248
  dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8249
+ dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pen holder body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the side walls to pick up and relocate the pen holder",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "grasp around the upper outer body to stabilize it while inserting or removing pens",
14
+ "confidence": 0.74
15
+ },
16
+ {
17
+ "scenario": "grasp the body from opposite side faces to empty or reposition the container",
18
+ "confidence": 0.81
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain pens and pencils",
23
+ "provide the main grasp surface",
24
+ "support upright storage",
25
+ "form the outer structure",
26
+ "stabilize items placed inside"
27
+ ],
28
+ "semantic_description": "A medium-sized hexagonal cup body in light beige wood with a smooth matte finish, hard slightly polished surfaces, visible wood grain inside and out, tapered walls, and a darker brown bottom/interior.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9726133346557617,
33
+ "position": [
34
+ -0.0452893782639876,
35
+ 0.038280940731056035,
36
+ 0.14458729606121778
37
+ ],
38
+ "orientation": {
39
+ "w": 0.0008381167185466772,
40
+ "xyz": [
41
+ 0.4343757008567014,
42
+ 0.9007244174207886,
43
+ 0.0035456914131230923
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.971510112285614,
49
+ "position": [
50
+ 0.02001962100621313,
51
+ -0.07065694488119334,
52
+ 0.14384292345494032
53
+ ],
54
+ "orientation": {
55
+ "w": 0.09858075662638184,
56
+ "xyz": [
57
+ -0.5874034709059264,
58
+ -0.8019639482747835,
59
+ -0.0457473765166927
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9714444279670715,
65
+ "position": [
66
+ -0.055864315130747855,
67
+ 0.03348160081077367,
68
+ 0.14482714515179396
69
+ ],
70
+ "orientation": {
71
+ "w": 0.04441845391840798,
72
+ "xyz": [
73
+ 0.4534282420396404,
74
+ 0.8893292338772709,
75
+ 0.03903004027164162
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9703571796417236,
81
+ "position": [
82
+ -0.06310163403395563,
83
+ -0.029080963577143848,
84
+ 0.13813394587486982
85
+ ],
86
+ "orientation": {
87
+ "w": 0.04143203844526788,
88
+ "xyz": [
89
+ 0.002123830913927882,
90
+ 0.9762525489385502,
91
+ 0.21262604784810163
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.9691707491874695,
97
+ "position": [
98
+ -0.04418970982078463,
99
+ 0.04711718775797635,
100
+ 0.14544332306832075
101
+ ],
102
+ "orientation": {
103
+ "w": 0.005747958076900858,
104
+ "xyz": [
105
+ 0.34401046850826045,
106
+ 0.9387123004552623,
107
+ -0.021046983362540374
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9685433506965637,
113
+ "position": [
114
+ -0.04226181621197611,
115
+ 0.057422532816417515,
116
+ 0.1366168139502406
117
+ ],
118
+ "orientation": {
119
+ "w": 0.05328795882219454,
120
+ "xyz": [
121
+ 0.4079604041546423,
122
+ 0.9074782957774019,
123
+ -0.08492258109294011
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.968388020992279,
129
+ "position": [
130
+ 0.023396848118864,
131
+ -0.05697042203973979,
132
+ 0.14704641979187727
133
+ ],
134
+ "orientation": {
135
+ "w": 0.02739868869128392,
136
+ "xyz": [
137
+ -0.853294662083384,
138
+ 0.5204443989342891,
139
+ 0.016587921386611984
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9680375456809998,
145
+ "position": [
146
+ -0.07617628539446741,
147
+ 0.034675746341235936,
148
+ 0.14028726797550917
149
+ ],
150
+ "orientation": {
151
+ "w": 0.1895655702222448,
152
+ "xyz": [
153
+ 0.3392253239629513,
154
+ 0.920246579339025,
155
+ 0.04623102187243064
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9679923057556152,
161
+ "position": [
162
+ 0.0523145500337705,
163
+ -0.048894432256929576,
164
+ 0.14142960589379072
165
+ ],
166
+ "orientation": {
167
+ "w": 0.16884613400891316,
168
+ "xyz": [
169
+ -0.43365542134831436,
170
+ -0.8843547198011517,
171
+ 0.03675170922401585
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9674468636512756,
177
+ "position": [
178
+ 0.042253546766005456,
179
+ -0.04342452890705317,
180
+ 0.14769465010613203
181
+ ],
182
+ "orientation": {
183
+ "w": 0.007659672963044415,
184
+ "xyz": [
185
+ -0.9247328165823447,
186
+ 0.38004631713739595,
187
+ 0.01937380128122825
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9672262072563171,
193
+ "position": [
194
+ -0.026551290997304022,
195
+ 0.07129558466840535,
196
+ 0.13266201596707106
197
+ ],
198
+ "orientation": {
199
+ "w": 0.02661481310479069,
200
+ "xyz": [
201
+ 0.4707266304072719,
202
+ 0.8515112835702213,
203
+ -0.2294267314447165
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9670501947402954,
209
+ "position": [
210
+ 0.026117109111510217,
211
+ -0.054192964802496135,
212
+ 0.1457699565216899
213
+ ],
214
+ "orientation": {
215
+ "w": 0.03841045984480441,
216
+ "xyz": [
217
+ -0.908461299648287,
218
+ 0.4160997959517992,
219
+ -0.009146771273348848
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9662485718727112,
225
+ "position": [
226
+ 0.021816678694449365,
227
+ -0.055973277310840786,
228
+ 0.14201137702912092
229
+ ],
230
+ "orientation": {
231
+ "w": 0.06007766045615597,
232
+ "xyz": [
233
+ -0.8916965634838624,
234
+ 0.44831381956526434,
235
+ -0.016811679630209464
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.9659240245819092,
241
+ "position": [
242
+ -0.051369074382819235,
243
+ 0.04249475442338735,
244
+ 0.1382306395098567
245
+ ],
246
+ "orientation": {
247
+ "w": 0.06146388558348596,
248
+ "xyz": [
249
+ 0.4719054130874296,
250
+ 0.8778300199257342,
251
+ 0.054239542632174106
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9657794833183289,
257
+ "position": [
258
+ -0.07081421429757029,
259
+ -0.002726156380958855,
260
+ 0.13687736075371504
261
+ ],
262
+ "orientation": {
263
+ "w": 0.08315957288472071,
264
+ "xyz": [
265
+ 0.20349819595891566,
266
+ 0.9582067170006018,
267
+ 0.18306517193072414
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.9657480120658875,
273
+ "position": [
274
+ -0.05428182298783213,
275
+ 0.03816077776718885,
276
+ 0.1428184239193797
277
+ ],
278
+ "orientation": {
279
+ "w": 0.027864380739016155,
280
+ "xyz": [
281
+ 0.250520551109301,
282
+ 0.9673538595607877,
283
+ -0.02625909653378886
284
+ ]
285
+ }
286
+ },
287
+ "grasp_18": {
288
+ "confidence": 0.9656984210014343,
289
+ "position": [
290
+ 0.03238930960651487,
291
+ -0.054486998240463436,
292
+ 0.14946565311402082
293
+ ],
294
+ "orientation": {
295
+ "w": 0.008345582626576562,
296
+ "xyz": [
297
+ -0.8856160369089128,
298
+ 0.46365106061190814,
299
+ 0.025343251840024
300
+ ]
301
+ }
302
+ },
303
+ "grasp_19": {
304
+ "confidence": 0.9656032919883728,
305
+ "position": [
306
+ 0.03490686824079603,
307
+ -0.050699503044597805,
308
+ 0.14510569255799055
309
+ ],
310
+ "orientation": {
311
+ "w": 0.011538207367117189,
312
+ "xyz": [
313
+ -0.8681752583811472,
314
+ 0.4956508594281363,
315
+ 0.021652160486467373
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ }
321
+ ],
322
+ "quality_check": {
323
+ "success": true,
324
+ "message": "YES"
325
+ }
326
+ }
dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ddb14a771b73e4d7a77a53e5269bf56b1ad173df6e8720382737f5277e9f6d98
3
+ size 1860440