Add asset desktop_supplies/office_stationery/fa5587eb897a56bbaab33a324ba729c1
Browse files
.gitattributes
CHANGED
|
@@ -8637,3 +8637,4 @@ dataset/desktop_supplies/office_stationery/f7c00501187f5139ab801243a0de9f84/affo
|
|
| 8637 |
dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8638 |
dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8639 |
dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8637 |
dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8638 |
dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8639 |
dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8640 |
+
dataset/desktop_supplies/office_stationery/fa5587eb897a56bbaab33a324ba729c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/fa5587eb897a56bbaab33a324ba729c1/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,381 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side wall to pick up and reposition the pen holder",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the side wall to stabilize the pen holder while placing pens into it",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the upper side wall to rotate and orient the pen holder on a desk",
|
| 18 |
+
"confidence": 0.75
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain pens and pencils",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"form the side wall",
|
| 25 |
+
"support upright storage"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered light beige cup-shaped body with a smooth matte to slightly satin finish, hard surface, open cylindrical form with a rolled rim, and black printed lettering on one side near the lower exterior.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9658235311508179,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.042026480252388865,
|
| 34 |
+
0.06409242321387865,
|
| 35 |
+
0.14818613557145
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.10105597692452913,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.4766680798956355,
|
| 41 |
+
0.8688215468291656,
|
| 42 |
+
-0.08788828648809653
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9650818109512329,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0538616381236352,
|
| 50 |
+
0.04958612789050676,
|
| 51 |
+
0.155100021045655
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.10023026765459299,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.30186776654532915,
|
| 57 |
+
0.9390900555833535,
|
| 58 |
+
-0.13015226648536712
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9635593295097351,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.04244002472842112,
|
| 66 |
+
0.0420869359804783,
|
| 67 |
+
0.16020515887066722
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.015846617721471373,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.40601559248444147,
|
| 73 |
+
0.9133767148544281,
|
| 74 |
+
-0.025361390498761578
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9627408981323242,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.03773152601206675,
|
| 82 |
+
0.05175848994986154,
|
| 83 |
+
0.15992938308045268
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.02867432265363079,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.4505440977293473,
|
| 89 |
+
0.8920983198029176,
|
| 90 |
+
-0.018665128620372933
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9616551399230957,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.04171833914006129,
|
| 98 |
+
0.04928044174448587,
|
| 99 |
+
0.16227059392258525
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.016551409135357735,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.4593591511422499,
|
| 105 |
+
0.8878288868453765,
|
| 106 |
+
-0.021796531843499896
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9604673981666565,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.07026744406903163,
|
| 114 |
+
-0.007350984582444653,
|
| 115 |
+
0.15343304304406047
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.0980472668403165,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.1145985676021343,
|
| 121 |
+
0.9774479529958449,
|
| 122 |
+
0.14781542867006633
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9591254591941833,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.05430673953378573,
|
| 130 |
+
0.02884959932998754,
|
| 131 |
+
0.15620407788082957
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.06456298863437118,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.44053155378023534,
|
| 137 |
+
0.8935184488302916,
|
| 138 |
+
0.05820955439168512
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9590622782707214,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.05878398340428248,
|
| 146 |
+
0.02802635674015619,
|
| 147 |
+
0.15205499855801463
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.06614936098376609,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.27775409434490866,
|
| 153 |
+
0.9564973593543612,
|
| 154 |
+
0.05991432770392102
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9589428901672363,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.07020907622063532,
|
| 162 |
+
-1.5919213183224201e-06,
|
| 163 |
+
0.147162068169564
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.1172954093993958,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.17433804511133313,
|
| 169 |
+
0.9630957920262916,
|
| 170 |
+
0.1682097748106152
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9585115909576416,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.06762566935503855,
|
| 178 |
+
0.04027931336895563,
|
| 179 |
+
0.14893076149746776
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.19159827722380782,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.39309906681434476,
|
| 185 |
+
0.8958009196189577,
|
| 186 |
+
0.07939733146894695
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9579097032546997,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.06339914869749919,
|
| 194 |
+
0.05567390043870546,
|
| 195 |
+
0.1468234988860786
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.17357355771453487,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.29194356513705466,
|
| 201 |
+
0.9332419827091464,
|
| 202 |
+
-0.11704946196581208
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9572736620903015,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.07057408761465922,
|
| 210 |
+
0.038192085368791595,
|
| 211 |
+
0.14461511699482799
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.20167066336238137,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.32720558218500356,
|
| 217 |
+
0.9215627564094981,
|
| 218 |
+
0.05465836189347509
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9572263360023499,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.05688121687853709,
|
| 226 |
+
0.042283139569917694,
|
| 227 |
+
0.15878048865124583
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.11877642558950201,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.4979795190385042,
|
| 233 |
+
0.855757979356635,
|
| 234 |
+
0.07474516780240954
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9568819403648376,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.04030816402519122,
|
| 242 |
+
0.0477767804695759,
|
| 243 |
+
0.16351874498650432
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.02194307658804277,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.4867760540183809,
|
| 249 |
+
0.8732414824477132,
|
| 250 |
+
-0.004109495913895836
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9567511081695557,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.046313935483340174,
|
| 258 |
+
0.04837811682955362,
|
| 259 |
+
0.15932736126706004
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.038154828624726245,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.2982317129619463,
|
| 265 |
+
0.9528082698541605,
|
| 266 |
+
-0.04193394011921615
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.9563509225845337,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.06914385181153193,
|
| 274 |
+
0.0032706511265132576,
|
| 275 |
+
0.15121737448498607
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.10495806301795836,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.27808229786429667,
|
| 281 |
+
0.9389116259892967,
|
| 282 |
+
0.1734906314593546
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.955863356590271,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.0696985698887147,
|
| 290 |
+
0.03826200534240343,
|
| 291 |
+
0.15021032420918345
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.19151366927151703,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.37957292884331567,
|
| 297 |
+
0.8979609083216203,
|
| 298 |
+
0.11363588032693726
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.9553378820419312,
|
| 304 |
+
"position": [
|
| 305 |
+
-0.05506323423469439,
|
| 306 |
+
0.053780611051479355,
|
| 307 |
+
0.1495802435092628
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.14112453747432,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.35619443143159074,
|
| 313 |
+
0.9101222796655372,
|
| 314 |
+
-0.15775559576823664
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.9550957679748535,
|
| 320 |
+
"position": [
|
| 321 |
+
-0.08329263102496043,
|
| 322 |
+
0.0038791940605733544,
|
| 323 |
+
0.14876094786450267
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.2042822011999419,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.9332677094103327,
|
| 329 |
+
0.23359158533458874,
|
| 330 |
+
-0.1808732597864343
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_19": {
|
| 335 |
+
"confidence": 0.9540572166442871,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.0681780106970109,
|
| 338 |
+
0.018362339033046737,
|
| 339 |
+
0.15855051903054118
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.06673565434350974,
|
| 343 |
+
"xyz": [
|
| 344 |
+
0.1412048839539156,
|
| 345 |
+
0.9874111977792429,
|
| 346 |
+
-0.025033171734032664
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "bottom base",
|
| 354 |
+
"mask_color": "Green",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "grasp the bottom edge to flip or reorient the pen holder during handling",
|
| 359 |
+
"confidence": 0.41
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "pinch the base from below and side during pickup from a cluttered surface",
|
| 363 |
+
"confidence": 0.36
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"support standing",
|
| 368 |
+
"provide a stable bottom surface",
|
| 369 |
+
"close the container bottom",
|
| 370 |
+
"bear the stored item load"
|
| 371 |
+
],
|
| 372 |
+
"semantic_description": "Flat circular beige base at the bottom of the holder with a smooth matte finish and slightly darker brown underside visible from below.",
|
| 373 |
+
"id": 1,
|
| 374 |
+
"grasp_group": {}
|
| 375 |
+
}
|
| 376 |
+
],
|
| 377 |
+
"quality_check": {
|
| 378 |
+
"success": true,
|
| 379 |
+
"message": "YES"
|
| 380 |
+
}
|
| 381 |
+
}
|
dataset/desktop_supplies/office_stationery/fa5587eb897a56bbaab33a324ba729c1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:86d47a23dc0c33bd81141bbeeaca723a0529e040e14c6c3833bfa65b0d79d638
|
| 3 |
+
size 3779156
|