xinjjj commited on
Commit
f893e65
·
verified ·
1 Parent(s): 24fb6ba

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