xinjjj commited on
Commit
2067d2a
·
verified ·
1 Parent(s): 18dafe3

Add asset desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b

Browse files
.gitattributes CHANGED
@@ -6135,4 +6135,4 @@ dataset/desktop_supplies/decorations/91b44b51dc6d51c6945c43a8bd546d30/affordance
6135
  dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6136
  dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6137
  dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6138
- dataset/desktop_supplies/decorations/97adefb6410251f3922c7c7d81e3f079/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6135
  dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6136
  dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6137
  dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6138
+ dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/affordance/affordance_annot.json ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tennis ball body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the ball body to pick up and lift the tennis ball",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the ball body to reposition or place the tennis ball",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the ball body against a surface during inspection",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enable rolling and bouncing",
24
+ "provide impact-compliant outer shell",
25
+ "support throwing and retrieval",
26
+ "contain the pressurized ball structure"
27
+ ],
28
+ "semantic_description": "Round bright yellow felt-covered rubber ball with a matte fuzzy texture, thin curved white seam lines, and a small black printed logo, forming the entire exterior surface.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9521825313568115,
33
+ "position": [
34
+ 0.08486941216688138,
35
+ -0.05401376006193459,
36
+ -0.03808777419180842
37
+ ],
38
+ "orientation": {
39
+ "w": 0.7607939948625985,
40
+ "xyz": [
41
+ -0.08242968812239584,
42
+ -0.5579950878581366,
43
+ -0.3209973922374506
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9510897994041443,
49
+ "position": [
50
+ 0.1010506874154089,
51
+ 0.005333660868927836,
52
+ -0.028749730561685283
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7965179517774218,
56
+ "xyz": [
57
+ 0.0023563499287682483,
58
+ -0.6034611705230759,
59
+ 0.03725876785715426
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9496954083442688,
65
+ "position": [
66
+ 0.09806436060171109,
67
+ -0.035557371797040105,
68
+ -0.03431858879775973
69
+ ],
70
+ "orientation": {
71
+ "w": 0.7673502907989415,
72
+ "xyz": [
73
+ 0.012307284597600297,
74
+ -0.5845470126599095,
75
+ -0.2632999277382915
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9460558295249939,
81
+ "position": [
82
+ -0.10854803265829105,
83
+ -0.008020158158615232,
84
+ 0.0019432214248809032
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4743572274697769,
88
+ "xyz": [
89
+ 0.4858401121819635,
90
+ 0.5291231059925277,
91
+ 0.5088942373883042
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.944444477558136,
97
+ "position": [
98
+ 0.021293878016876988,
99
+ -0.07069758069701493,
100
+ -0.0824054145559785
101
+ ],
102
+ "orientation": {
103
+ "w": 0.13604434089592013,
104
+ "xyz": [
105
+ 0.0605626426880931,
106
+ -0.3466714852843231,
107
+ -0.9260901602498488
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9428389668464661,
113
+ "position": [
114
+ -0.09762858839530963,
115
+ 0.011522168992087245,
116
+ -0.05105219421238871
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5486684261680351,
120
+ "xyz": [
121
+ 0.44046733157050255,
122
+ 0.27123619281439104,
123
+ 0.6567970886453491
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9425851106643677,
129
+ "position": [
130
+ 0.07916041968564969,
131
+ 0.042775562731549144,
132
+ 0.05845316859631566
133
+ ],
134
+ "orientation": {
135
+ "w": 0.24650171008430688,
136
+ "xyz": [
137
+ -0.46105630037289075,
138
+ -0.7418684116772388,
139
+ 0.4198752845399048
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9411585330963135,
145
+ "position": [
146
+ 0.05145896731119137,
147
+ 0.021952639101073146,
148
+ 0.09568324300198583
149
+ ],
150
+ "orientation": {
151
+ "w": 0.16190773426418595,
152
+ "xyz": [
153
+ -0.539792641123522,
154
+ -0.7918487466660956,
155
+ 0.23534092839466775
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9405997395515442,
161
+ "position": [
162
+ -0.03584426509041805,
163
+ -0.10349833709187806,
164
+ 0.014133830431092065
165
+ ],
166
+ "orientation": {
167
+ "w": 0.44460686250392745,
168
+ "xyz": [
169
+ -0.28699487409077346,
170
+ 0.6897833424445846,
171
+ 0.4941230823853624
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9404935240745544,
177
+ "position": [
178
+ 0.09572624175052624,
179
+ 0.01873038406483829,
180
+ 0.040495917077350896
181
+ ],
182
+ "orientation": {
183
+ "w": 0.29454825998635376,
184
+ "xyz": [
185
+ 0.7809664506086509,
186
+ -0.26544879476188954,
187
+ -0.48256570839855284
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9395257234573364,
193
+ "position": [
194
+ 0.08831781653861981,
195
+ 0.023488181410357356,
196
+ 0.049022968734789174
197
+ ],
198
+ "orientation": {
199
+ "w": 0.44759166698399594,
200
+ "xyz": [
201
+ -0.2372180632662773,
202
+ -0.8207344922975881,
203
+ 0.26416696095406117
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9394268989562988,
209
+ "position": [
210
+ 0.059225851131486706,
211
+ 0.03409939515404403,
212
+ 0.08116355153470067
213
+ ],
214
+ "orientation": {
215
+ "w": 0.1933453674262964,
216
+ "xyz": [
217
+ -0.465627726411887,
218
+ -0.8084193925859294,
219
+ 0.30375397113829433
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9378481507301331,
225
+ "position": [
226
+ 0.09784455357294064,
227
+ -0.034806517185643315,
228
+ -0.018828190986823756
229
+ ],
230
+ "orientation": {
231
+ "w": 0.7415026648046302,
232
+ "xyz": [
233
+ -0.0452683482911195,
234
+ -0.6431412054985318,
235
+ -0.18572550853483016
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.937507688999176,
241
+ "position": [
242
+ 0.08006712554197293,
243
+ 0.026846690801903605,
244
+ -0.0700101890906808
245
+ ],
246
+ "orientation": {
247
+ "w": 0.7723182328477315,
248
+ "xyz": [
249
+ 0.3264157880801577,
250
+ -0.26896432649007596,
251
+ -0.47395724657262805
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.936626136302948,
257
+ "position": [
258
+ 0.022071750296163373,
259
+ -0.10347866755910218,
260
+ -0.02705312718899222
261
+ ],
262
+ "orientation": {
263
+ "w": 0.7770377496644838,
264
+ "xyz": [
265
+ -0.6141278798291834,
266
+ -0.016529200036292102,
267
+ 0.13706227912531982
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.9366207718849182,
273
+ "position": [
274
+ -0.037937971370411105,
275
+ -0.1013072778005153,
276
+ 0.009423489558685105
277
+ ],
278
+ "orientation": {
279
+ "w": 0.5394742045670582,
280
+ "xyz": [
281
+ -0.38760999701132137,
282
+ 0.6278632316540792,
283
+ 0.405603051221905
284
+ ]
285
+ }
286
+ },
287
+ "grasp_18": {
288
+ "confidence": 0.9364200234413147,
289
+ "position": [
290
+ -0.10744768621225376,
291
+ -0.017949220957234502,
292
+ -0.006474745117884595
293
+ ],
294
+ "orientation": {
295
+ "w": 0.15420722929288422,
296
+ "xyz": [
297
+ 0.646131195839158,
298
+ 0.23712300560220823,
299
+ 0.7088774847683108
300
+ ]
301
+ }
302
+ },
303
+ "grasp_19": {
304
+ "confidence": 0.9361754655838013,
305
+ "position": [
306
+ 0.07627133784990292,
307
+ -0.07431411487050354,
308
+ -0.006331266493361909
309
+ ],
310
+ "orientation": {
311
+ "w": 0.35530079257326674,
312
+ "xyz": [
313
+ -0.666483742065956,
314
+ 0.16551947331257644,
315
+ 0.634164073653574
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ }
321
+ ],
322
+ "quality_check": {
323
+ "success": true,
324
+ "message": "YES"
325
+ }
326
+ }
dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:062c43495bf2c135db68bb7e5d2adb8fbf267bd0a76263c9a7a030848930fe8c
3
+ size 699856