xinjjj commited on
Commit
33875ba
·
verified ·
1 Parent(s): 23e0139

Add asset desktop_supplies/office_tools/23224eaa703851d28989151c1baac0fb

Browse files
.gitattributes CHANGED
@@ -6535,3 +6535,4 @@ dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/affordanc
6535
  dataset/desktop_supplies/office_tools/230e97eec7db5cc28dfc28df0f5cec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6536
  dataset/desktop_supplies/office_tools/22540a6b064859cc8572e6775ae386a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6537
  dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6535
  dataset/desktop_supplies/office_tools/230e97eec7db5cc28dfc28df0f5cec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6536
  dataset/desktop_supplies/office_tools/22540a6b064859cc8572e6775ae386a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6537
  dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6538
+ dataset/desktop_supplies/office_tools/23224eaa703851d28989151c1baac0fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/23224eaa703851d28989151c1baac0fb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,305 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tissue box body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the box body from opposite side walls to pick up the tissue box",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the box body to stabilize it while pulling a tissue",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp a lower corner of the box body to reposition it on a surface",
18
+ "confidence": 0.78
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain the tissue stack",
23
+ "support the object structure",
24
+ "provide main grasp surface",
25
+ "stabilize during tissue dispensing",
26
+ "protect tissues inside"
27
+ ],
28
+ "semantic_description": "Boxy white to light gray semi-translucent plastic body with a smooth glossy hard surface, medium-sized and slightly tapered, forming the main container around the lower and side portions.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.8000950813293457,
33
+ "position": [
34
+ -0.007894283276982605,
35
+ -0.04351644590497017,
36
+ -0.15135800326243043
37
+ ],
38
+ "orientation": {
39
+ "w": 0.02442088747851809,
40
+ "xyz": [
41
+ -0.020948682862694867,
42
+ 0.02492933460207669,
43
+ -0.9991713072428458
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.7899185419082642,
49
+ "position": [
50
+ -0.009878772427327931,
51
+ 0.15052346512675285,
52
+ -0.043967405799776316
53
+ ],
54
+ "orientation": {
55
+ "w": 0.04935257012073343,
56
+ "xyz": [
57
+ 0.013384575779148108,
58
+ -0.6834125062751638,
59
+ 0.7282393310034755
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.789379358291626,
65
+ "position": [
66
+ -0.021660860744304955,
67
+ 0.01078779622912407,
68
+ -0.16180678689852357
69
+ ],
70
+ "orientation": {
71
+ "w": 0.998531211221933,
72
+ "xyz": [
73
+ -0.03352917680590403,
74
+ 0.04180719134435873,
75
+ 0.007960733023700265
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.7867658138275146,
81
+ "position": [
82
+ -0.005713496939279139,
83
+ 0.025019757449626923,
84
+ -0.15938485646620393
85
+ ],
86
+ "orientation": {
87
+ "w": 0.05173751674127529,
88
+ "xyz": [
89
+ 0.028280949308686604,
90
+ 0.03142015723435876,
91
+ 0.9977655992200842
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.7841397523880005,
97
+ "position": [
98
+ -0.010528368991799653,
99
+ 0.14380493387579918,
100
+ -0.051529424730688334
101
+ ],
102
+ "orientation": {
103
+ "w": 0.7150828743128453,
104
+ "xyz": [
105
+ 0.6989359000123608,
106
+ -0.004202957593508194,
107
+ 0.011288298625466207
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.7824919819831848,
113
+ "position": [
114
+ -0.012389180366881192,
115
+ 0.024379029870033264,
116
+ -0.16248882794752717
117
+ ],
118
+ "orientation": {
119
+ "w": 0.999645098358006,
120
+ "xyz": [
121
+ -0.01307463316479657,
122
+ 0.02319893320531341,
123
+ 0.0007353873491894802
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.7815059423446655,
129
+ "position": [
130
+ -0.0067724121036008,
131
+ 0.14389262720942497,
132
+ -0.05911569902673364
133
+ ],
134
+ "orientation": {
135
+ "w": 0.748431711619012,
136
+ "xyz": [
137
+ 0.6629049220095159,
138
+ -0.01945561225675263,
139
+ 0.005340090852076974
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.7643121480941772,
145
+ "position": [
146
+ -0.029509650659747422,
147
+ 0.13055766746401787,
148
+ -0.09637826168909669
149
+ ],
150
+ "orientation": {
151
+ "w": 0.8706690584056068,
152
+ "xyz": [
153
+ 0.4877789998792636,
154
+ 0.06311808591846158,
155
+ -0.004810950204399508
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.762736976146698,
161
+ "position": [
162
+ 0.0180079786805436,
163
+ 0.035603564232587814,
164
+ -0.15891436720266938
165
+ ],
166
+ "orientation": {
167
+ "w": 0.9924963501490582,
168
+ "xyz": [
169
+ 0.01783161369368734,
170
+ -0.0034200176844966235,
171
+ -0.12091869984793539
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.759709358215332,
177
+ "position": [
178
+ -0.01108185958582908,
179
+ 0.024075821042060852,
180
+ -0.16029637539759278
181
+ ],
182
+ "orientation": {
183
+ "w": 0.9988812190740898,
184
+ "xyz": [
185
+ 0.014680366535352728,
186
+ 0.04086977703545258,
187
+ -0.018720532698638923
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.7582380175590515,
193
+ "position": [
194
+ -0.0014372523583006114,
195
+ 0.14620907232165337,
196
+ -0.060471868608146906
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7294849399133287,
200
+ "xyz": [
201
+ 0.6830918207520956,
202
+ -0.03228105869092013,
203
+ 0.013972119060022712
204
+ ]
205
+ }
206
+ },
207
+ "grasp_13": {
208
+ "confidence": 0.7562827467918396,
209
+ "position": [
210
+ 0.010998763958923519,
211
+ 0.027434520423412323,
212
+ -0.1657624044455588
213
+ ],
214
+ "orientation": {
215
+ "w": 0.05419073383086621,
216
+ "xyz": [
217
+ 0.019963544284234632,
218
+ -0.011663909308469056,
219
+ 0.9982628784474193
220
+ ]
221
+ }
222
+ },
223
+ "grasp_15": {
224
+ "confidence": 0.7553808093070984,
225
+ "position": [
226
+ 0.0161013639299199,
227
+ 0.027977529913187027,
228
+ -0.1628736057318747
229
+ ],
230
+ "orientation": {
231
+ "w": 0.9988116394237788,
232
+ "xyz": [
233
+ -0.006148246574403334,
234
+ -0.04165398171031609,
235
+ -0.024544934779305205
236
+ ]
237
+ }
238
+ },
239
+ "grasp_17": {
240
+ "confidence": 0.7510247826576233,
241
+ "position": [
242
+ -0.014087238465435803,
243
+ 0.044416338205337524,
244
+ -0.16021838271990418
245
+ ],
246
+ "orientation": {
247
+ "w": 0.9951793891029251,
248
+ "xyz": [
249
+ 0.08811005408716856,
250
+ 0.04281845297429565,
251
+ -0.0046023861608499314
252
+ ]
253
+ }
254
+ }
255
+ }
256
+ },
257
+ {
258
+ "part_name": "top lid",
259
+ "mask_color": "Green",
260
+ "graspable": false,
261
+ "grasp_scenarios": [],
262
+ "functional_labels": [
263
+ "cover the tissue compartment",
264
+ "support the tissue at the top opening",
265
+ "form the top rim of the container",
266
+ "help retain and guide the tissue as it is dispensed"
267
+ ],
268
+ "semantic_description": "Flat white to light gray semi-translucent plastic top surface with a smooth glossy hard finish, recessed slightly within the upper rim of the box and visible beneath the protruding tissue.",
269
+ "id": 1,
270
+ "grasp_group": {}
271
+ },
272
+ {
273
+ "part_name": "tissue sheet",
274
+ "mask_color": "Blue",
275
+ "graspable": true,
276
+ "grasp_scenarios": [
277
+ {
278
+ "scenario": "pinch the exposed tissue to pull out a sheet for use",
279
+ "confidence": 0.96
280
+ },
281
+ {
282
+ "scenario": "grasp the exposed tissue to start dispensing the next sheet",
283
+ "confidence": 0.92
284
+ },
285
+ {
286
+ "scenario": "delicately hold the tissue for wiping or placement",
287
+ "confidence": 0.74
288
+ }
289
+ ],
290
+ "functional_labels": [
291
+ "dispense for wiping",
292
+ "provide absorbent sheet material",
293
+ "allow pulling the next tissue",
294
+ "indicate the dispenser is stocked"
295
+ ],
296
+ "semantic_description": "Thin white paper tissue with a matte soft slightly crinkled texture, loosely folded and protruding from the top opening as a lightweight flexible sheet.",
297
+ "id": 2,
298
+ "grasp_group": {}
299
+ }
300
+ ],
301
+ "quality_check": {
302
+ "success": true,
303
+ "message": "YES"
304
+ }
305
+ }
dataset/desktop_supplies/office_tools/23224eaa703851d28989151c1baac0fb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ed00eca09b0f017a671373cd2d158d70ff0cb0d7fe693560838c9d62ed0127fd
3
+ size 2111832