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
|