xinjjj commited on
Commit
85526f4
·
verified ·
1 Parent(s): 875e095

Add asset desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6

Browse files
.gitattributes CHANGED
@@ -6340,4 +6340,4 @@ dataset/desktop_supplies/office_stationery/59c4ac7eec04545b921d4b99dc0171bf/affo
6340
  dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6341
  dataset/desktop_supplies/office_stationery/5a6a0ff6a828596d8f3d26428378d4ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6342
  dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6343
- dataset/desktop_supplies/office_stationery/5bfb24d7e8dc513395bdab3545784e44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6340
  dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6341
  dataset/desktop_supplies/office_stationery/5a6a0ff6a828596d8f3d26428378d4ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6342
  dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6343
+ dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "correction tape body",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main housing to pick up and move the correction tape dispenser",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the housing while pressing the tip against paper during tape application",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the housing to reorient the dispenser for precise placement",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house the internal tape mechanism",
24
+ "support dispensing control",
25
+ "provide structural enclosure",
26
+ "stabilize the tool during use"
27
+ ],
28
+ "semantic_description": "Large teardrop-shaped yellow plastic housing with a smooth glossy surface, forming most of the dispenser body and showing black printed branding and size text on the side.",
29
+ "id": 5,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9701178669929504,
33
+ "position": [
34
+ -0.07101439102552831,
35
+ -4.6427365305135027e-05,
36
+ 0.07936888933181763
37
+ ],
38
+ "orientation": {
39
+ "w": 0.2162015005645087,
40
+ "xyz": [
41
+ -0.6704508768892538,
42
+ 0.6743935082580298,
43
+ -0.22123726822466488
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9697437286376953,
49
+ "position": [
50
+ -0.06824091984890401,
51
+ 0.0004558079872367671,
52
+ 0.08116193115711212
53
+ ],
54
+ "orientation": {
55
+ "w": 0.2022142406040849,
56
+ "xyz": [
57
+ -0.6742280027040578,
58
+ 0.6766710893179099,
59
+ -0.2159681415114824
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9686216115951538,
65
+ "position": [
66
+ -0.07121600373648107,
67
+ -0.001363388926620246,
68
+ 0.07898648083209991
69
+ ],
70
+ "orientation": {
71
+ "w": 0.20269989997557536,
72
+ "xyz": [
73
+ 0.6871382752175755,
74
+ 0.6597349713597155,
75
+ 0.22694384513774038
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9680722951889038,
81
+ "position": [
82
+ -0.0664757655467838,
83
+ -0.0037962561127642402,
84
+ 0.0823737382888794
85
+ ],
86
+ "orientation": {
87
+ "w": 0.1846127699051,
88
+ "xyz": [
89
+ 0.6825663236306693,
90
+ 0.6742841832033789,
91
+ 0.2129839884006113
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9674416184425354,
97
+ "position": [
98
+ -0.08601653738878667,
99
+ -0.0028110316143283853,
100
+ 0.0658687874674797
101
+ ],
102
+ "orientation": {
103
+ "w": 0.27144797574462276,
104
+ "xyz": [
105
+ 0.6530918799236654,
106
+ 0.6402032361752501,
107
+ 0.29987799057726267
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9658564329147339,
113
+ "position": [
114
+ -0.06830204441212118,
115
+ -0.0014022176274011144,
116
+ 0.07911910861730576
117
+ ],
118
+ "orientation": {
119
+ "w": 0.20847595721708861,
120
+ "xyz": [
121
+ -0.6773147875318215,
122
+ 0.6720996813802821,
123
+ -0.2146263547229601
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9656914472579956,
129
+ "position": [
130
+ -0.07067601545713842,
131
+ -0.0035674071059474954,
132
+ 0.07950365543365479
133
+ ],
134
+ "orientation": {
135
+ "w": 0.2119847840843899,
136
+ "xyz": [
137
+ -0.677156075696885,
138
+ 0.6739254455506828,
139
+ -0.20578288146199722
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9656087160110474,
145
+ "position": [
146
+ -0.06430203630588949,
147
+ -0.0010163995557377348,
148
+ 0.08010178804397583
149
+ ],
150
+ "orientation": {
151
+ "w": 0.19615981261747392,
152
+ "xyz": [
153
+ 0.6812831794690027,
154
+ 0.6733742590561153,
155
+ 0.20962267178697808
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9653181433677673,
161
+ "position": [
162
+ -0.0698261649813503,
163
+ -0.0029387615741143236,
164
+ 0.07991618663072586
165
+ ],
166
+ "orientation": {
167
+ "w": 0.2094301665831821,
168
+ "xyz": [
169
+ -0.6763459159511971,
170
+ 0.6738467169804836,
171
+ -0.211248217307745
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9651686549186707,
177
+ "position": [
178
+ -0.0048289974220097065,
179
+ -0.0012452182945708046,
180
+ 0.10064718127250671
181
+ ],
182
+ "orientation": {
183
+ "w": 0.02699710341853604,
184
+ "xyz": [
185
+ -0.6903224246780693,
186
+ -0.7227676584632299,
187
+ 0.018248788266078765
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9637104272842407,
193
+ "position": [
194
+ -0.022179178660735488,
195
+ 9.122366282099392e-05,
196
+ 0.0978795513510704
197
+ ],
198
+ "orientation": {
199
+ "w": 0.04193084940262052,
200
+ "xyz": [
201
+ 0.7189355684095529,
202
+ 0.6925616979391023,
203
+ 0.041614263080288566
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9628964066505432,
209
+ "position": [
210
+ -0.03570166020654142,
211
+ -0.00216474962689972,
212
+ 0.0944930762052536
213
+ ],
214
+ "orientation": {
215
+ "w": 0.0820934391140809,
216
+ "xyz": [
217
+ 0.7121706203431315,
218
+ 0.6919832449607644,
219
+ 0.08504624311556941
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9627315998077393,
225
+ "position": [
226
+ 0.026865372667089105,
227
+ -0.0005050736308476189,
228
+ 0.09761463850736618
229
+ ],
230
+ "orientation": {
231
+ "w": 0.12467503577633107,
232
+ "xyz": [
233
+ -0.693995283252081,
234
+ -0.6974428890221079,
235
+ 0.1280628706164677
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9623665809631348,
241
+ "position": [
242
+ -0.06449707760475576,
243
+ -0.003971197142163874,
244
+ 0.08059448003768921
245
+ ],
246
+ "orientation": {
247
+ "w": 0.20711529141729065,
248
+ "xyz": [
249
+ -0.6803529451161264,
250
+ 0.6721362086548187,
251
+ -0.20604864267466041
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9618136882781982,
257
+ "position": [
258
+ -0.00986971310339868,
259
+ -0.00332778781921661,
260
+ 0.09909792244434357
261
+ ],
262
+ "orientation": {
263
+ "w": 0.010757193910535508,
264
+ "xyz": [
265
+ -0.7110755000043131,
266
+ -0.7030147819829613,
267
+ -0.0051119845692777265
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9616342782974243,
273
+ "position": [
274
+ -0.023883949732407928,
275
+ -0.00389645012364781,
276
+ 0.0983135774731636
277
+ ],
278
+ "orientation": {
279
+ "w": 0.05146870401261721,
280
+ "xyz": [
281
+ -0.7044269098523678,
282
+ 0.70705583852516,
283
+ -0.03472380149966886
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9612907767295837,
289
+ "position": [
290
+ -0.10758912726305425,
291
+ 0.0006270921203395119,
292
+ 0.03372562304139137
293
+ ],
294
+ "orientation": {
295
+ "w": 0.3803643052374867,
296
+ "xyz": [
297
+ 0.6012101054356975,
298
+ 0.5748840926453921,
299
+ 0.40420005498080525
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.961192786693573,
305
+ "position": [
306
+ -0.1066882477607578,
307
+ 0.0009913499579852214,
308
+ 0.03832010552287102
309
+ ],
310
+ "orientation": {
311
+ "w": 0.37840140958326146,
312
+ "xyz": [
313
+ -0.5904928132437496,
314
+ 0.5935422637615976,
315
+ -0.3947634631797132
316
+ ]
317
+ }
318
+ },
319
+ "grasp_19": {
320
+ "confidence": 0.9604369401931763,
321
+ "position": [
322
+ -0.01512673287652433,
323
+ -0.0022796718058089027,
324
+ 0.09838736802339554
325
+ ],
326
+ "orientation": {
327
+ "w": 0.020210960844014386,
328
+ "xyz": [
329
+ -0.7069417587298027,
330
+ 0.706903500498736,
331
+ -0.010597537846530992
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ },
337
+ {
338
+ "part_name": "dispensing tip and side reel window",
339
+ "mask_color": "Olive",
340
+ "graspable": false,
341
+ "grasp_scenarios": [
342
+ {
343
+ "scenario": "lightly pinch the front tip area only for careful inspection or repositioning",
344
+ "confidence": 0.2
345
+ }
346
+ ],
347
+ "functional_labels": [
348
+ "guide tape through the front end",
349
+ "form the contact/applicator tip used against paper",
350
+ "expose the side reel window area",
351
+ "support the tape path near the outlet"
352
+ ],
353
+ "semantic_description": "Olive-masked region includes the small pointed front tip and an oval side insert/window near the wider end. In the RGB image these areas appear light gray to off-white with a yellow central gear-like reel visible inside the oval window; surfaces are smooth plastic.",
354
+ "id": 14,
355
+ "grasp_group": {}
356
+ }
357
+ ],
358
+ "quality_check": {
359
+ "success": false,
360
+ "message": "Olive part description misidentifies color/material and combines unrelated window details; body description wrongly says black branding and yellow reel."
361
+ }
362
+ }
dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba1b8d3ed997be08e5aaa96f1ec93ec09e8680c207c3cbe419011a4a9dc0c4c9
3
+ size 3813920