Add asset desktop_supplies/decorations/64628e2e4a53529291c2731dcac25b9b
Browse files
.gitattributes
CHANGED
|
@@ -6120,3 +6120,4 @@ dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/affordance
|
|
| 6120 |
dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6121 |
dataset/desktop_supplies/decorations/65720f91a8f950a2883e7cc2784f24bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6122 |
dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6120 |
dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6121 |
dataset/desktop_supplies/decorations/65720f91a8f950a2883e7cc2784f24bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6122 |
dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6123 |
+
dataset/desktop_supplies/decorations/64628e2e4a53529291c2731dcac25b9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/decorations/64628e2e4a53529291c2731dcac25b9b/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 move the tennis ball",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the ball body to stabilize it during placement or inspection",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grip the ball body to load or release it in a ball-handling mechanism",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"enable rolling and bouncing",
|
| 24 |
+
"provide impact-compliant ball body",
|
| 25 |
+
"support throwing and catching",
|
| 26 |
+
"serve as play surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Nearly spherical bright yellow felt-covered rubber ball with a soft fuzzy matte texture, white curved seam lines, and a medium-sized compact body forming the entire exterior surface.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9671869874000549,
|
| 33 |
+
"position": [
|
| 34 |
+
0.10839785169810057,
|
| 35 |
+
-0.0006865150135126896,
|
| 36 |
+
-0.01374080337700434
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.7476753092780859,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.05320667008757057,
|
| 42 |
+
-0.6585441864244579,
|
| 43 |
+
0.06685982860178992
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.9610902667045593,
|
| 49 |
+
"position": [
|
| 50 |
+
0.10674783866852522,
|
| 51 |
+
-0.008396215162065346,
|
| 52 |
+
-0.0017889119044411927
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7092083927774314,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.1077485805736086,
|
| 58 |
+
-0.6928320001597641,
|
| 59 |
+
0.07346780623542153
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9608926177024841,
|
| 65 |
+
"position": [
|
| 66 |
+
0.06346027087420225,
|
| 67 |
+
0.08418347278347937,
|
| 68 |
+
-0.017792301514418796
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7114514166302222,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.3493472304618727,
|
| 74 |
+
-0.5405725872450043,
|
| 75 |
+
0.2820898301298936
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_4": {
|
| 80 |
+
"confidence": 0.9599761962890625,
|
| 81 |
+
"position": [
|
| 82 |
+
0.10679707210510969,
|
| 83 |
+
-0.0054525894884136505,
|
| 84 |
+
-0.00557062475127168
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7177003166515052,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.11931239669878754,
|
| 90 |
+
-0.678296322094788,
|
| 91 |
+
0.1028829767503088
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.9599732160568237,
|
| 97 |
+
"position": [
|
| 98 |
+
0.1063564820215106,
|
| 99 |
+
-0.016452707706775982,
|
| 100 |
+
0.009799209161428735
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.04348976288662952,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.7181384125266926,
|
| 106 |
+
-0.16008735234378446,
|
| 107 |
+
-0.6758386646214195
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.9594217538833618,
|
| 113 |
+
"position": [
|
| 114 |
+
0.10635999124497175,
|
| 115 |
+
0.019046589375648182,
|
| 116 |
+
0.0003893842877005227
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.7087644317680682,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.13520126558728146,
|
| 122 |
+
-0.6920020323709685,
|
| 123 |
+
-0.02251189104748459
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.959417462348938,
|
| 129 |
+
"position": [
|
| 130 |
+
0.09691174607723951,
|
| 131 |
+
0.02133594417682616,
|
| 132 |
+
-0.04844725344446488
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.8404304189537266,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.05182874866481533,
|
| 138 |
+
-0.524049889862708,
|
| 139 |
+
0.12791483355727884
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.9571188688278198,
|
| 145 |
+
"position": [
|
| 146 |
+
0.10702411364763975,
|
| 147 |
+
-0.0017431444794056006,
|
| 148 |
+
-0.011074912996264175
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.7293551184399033,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.1596585186288912,
|
| 154 |
+
-0.6420149331461805,
|
| 155 |
+
0.1742615684884307
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_10": {
|
| 160 |
+
"confidence": 0.9535600543022156,
|
| 161 |
+
"position": [
|
| 162 |
+
0.09140672814100981,
|
| 163 |
+
0.052219695986423176,
|
| 164 |
+
-0.007427046803059056
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.700660351425682,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.17236483136194203,
|
| 170 |
+
-0.6625161327002306,
|
| 171 |
+
0.2010915482101107
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_11": {
|
| 176 |
+
"confidence": 0.9528617262840271,
|
| 177 |
+
"position": [
|
| 178 |
+
0.10249202977865934,
|
| 179 |
+
-0.021935768781986553,
|
| 180 |
+
-0.008550605067284778
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.7409523469648851,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.14159729842610566,
|
| 186 |
+
-0.6560334509087038,
|
| 187 |
+
0.023662964617167718
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_12": {
|
| 192 |
+
"confidence": 0.9523444771766663,
|
| 193 |
+
"position": [
|
| 194 |
+
0.09964907448738813,
|
| 195 |
+
0.05299036914220778,
|
| 196 |
+
-0.023195807152660564
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.7519767466280004,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.1672166599626733,
|
| 202 |
+
-0.6143106685622184,
|
| 203 |
+
0.1708565587044729
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_13": {
|
| 208 |
+
"confidence": 0.9521374702453613,
|
| 209 |
+
"position": [
|
| 210 |
+
0.10856402944773436,
|
| 211 |
+
0.021926590816292446,
|
| 212 |
+
-0.01036509804544039
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.057655133439238164,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.6499240220924204,
|
| 218 |
+
-0.17551072644215726,
|
| 219 |
+
0.7372046093175634
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_14": {
|
| 224 |
+
"confidence": 0.9520831108093262,
|
| 225 |
+
"position": [
|
| 226 |
+
0.10478270333260298,
|
| 227 |
+
0.0065262756470474415,
|
| 228 |
+
-0.0005864337726961821
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.7084275710594862,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.0082408780505419,
|
| 234 |
+
-0.7049699559066367,
|
| 235 |
+
0.032860702376960246
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_15": {
|
| 240 |
+
"confidence": 0.9515252113342285,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.10637445468455553,
|
| 243 |
+
-0.011901087484147865,
|
| 244 |
+
0.007988135534105822
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.673530187473021,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.09754332119204291,
|
| 250 |
+
0.7313669174871942,
|
| 251 |
+
-0.044100102705816546
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_16": {
|
| 256 |
+
"confidence": 0.9511824250221252,
|
| 257 |
+
"position": [
|
| 258 |
+
0.09719511400908232,
|
| 259 |
+
0.041500523329887073,
|
| 260 |
+
0.0003804182997555472
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.6956460973108392,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.17476832354908767,
|
| 266 |
+
-0.682796840207616,
|
| 267 |
+
0.13900005533285187
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_17": {
|
| 272 |
+
"confidence": 0.9510785341262817,
|
| 273 |
+
"position": [
|
| 274 |
+
0.10263096075505018,
|
| 275 |
+
0.010247551479551475,
|
| 276 |
+
-0.014597480447264388
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.7550311014677714,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.01558032779282313,
|
| 282 |
+
-0.6497748645468737,
|
| 283 |
+
0.08647493628400697
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_18": {
|
| 288 |
+
"confidence": 0.950988233089447,
|
| 289 |
+
"position": [
|
| 290 |
+
0.10517782252281904,
|
| 291 |
+
-0.014223567566659767,
|
| 292 |
+
-0.006139057950349525
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.7232640628551094,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.0573132367464366,
|
| 298 |
+
-0.6877207447972922,
|
| 299 |
+
-0.02538632410225995
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_19": {
|
| 304 |
+
"confidence": 0.9507242441177368,
|
| 305 |
+
"position": [
|
| 306 |
+
0.1020835293456912,
|
| 307 |
+
0.034669544191274326,
|
| 308 |
+
-0.008005575538845733
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.7211121608653385,
|
| 312 |
+
"xyz": [
|
| 313 |
+
0.13643147286471805,
|
| 314 |
+
-0.6673908283567563,
|
| 315 |
+
0.1263850738393157
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
}
|
| 319 |
+
}
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"quality_check": {
|
| 323 |
+
"success": true,
|
| 324 |
+
"message": "YES"
|
| 325 |
+
}
|
| 326 |
+
}
|
dataset/desktop_supplies/decorations/64628e2e4a53529291c2731dcac25b9b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:26b3eafecc5888e2502ff52e5a8dd2941b81b79a40e327ccadbb8567c71cf7b7
|
| 3 |
+
size 670996
|