xinjjj commited on
Commit
b51738a
·
verified ·
1 Parent(s): 2e8a8d2

Add asset desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214

Browse files
.gitattributes CHANGED
@@ -8196,3 +8196,4 @@ dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/affo
8196
  dataset/desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8197
  dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8198
  dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8196
  dataset/desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8197
  dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8198
  dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8199
+ dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/affordance/affordance_annot.json ADDED
@@ -0,0 +1,573 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main eraser body",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the broad top and bottom faces to pick up and reposition the eraser",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the main body while rubbing an edge against paper to erase marks",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize the eraser during orientation adjustment to expose a fresh edge",
18
+ "confidence": 0.87
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "erase pencil marks",
23
+ "provide main contact mass",
24
+ "support grasping and manipulation",
25
+ "form the bulk of the tool"
26
+ ],
27
+ "semantic_description": "Large yellow star-shaped eraser body with broad flat faces, a matte smooth rubber surface, and a thick slab-like form making up most of the object.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_40": {
31
+ "confidence": 0.9877082109451294,
32
+ "position": [
33
+ -0.007809456437826157,
34
+ 0.13055115699535236,
35
+ -0.0024896601389627904
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5170925859282662,
39
+ "xyz": [
40
+ 0.503472748781758,
41
+ 0.4984593790991163,
42
+ -0.4802798103192373
43
+ ]
44
+ }
45
+ },
46
+ "grasp_41": {
47
+ "confidence": 0.9874162077903748,
48
+ "position": [
49
+ -0.008998449891805649,
50
+ 0.1303744888282381,
51
+ -0.00032115176145453006
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5209351969331725,
55
+ "xyz": [
56
+ 0.49037846327734724,
57
+ 0.5138053835874727,
58
+ -0.47345486706387824
59
+ ]
60
+ }
61
+ },
62
+ "grasp_42": {
63
+ "confidence": 0.9873932600021362,
64
+ "position": [
65
+ -0.006515794433653355,
66
+ 0.1291053718305193,
67
+ 0.0035857567854691297
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4841583101464652,
71
+ "xyz": [
72
+ 0.5112481201206739,
73
+ -0.49634978005378283,
74
+ 0.5077922668077546
75
+ ]
76
+ }
77
+ },
78
+ "grasp_43": {
79
+ "confidence": 0.9872813820838928,
80
+ "position": [
81
+ -0.009296311065554619,
82
+ 0.12801719963317737,
83
+ -0.0021339496306609362
84
+ ],
85
+ "orientation": {
86
+ "w": 0.518252329482464,
87
+ "xyz": [
88
+ 0.5056158132855818,
89
+ 0.49710971718074337,
90
+ -0.4781726690496231
91
+ ]
92
+ }
93
+ },
94
+ "grasp_44": {
95
+ "confidence": 0.9872424602508545,
96
+ "position": [
97
+ -0.07162108644843102,
98
+ 0.10432395100360736,
99
+ -0.002017732331296429
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6389106525679255,
103
+ "xyz": [
104
+ 0.31716451412815755,
105
+ 0.6303948735025856,
106
+ -0.3062713706416861
107
+ ]
108
+ }
109
+ },
110
+ "grasp_45": {
111
+ "confidence": 0.9870200157165527,
112
+ "position": [
113
+ -0.01980706863105297,
114
+ 0.13025755941634998,
115
+ -0.0017133941582869738
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5401406739360677,
119
+ "xyz": [
120
+ 0.47364750904448666,
121
+ 0.5216210439964853,
122
+ -0.4602364348852236
123
+ ]
124
+ }
125
+ },
126
+ "grasp_46": {
127
+ "confidence": 0.9869872331619263,
128
+ "position": [
129
+ -0.010106324218213558,
130
+ 0.12983663141494617,
131
+ 0.003956320259021595
132
+ ],
133
+ "orientation": {
134
+ "w": 0.4761282960461276,
135
+ "xyz": [
136
+ 0.5193198500097903,
137
+ -0.4823455830784661,
138
+ 0.5205299968058656
139
+ ]
140
+ }
141
+ },
142
+ "grasp_47": {
143
+ "confidence": 0.9869122505187988,
144
+ "position": [
145
+ -0.0014092577621340752,
146
+ 0.1296197599149309,
147
+ 0.0007755835249554366
148
+ ],
149
+ "orientation": {
150
+ "w": 0.4952130889005528,
151
+ "xyz": [
152
+ 0.5138670485469866,
153
+ 0.48929432779482307,
154
+ -0.5012940392494153
155
+ ]
156
+ }
157
+ },
158
+ "grasp_48": {
159
+ "confidence": 0.9867764115333557,
160
+ "position": [
161
+ -0.01880473643541336,
162
+ 0.1282731419778429,
163
+ 0.0008314761507790536
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4679755599917006,
167
+ "xyz": [
168
+ 0.5277533282598673,
169
+ -0.46038764198244664,
170
+ 0.538997698391125
171
+ ]
172
+ }
173
+ },
174
+ "grasp_49": {
175
+ "confidence": 0.9864342212677002,
176
+ "position": [
177
+ -0.03109479323029518,
178
+ 0.12638354062801227,
179
+ -0.004631834075553343
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5788625755815748,
183
+ "xyz": [
184
+ 0.43021518315323465,
185
+ 0.5509903930251584,
186
+ -0.4198125790986691
187
+ ]
188
+ }
189
+ },
190
+ "grasp_50": {
191
+ "confidence": 0.9863389730453491,
192
+ "position": [
193
+ -0.06941142305731773,
194
+ 0.1064811474061571,
195
+ -0.0013786287454422563
196
+ ],
197
+ "orientation": {
198
+ "w": 0.3315884490697972,
199
+ "xyz": [
200
+ 0.6223487009324493,
201
+ -0.31107549077222874,
202
+ 0.6371524416746722
203
+ ]
204
+ }
205
+ },
206
+ "grasp_51": {
207
+ "confidence": 0.986330509185791,
208
+ "position": [
209
+ -0.008721442893147469,
210
+ 0.12678180396324024,
211
+ -0.0029009114659857005
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4895338863405218,
215
+ "xyz": [
216
+ 0.5119039667078672,
217
+ -0.47128670260059213,
218
+ 0.5255470929849745
219
+ ]
220
+ }
221
+ },
222
+ "grasp_52": {
223
+ "confidence": 0.9863138198852539,
224
+ "position": [
225
+ -0.01129116304218769,
226
+ 0.12761254369979724,
227
+ -0.004491650004638359
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5462349796921488,
231
+ "xyz": [
232
+ 0.4747765934586554,
233
+ 0.5118338497613036,
234
+ -0.4628613653169124
235
+ ]
236
+ }
237
+ },
238
+ "grasp_53": {
239
+ "confidence": 0.9861903190612793,
240
+ "position": [
241
+ -0.027824699878692627,
242
+ 0.12613828241592273,
243
+ -0.003967650205595419
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5668941227109315,
247
+ "xyz": [
248
+ 0.4475898063245902,
249
+ 0.5367692120063436,
250
+ -0.4360885597584603
251
+ ]
252
+ }
253
+ },
254
+ "grasp_54": {
255
+ "confidence": 0.9857374429702759,
256
+ "position": [
257
+ -0.004790716804563999,
258
+ 0.12999766826396808,
259
+ 0.002576349099399522
260
+ ],
261
+ "orientation": {
262
+ "w": 0.5158672174713452,
263
+ "xyz": [
264
+ 0.5041854892253804,
265
+ 0.5029543031738323,
266
+ -0.4761459600919253
267
+ ]
268
+ }
269
+ },
270
+ "grasp_55": {
271
+ "confidence": 0.9855480790138245,
272
+ "position": [
273
+ -0.02539144456386566,
274
+ 0.1285828924155794,
275
+ 0.004229117213981226
276
+ ],
277
+ "orientation": {
278
+ "w": 0.44402549492543075,
279
+ "xyz": [
280
+ 0.5447701035525814,
281
+ -0.44973241614523984,
282
+ 0.5511874889724013
283
+ ]
284
+ }
285
+ },
286
+ "grasp_56": {
287
+ "confidence": 0.9855424165725708,
288
+ "position": [
289
+ 0.013915833085775375,
290
+ 0.12778112053638324,
291
+ -0.005204555549426004
292
+ ],
293
+ "orientation": {
294
+ "w": 0.468337198608244,
295
+ "xyz": [
296
+ 0.547859554956403,
297
+ 0.43816862056704065,
298
+ -0.5371391220094948
299
+ ]
300
+ }
301
+ },
302
+ "grasp_57": {
303
+ "confidence": 0.9854957461357117,
304
+ "position": [
305
+ -0.049487728625535965,
306
+ 0.12071456521516666,
307
+ 0.000916038901777938
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5915521044920192,
311
+ "xyz": [
312
+ 0.39613572289512733,
313
+ 0.5925709052965786,
314
+ -0.3768319504943967
315
+ ]
316
+ }
317
+ },
318
+ "grasp_58": {
319
+ "confidence": 0.9853712320327759,
320
+ "position": [
321
+ -0.04628722742199898,
322
+ 0.12432166695361957,
323
+ -0.000464866025140509
324
+ ],
325
+ "orientation": {
326
+ "w": 0.5898577041097471,
327
+ "xyz": [
328
+ 0.4024912193283057,
329
+ 0.5799079330255297,
330
+ -0.39214218911008425
331
+ ]
332
+ }
333
+ },
334
+ "grasp_59": {
335
+ "confidence": 0.985079288482666,
336
+ "position": [
337
+ -0.013191940262913704,
338
+ 0.12540988385444507,
339
+ -0.0007300913275685161
340
+ ],
341
+ "orientation": {
342
+ "w": 0.47329176222002467,
343
+ "xyz": [
344
+ 0.5206000371550598,
345
+ -0.47554758979633194,
346
+ 0.528038823352709
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "eraser side surface region",
354
+ "mask_color": "Red",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "pinch against the main body to lift the eraser from a flat surface",
359
+ "confidence": 0.7
360
+ },
361
+ {
362
+ "scenario": "use as a side contact while rotating the eraser to a new edge",
363
+ "confidence": 0.67
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "provide side gripping surface",
368
+ "support orientation control",
369
+ "form part of the outer perimeter"
370
+ ],
371
+ "semantic_description": "Yellow-orange side wall area of the star eraser, visible as narrow vertical perimeter surfaces with a matte smooth rubber appearance.",
372
+ "id": 0,
373
+ "grasp_group": {
374
+ "grasp_11": {
375
+ "confidence": 0.22666972875595093,
376
+ "position": [
377
+ 0.06953522190451622,
378
+ -0.09538862347835675,
379
+ 0.062676891713636
380
+ ],
381
+ "orientation": {
382
+ "w": 0.4285481149949512,
383
+ "xyz": [
384
+ -0.8588308149235242,
385
+ -0.22053845374796333,
386
+ 0.1735480765970252
387
+ ]
388
+ }
389
+ },
390
+ "grasp_16": {
391
+ "confidence": 0.26162517070770264,
392
+ "position": [
393
+ 0.0805484987795353,
394
+ -0.08527647197479382,
395
+ 0.06125469508697279
396
+ ],
397
+ "orientation": {
398
+ "w": 0.21342567591922998,
399
+ "xyz": [
400
+ 0.1986158052646344,
401
+ -0.8683795450812376,
402
+ -0.4011461185677902
403
+ ]
404
+ }
405
+ }
406
+ }
407
+ },
408
+ {
409
+ "part_name": "eraser side surface region",
410
+ "mask_color": "Green",
411
+ "graspable": true,
412
+ "grasp_scenarios": [
413
+ {
414
+ "scenario": "pinch this side area with another face to manipulate the eraser orientation",
415
+ "confidence": 0.66
416
+ },
417
+ {
418
+ "scenario": "use as auxiliary side contact when lifting or stabilizing the eraser",
419
+ "confidence": 0.62
420
+ }
421
+ ],
422
+ "functional_labels": [
423
+ "provide side gripping surface",
424
+ "support orientation control",
425
+ "form part of the outer perimeter"
426
+ ],
427
+ "semantic_description": "Yellow-orange side wall area on the perimeter of the star-shaped eraser, appearing as narrow matte rubber vertical surfaces along some edges.",
428
+ "id": 1,
429
+ "grasp_group": {
430
+ "grasp_25": {
431
+ "confidence": 0.26036617159843445,
432
+ "position": [
433
+ -0.02822604402899742,
434
+ -0.11101344466442242,
435
+ 0.053687188803451136
436
+ ],
437
+ "orientation": {
438
+ "w": 0.1363153611644038,
439
+ "xyz": [
440
+ 0.09070424103458644,
441
+ 0.8645259123561319,
442
+ 0.4751692433583604
443
+ ]
444
+ }
445
+ },
446
+ "grasp_31": {
447
+ "confidence": 0.22397032380104065,
448
+ "position": [
449
+ 0.00416095630498603,
450
+ -0.12223147094482556,
451
+ 0.04436064141918905
452
+ ],
453
+ "orientation": {
454
+ "w": 0.49170972378971517,
455
+ "xyz": [
456
+ -0.870567268216135,
457
+ -0.016457462038243498,
458
+ 0.00795807668962994
459
+ ]
460
+ }
461
+ },
462
+ "grasp_34": {
463
+ "confidence": 0.2526961863040924,
464
+ "position": [
465
+ -0.010824216529726982,
466
+ -0.015372641908470541,
467
+ -0.09924750772188418
468
+ ],
469
+ "orientation": {
470
+ "w": 0.7276648289042782,
471
+ "xyz": [
472
+ -0.03130794244791612,
473
+ -0.021858633466856237,
474
+ -0.6848692646471636
475
+ ]
476
+ }
477
+ },
478
+ "grasp_37": {
479
+ "confidence": 0.13795071840286255,
480
+ "position": [
481
+ 0.011411681305617094,
482
+ -0.11566667497390881,
483
+ -0.05114256960223429
484
+ ],
485
+ "orientation": {
486
+ "w": 0.05394361930686857,
487
+ "xyz": [
488
+ -0.01528493476352782,
489
+ 0.47704624843339427,
490
+ 0.8770879850738892
491
+ ]
492
+ }
493
+ }
494
+ }
495
+ },
496
+ {
497
+ "part_name": "eraser side surface region",
498
+ "mask_color": "Yellow",
499
+ "graspable": true,
500
+ "grasp_scenarios": [
501
+ {
502
+ "scenario": "pinch this side area together with the main body to lift the eraser",
503
+ "confidence": 0.65
504
+ },
505
+ {
506
+ "scenario": "hold this perimeter area to turn the eraser toward a fresh edge",
507
+ "confidence": 0.61
508
+ }
509
+ ],
510
+ "functional_labels": [
511
+ "provide side gripping surface",
512
+ "help expose erasing edge",
513
+ "form part of the outer perimeter"
514
+ ],
515
+ "semantic_description": "Yellow-orange perimeter side wall region of the eraser, seen as thin vertical matte rubber surfaces along portions of the star edge.",
516
+ "id": 3,
517
+ "grasp_group": {
518
+ "grasp_63": {
519
+ "confidence": 0.206894651055336,
520
+ "position": [
521
+ 0.08020022884011269,
522
+ 0.09988269716268405,
523
+ 0.04045439514447935
524
+ ],
525
+ "orientation": {
526
+ "w": 0.25423238753499383,
527
+ "xyz": [
528
+ -0.18845717702758305,
529
+ -0.8242256055942928,
530
+ 0.46957633739124044
531
+ ]
532
+ }
533
+ },
534
+ "grasp_75": {
535
+ "confidence": 0.22613085806369781,
536
+ "position": [
537
+ 0.1261129342019558,
538
+ 0.03665860876208171,
539
+ 0.034291986405150965
540
+ ],
541
+ "orientation": {
542
+ "w": 0.3515676953669344,
543
+ "xyz": [
544
+ -0.5028811390446664,
545
+ -0.6530111430483498,
546
+ 0.44394499954635064
547
+ ]
548
+ }
549
+ },
550
+ "grasp_77": {
551
+ "confidence": 0.1921800971031189,
552
+ "position": [
553
+ 0.07814062759280205,
554
+ 0.09153278678422794,
555
+ 0.041781608044402674
556
+ ],
557
+ "orientation": {
558
+ "w": 0.17582879617639416,
559
+ "xyz": [
560
+ -0.2747998185760576,
561
+ -0.8177757552028074,
562
+ 0.4741435524692963
563
+ ]
564
+ }
565
+ }
566
+ }
567
+ }
568
+ ],
569
+ "quality_check": {
570
+ "success": true,
571
+ "message": "YES"
572
+ }
573
+ }
dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4aaf8c83ff22324674c5e8c2af9b6de28349366c45128fa244c299738b08fb9
3
+ size 609668