xinjjj commited on
Commit
d5f051f
·
verified ·
1 Parent(s): 5b4f829

Add asset desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918

Browse files
.gitattributes CHANGED
@@ -8119,3 +8119,4 @@ dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/affordance/mes
8119
  dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8120
  dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8121
  dataset/desktop_supplies/electronic_accessories/c1c99a417cd75e038b7f58a38ba7fa11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8119
  dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8120
  dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8121
  dataset/desktop_supplies/electronic_accessories/c1c99a417cd75e038b7f58a38ba7fa11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8122
+ dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918/affordance/affordance_annot.json ADDED
@@ -0,0 +1,561 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main barrel",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical barrel to pick up and reposition the pen or stylus",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the barrel in a writing grip while using the tip",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the object by clamping around the barrel during inspection or storage",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house internal pen or stylus components",
24
+ "provide overall structure",
25
+ "support writing or pointing use"
26
+ ],
27
+ "semantic_description": "Long silver cylindrical body with a smooth matte to satin finish, pen-like in shape and forming most of the object's length.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9901039004325867,
32
+ "position": [
33
+ 0.030554828510503285,
34
+ -0.04649468883872032,
35
+ -0.08007555139192846
36
+ ],
37
+ "orientation": {
38
+ "w": 0.023481159926181095,
39
+ "xyz": [
40
+ -0.1539051762809323,
41
+ 0.2554568865886143,
42
+ 0.9542031287608043
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9901028871536255,
48
+ "position": [
49
+ -0.0023361122730420902,
50
+ 0.0010910606943070889,
51
+ 0.09666474479308818
52
+ ],
53
+ "orientation": {
54
+ "w": 0.037538003028883334,
55
+ "xyz": [
56
+ -0.9991529963152576,
57
+ -0.007237875676674735,
58
+ -0.015225026717070704
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.9876019358634949,
64
+ "position": [
65
+ -0.0027690985734807327,
66
+ -0.04935874417424202,
67
+ 0.08334449994436
68
+ ],
69
+ "orientation": {
70
+ "w": 0.2617775263739202,
71
+ "xyz": [
72
+ -0.9646607496821403,
73
+ -0.014265917847905374,
74
+ -0.026431955966197802
75
+ ]
76
+ }
77
+ },
78
+ "grasp_6": {
79
+ "confidence": 0.9872534871101379,
80
+ "position": [
81
+ -0.02279545432247687,
82
+ -0.04373108595609665,
83
+ 0.08183776157966349
84
+ ],
85
+ "orientation": {
86
+ "w": 0.23568368217150906,
87
+ "xyz": [
88
+ -0.961721126042368,
89
+ -0.057518733778149145,
90
+ -0.12742555845056006
91
+ ]
92
+ }
93
+ },
94
+ "grasp_8": {
95
+ "confidence": 0.9865473508834839,
96
+ "position": [
97
+ 0.016831214816193096,
98
+ -0.05349625647068024,
99
+ 0.08041033464542124
100
+ ],
101
+ "orientation": {
102
+ "w": 0.27368282245796177,
103
+ "xyz": [
104
+ -0.9586291756226665,
105
+ 0.0021683238938801086,
106
+ 0.0782503335963612
107
+ ]
108
+ }
109
+ },
110
+ "grasp_11": {
111
+ "confidence": 0.984966516494751,
112
+ "position": [
113
+ 0.0665337976970477,
114
+ -0.06339311227202415,
115
+ 0.05633696111908648
116
+ ],
117
+ "orientation": {
118
+ "w": 0.2126224897211538,
119
+ "xyz": [
120
+ -0.8793998484643668,
121
+ 0.09418953801196828,
122
+ 0.4154225731886977
123
+ ]
124
+ }
125
+ },
126
+ "grasp_13": {
127
+ "confidence": 0.9844216108322144,
128
+ "position": [
129
+ 0.06805597366474103,
130
+ -0.04482340067625046,
131
+ 0.04806292000284884
132
+ ],
133
+ "orientation": {
134
+ "w": 0.22418201890567416,
135
+ "xyz": [
136
+ -0.8529083849077927,
137
+ 0.13089414946729827,
138
+ 0.4529419730921271
139
+ ]
140
+ }
141
+ },
142
+ "grasp_14": {
143
+ "confidence": 0.9838557839393616,
144
+ "position": [
145
+ -0.008494678608258255,
146
+ -0.04631258174777031,
147
+ 0.08259983676543925
148
+ ],
149
+ "orientation": {
150
+ "w": 0.0475554589254331,
151
+ "xyz": [
152
+ -0.027198602062624096,
153
+ 0.9600964715586756,
154
+ 0.2742507605692493
155
+ ]
156
+ }
157
+ },
158
+ "grasp_15": {
159
+ "confidence": 0.9837722182273865,
160
+ "position": [
161
+ -0.03424214823462535,
162
+ 0.03573862463235855,
163
+ -0.07872174364456441
164
+ ],
165
+ "orientation": {
166
+ "w": 0.9456860542018558,
167
+ "xyz": [
168
+ 0.24290783728798906,
169
+ 0.20893580975493353,
170
+ -0.05494994881022737
171
+ ]
172
+ }
173
+ },
174
+ "grasp_16": {
175
+ "confidence": 0.9837115406990051,
176
+ "position": [
177
+ 0.0037220630765659735,
178
+ -0.026000862941145897,
179
+ 0.09544538277259562
180
+ ],
181
+ "orientation": {
182
+ "w": 0.08159005321356305,
183
+ "xyz": [
184
+ 0.9956391857145984,
185
+ 0.04051964637010645,
186
+ -0.02009560509716087
187
+ ]
188
+ }
189
+ },
190
+ "grasp_17": {
191
+ "confidence": 0.983032763004303,
192
+ "position": [
193
+ 0.08145660282752942,
194
+ 0.03873855620622635,
195
+ -0.008922983528464101
196
+ ],
197
+ "orientation": {
198
+ "w": 0.706426866216424,
199
+ "xyz": [
200
+ 0.1965893527029727,
201
+ -0.6503669628999013,
202
+ 0.19833437084839237
203
+ ]
204
+ }
205
+ },
206
+ "grasp_18": {
207
+ "confidence": 0.9826092720031738,
208
+ "position": [
209
+ -0.00262427116103936,
210
+ -0.0217119287699461,
211
+ 0.09688846337667201
212
+ ],
213
+ "orientation": {
214
+ "w": 0.01750757071811864,
215
+ "xyz": [
216
+ -0.0008880190678163657,
217
+ 0.9997944286805946,
218
+ 0.010188069931458123
219
+ ]
220
+ }
221
+ }
222
+ }
223
+ },
224
+ {
225
+ "part_name": "side slider button",
226
+ "mask_color": "Red",
227
+ "graspable": false,
228
+ "grasp_scenarios": [],
229
+ "functional_labels": [
230
+ "press or slide for device input",
231
+ "control pen or stylus function",
232
+ "provide user interface"
233
+ ],
234
+ "semantic_description": "Long narrow dark side control on the upper side of the silver barrel near the rear, slightly raised or flush, with a smooth somewhat glossy plastic surface.",
235
+ "id": 0,
236
+ "grasp_group": {}
237
+ },
238
+ {
239
+ "part_name": "pocket clip",
240
+ "mask_color": "Cyan",
241
+ "graspable": true,
242
+ "grasp_scenarios": [
243
+ {
244
+ "scenario": "lightly pinch the clip to steady the pen during manipulation",
245
+ "confidence": 0.42
246
+ },
247
+ {
248
+ "scenario": "pull the pen from a pocket or holder using the clip area",
249
+ "confidence": 0.63
250
+ }
251
+ ],
252
+ "functional_labels": [
253
+ "clip pen to pocket",
254
+ "retain pen in a case or notebook",
255
+ "provide a secondary handling feature"
256
+ ],
257
+ "semantic_description": "Light silver to off-white elongated clip mounted near the rear of the barrel, smooth and slightly raised above a darker recessed area beneath it.",
258
+ "id": 6,
259
+ "grasp_group": {
260
+ "grasp_20": {
261
+ "confidence": 0.8636395931243896,
262
+ "position": [
263
+ -0.0004425218066899106,
264
+ 0.13702047616243362,
265
+ 0.0074241984548280016
266
+ ],
267
+ "orientation": {
268
+ "w": 0.6936869544544547,
269
+ "xyz": [
270
+ 0.7198655552500716,
271
+ 0.021237200237075315,
272
+ 0.011873201350108909
273
+ ]
274
+ }
275
+ },
276
+ "grasp_21": {
277
+ "confidence": 0.8380408883094788,
278
+ "position": [
279
+ 0.000603737702476792,
280
+ 0.13617301732301712,
281
+ 0.00716818067303393
282
+ ],
283
+ "orientation": {
284
+ "w": 0.6948623448620287,
285
+ "xyz": [
286
+ 0.7187044272080225,
287
+ 0.022219558127310024,
288
+ 0.011685856453780466
289
+ ]
290
+ }
291
+ },
292
+ "grasp_22": {
293
+ "confidence": 0.7271715998649597,
294
+ "position": [
295
+ -0.001626596160349436,
296
+ 0.13253428786993027,
297
+ 0.010910130469710566
298
+ ],
299
+ "orientation": {
300
+ "w": 0.06228247183896298,
301
+ "xyz": [
302
+ 0.03554511410428755,
303
+ 0.7270684816008532,
304
+ -0.6828095353959045
305
+ ]
306
+ }
307
+ },
308
+ "grasp_23": {
309
+ "confidence": 0.5856773257255554,
310
+ "position": [
311
+ -0.0029547898593591526,
312
+ 0.1310848519206047,
313
+ 0.006163879661471583
314
+ ],
315
+ "orientation": {
316
+ "w": 0.10915273546072274,
317
+ "xyz": [
318
+ 0.06595579275764905,
319
+ 0.7050993258623225,
320
+ -0.6975460231494769
321
+ ]
322
+ }
323
+ },
324
+ "grasp_24": {
325
+ "confidence": 0.8781523108482361,
326
+ "position": [
327
+ 0.00042855650826822966,
328
+ 0.14348850399255753,
329
+ 0.008810481420368887
330
+ ],
331
+ "orientation": {
332
+ "w": 0.6894582756680104,
333
+ "xyz": [
334
+ 0.7241378503148879,
335
+ 0.012049010507444557,
336
+ 0.011246386087007672
337
+ ]
338
+ }
339
+ },
340
+ "grasp_25": {
341
+ "confidence": 0.5832133293151855,
342
+ "position": [
343
+ -0.0009186046809190884,
344
+ 0.13092172890901566,
345
+ 0.012555660112411715
346
+ ],
347
+ "orientation": {
348
+ "w": 0.6802249510712185,
349
+ "xyz": [
350
+ 0.72549093416013,
351
+ 0.09179651994248983,
352
+ -0.050302279452014695
353
+ ]
354
+ }
355
+ },
356
+ "grasp_31": {
357
+ "confidence": 0.937003493309021,
358
+ "position": [
359
+ -0.007967459692736156,
360
+ 0.12482351809740067,
361
+ 0.058599732248694636
362
+ ],
363
+ "orientation": {
364
+ "w": 0.09684198341865868,
365
+ "xyz": [
366
+ 0.045310849599812957,
367
+ 0.8693929684766836,
368
+ -0.482415198267409
369
+ ]
370
+ }
371
+ },
372
+ "grasp_32": {
373
+ "confidence": 0.9312344193458557,
374
+ "position": [
375
+ -0.006001338551868685,
376
+ 0.12148868292570114,
377
+ 0.05777021813264582
378
+ ],
379
+ "orientation": {
380
+ "w": 0.033443247100838916,
381
+ "xyz": [
382
+ 0.010514925573033835,
383
+ 0.8713185702781493,
384
+ -0.4894639257922769
385
+ ]
386
+ }
387
+ },
388
+ "grasp_34": {
389
+ "confidence": 0.9248545169830322,
390
+ "position": [
391
+ -0.010494081958313473,
392
+ 0.1288507953286171,
393
+ 0.05044575723877642
394
+ ],
395
+ "orientation": {
396
+ "w": 0.513287867591387,
397
+ "xyz": [
398
+ 0.8562188236812446,
399
+ -0.0015410493045777685,
400
+ 0.05850227452359
401
+ ]
402
+ }
403
+ },
404
+ "grasp_35": {
405
+ "confidence": 0.9220917224884033,
406
+ "position": [
407
+ 0.005684090589056723,
408
+ 0.12365870922803879,
409
+ 0.05470751914253924
410
+ ],
411
+ "orientation": {
412
+ "w": 0.03263723814841315,
413
+ "xyz": [
414
+ 0.03198555509399636,
415
+ -0.8676770578785299,
416
+ 0.4950234925562936
417
+ ]
418
+ }
419
+ },
420
+ "grasp_36": {
421
+ "confidence": 0.9180527925491333,
422
+ "position": [
423
+ 0.011223135792533867,
424
+ 0.12248557060956955,
425
+ 0.0578146012412617
426
+ ],
427
+ "orientation": {
428
+ "w": 0.06559007039676586,
429
+ "xyz": [
430
+ 0.045672644929199493,
431
+ -0.872142689073612,
432
+ 0.4826790673583921
433
+ ]
434
+ }
435
+ },
436
+ "grasp_37": {
437
+ "confidence": 0.9170880317687988,
438
+ "position": [
439
+ 0.003404903269256465,
440
+ 0.12441308051347733,
441
+ 0.05317090394964907
442
+ ],
443
+ "orientation": {
444
+ "w": 0.01937108745080705,
445
+ "xyz": [
446
+ 0.031780509481554656,
447
+ -0.8636257153477959,
448
+ 0.5027577786350725
449
+ ]
450
+ }
451
+ },
452
+ "grasp_38": {
453
+ "confidence": 0.916412353515625,
454
+ "position": [
455
+ -0.009058691284735687,
456
+ 0.12187884002923965,
457
+ 0.05038874912133906
458
+ ],
459
+ "orientation": {
460
+ "w": 0.05270703067394249,
461
+ "xyz": [
462
+ -0.002375298794328929,
463
+ 0.8498686523161909,
464
+ -0.5243468324338716
465
+ ]
466
+ }
467
+ },
468
+ "grasp_39": {
469
+ "confidence": 0.9135362505912781,
470
+ "position": [
471
+ 0.011872395218233578,
472
+ 0.12038213014602661,
473
+ 0.05372710469237063
474
+ ],
475
+ "orientation": {
476
+ "w": 0.07216191031137746,
477
+ "xyz": [
478
+ 0.04170658687146129,
479
+ -0.8656973726634121,
480
+ 0.49358006268022175
481
+ ]
482
+ }
483
+ }
484
+ }
485
+ },
486
+ {
487
+ "part_name": "tip cone",
488
+ "mask_color": "Orange",
489
+ "graspable": false,
490
+ "grasp_scenarios": [],
491
+ "functional_labels": [
492
+ "hold the writing tip assembly",
493
+ "transition from barrel to tip",
494
+ "protect and support front components"
495
+ ],
496
+ "semantic_description": "Short metallic conical section at the front, smooth and reflective, tapering from the cylindrical body toward the blue tip.",
497
+ "id": 4,
498
+ "grasp_group": {}
499
+ },
500
+ {
501
+ "part_name": "front tip",
502
+ "mask_color": "Blue",
503
+ "graspable": false,
504
+ "grasp_scenarios": [],
505
+ "functional_labels": [
506
+ "write or contact a surface",
507
+ "define the active front end",
508
+ "provide precise pointing"
509
+ ],
510
+ "semantic_description": "Small blue pointed tip at the front end, smooth and glossy, visually distinct from the metallic cone behind it.",
511
+ "id": 2,
512
+ "grasp_group": {}
513
+ },
514
+ {
515
+ "part_name": "front ring",
516
+ "mask_color": "Purple",
517
+ "graspable": false,
518
+ "grasp_scenarios": [],
519
+ "functional_labels": [
520
+ "join the front cone to the barrel",
521
+ "retain front components",
522
+ "visually separate front sections"
523
+ ],
524
+ "semantic_description": "Thin dark gray to black ring or collar behind the front cone, narrow and slightly glossy, encircling the barrel near the front end.",
525
+ "id": 5,
526
+ "grasp_group": {}
527
+ },
528
+ {
529
+ "part_name": "small side button",
530
+ "mask_color": "Yellow",
531
+ "graspable": false,
532
+ "grasp_scenarios": [],
533
+ "functional_labels": [
534
+ "provide auxiliary input",
535
+ "support secondary pen or stylus control",
536
+ "offer an additional pressable interface"
537
+ ],
538
+ "semantic_description": "Tiny oblong dark side button on the silver barrel with a smooth finish.",
539
+ "id": 3,
540
+ "grasp_group": {}
541
+ },
542
+ {
543
+ "part_name": "rear opening",
544
+ "mask_color": "Lime Green",
545
+ "graspable": false,
546
+ "grasp_scenarios": [],
547
+ "functional_labels": [
548
+ "finish the back end",
549
+ "provide rear structural closure or opening detail",
550
+ "define the non-writing end"
551
+ ],
552
+ "semantic_description": "Oval rear-end opening or inset visible on the blunt back of the silver barrel, darker than the surrounding body and recessed into the end face.",
553
+ "id": 9,
554
+ "grasp_group": {}
555
+ }
556
+ ],
557
+ "quality_check": {
558
+ "success": false,
559
+ "message": "Several visual descriptions mismatch colors/materials; front ring position wrong and clip color inaccurate."
560
+ }
561
+ }
dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:97f7d33358b0ffea3f0f5bf0ecf137d25f843c7361f7fe7160c9e8f849a57ae1
3
+ size 111374772