xinjjj commited on
Commit
da8ec44
·
verified ·
1 Parent(s): b402f75

Add asset desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c

Browse files
.gitattributes CHANGED
@@ -6439,3 +6439,4 @@ dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/affo
6439
  dataset/desktop_supplies/office_stationery/9e32571529dc5357af6232884880b3c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6440
  dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6441
  dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6439
  dataset/desktop_supplies/office_stationery/9e32571529dc5357af6232884880b3c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6440
  dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6441
  dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6442
+ dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,628 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "notebook cover",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the closed notebook by its broad cover to pick it up from a table",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the cover to reposition or rotate the notebook",
14
+ "confidence": 0.87
15
+ },
16
+ {
17
+ "scenario": "stabilize the notebook by clamping the cover during placement",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "protect the pages",
23
+ "provide the main outer structure",
24
+ "support opening and closing",
25
+ "main grasp surface"
26
+ ],
27
+ "semantic_description": "Large black hard cover, likely cardboard wrapped in smooth matte material, rectangular with rounded corners, forming the outer shell and showing gold printed branding on one face.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.9742743968963623,
32
+ "position": [
33
+ -0.13354868371970952,
34
+ -0.10569608910009265,
35
+ -0.002188586222473532
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6924217451961848,
39
+ "xyz": [
40
+ -0.16918654968656816,
41
+ 0.6798870625972782,
42
+ 0.17228354621805458
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9742255210876465,
48
+ "position": [
49
+ 0.022276923758909106,
50
+ 0.17518747644498944,
51
+ -0.0010152854956686497
52
+ ],
53
+ "orientation": {
54
+ "w": 0.503358015286007,
55
+ "xyz": [
56
+ 0.5024388180263105,
57
+ 0.503067762802299,
58
+ -0.49102827679956135
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9739858508110046,
64
+ "position": [
65
+ 0.020787046058103442,
66
+ 0.17509173648431897,
67
+ -0.0007409795070998371
68
+ ],
69
+ "orientation": {
70
+ "w": 0.49934681451753804,
71
+ "xyz": [
72
+ 0.49946086805319456,
73
+ -0.5000750870688052,
74
+ 0.5011152635949777
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.9735443592071533,
80
+ "position": [
81
+ -0.009870354318991303,
82
+ -0.17407198948785663,
83
+ -0.0019488003454171121
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5049736289885256,
87
+ "xyz": [
88
+ -0.4913288895149581,
89
+ -0.5002015275550517,
90
+ -0.5033845331213006
91
+ ]
92
+ }
93
+ },
94
+ "grasp_5": {
95
+ "confidence": 0.9734790325164795,
96
+ "position": [
97
+ -0.1396776505280286,
98
+ -0.08360478235408664,
99
+ -0.0015113858389668167
100
+ ],
101
+ "orientation": {
102
+ "w": 0.708620486794631,
103
+ "xyz": [
104
+ -0.022036333420200945,
105
+ 0.7034458687927816,
106
+ 0.05035191538266788
107
+ ]
108
+ }
109
+ },
110
+ "grasp_6": {
111
+ "confidence": 0.9733415842056274,
112
+ "position": [
113
+ -0.13404776831157506,
114
+ -0.08915465278550982,
115
+ -0.0009212368750013411
116
+ ],
117
+ "orientation": {
118
+ "w": 0.710213264313301,
119
+ "xyz": [
120
+ -0.05548591779423047,
121
+ 0.6971107796140625,
122
+ 0.08096291166855865
123
+ ]
124
+ }
125
+ },
126
+ "grasp_7": {
127
+ "confidence": 0.9731840491294861,
128
+ "position": [
129
+ -0.13138372381217778,
130
+ -0.10883223218843341,
131
+ 0.000850760901812464
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6861180290488613,
135
+ "xyz": [
136
+ -0.1589140288005119,
137
+ 0.6888410636432029,
138
+ 0.17171595937302053
139
+ ]
140
+ }
141
+ },
142
+ "grasp_8": {
143
+ "confidence": 0.973121702671051,
144
+ "position": [
145
+ -0.037920425878837705,
146
+ 0.17051776545122266,
147
+ 0.0023303537745960057
148
+ ],
149
+ "orientation": {
150
+ "w": 0.4943179979611938,
151
+ "xyz": [
152
+ 0.5100381430675465,
153
+ 0.5056705493966127,
154
+ -0.48970205735811884
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.9729804992675781,
160
+ "position": [
161
+ -0.029579877154901624,
162
+ 0.17479684250429273,
163
+ -0.0008333913574460894
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4985199901622117,
167
+ "xyz": [
168
+ 0.509420404326981,
169
+ 0.5007169127440365,
170
+ -0.49117333432922056
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.9729359745979309,
176
+ "position": [
177
+ -0.1346209712792188,
178
+ -0.10479780239984393,
179
+ 0.0006644134991802275
180
+ ],
181
+ "orientation": {
182
+ "w": 0.15480024664732875,
183
+ "xyz": [
184
+ -0.6774128177055234,
185
+ -0.17721955656485366,
186
+ -0.696951925757542
187
+ ]
188
+ }
189
+ },
190
+ "grasp_12": {
191
+ "confidence": 0.9728764891624451,
192
+ "position": [
193
+ -0.026997342007234693,
194
+ 0.1714593251235783,
195
+ 0.0005014895577915013
196
+ ],
197
+ "orientation": {
198
+ "w": 0.49068145150400405,
199
+ "xyz": [
200
+ 0.5109318523070694,
201
+ 0.5004723570594093,
202
+ -0.49770249674619
203
+ ]
204
+ }
205
+ },
206
+ "grasp_13": {
207
+ "confidence": 0.9727498888969421,
208
+ "position": [
209
+ -0.13248459179885685,
210
+ -0.10746988607570529,
211
+ -0.0001131777826230973
212
+ ],
213
+ "orientation": {
214
+ "w": 0.16029591244189847,
215
+ "xyz": [
216
+ -0.6786494999151128,
217
+ -0.16499406113733395,
218
+ -0.6975077322215119
219
+ ]
220
+ }
221
+ },
222
+ "grasp_14": {
223
+ "confidence": 0.9725703597068787,
224
+ "position": [
225
+ -0.1403676785994321,
226
+ 0.03388522984459996,
227
+ -0.0004470518779271515
228
+ ],
229
+ "orientation": {
230
+ "w": 0.06953911394758616,
231
+ "xyz": [
232
+ -0.6957067998395168,
233
+ -0.07619329019868837,
234
+ -0.7108803997981248
235
+ ]
236
+ }
237
+ },
238
+ "grasp_15": {
239
+ "confidence": 0.9725514054298401,
240
+ "position": [
241
+ -0.015327726723626256,
242
+ -0.17610069317743182,
243
+ 0.00017870130250230432
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5017480609747638,
247
+ "xyz": [
248
+ -0.5068588266085231,
249
+ 0.4951321297989385,
250
+ 0.49617253777074666
251
+ ]
252
+ }
253
+ },
254
+ "grasp_16": {
255
+ "confidence": 0.9725472331047058,
256
+ "position": [
257
+ -0.13650418003089726,
258
+ -0.07557377917692065,
259
+ 4.3370528146624565e-07
260
+ ],
261
+ "orientation": {
262
+ "w": 0.7061304237900023,
263
+ "xyz": [
264
+ -0.01820196391416297,
265
+ 0.7057014471822939,
266
+ 0.05508158088358901
267
+ ]
268
+ }
269
+ },
270
+ "grasp_17": {
271
+ "confidence": 0.9724795818328857,
272
+ "position": [
273
+ -0.007672656560316682,
274
+ -0.17072006268426776,
275
+ 0.0009449211065657437
276
+ ],
277
+ "orientation": {
278
+ "w": 0.4957949925312698,
279
+ "xyz": [
280
+ -0.5110481957863557,
281
+ 0.493962464306548,
282
+ 0.4990171848951002
283
+ ]
284
+ }
285
+ },
286
+ "grasp_18": {
287
+ "confidence": 0.9724602103233337,
288
+ "position": [
289
+ 0.020825401647016406,
290
+ 0.17243114905431867,
291
+ -0.002205372613389045
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5039083947940072,
295
+ "xyz": [
296
+ 0.5007478671243734,
297
+ -0.4970300209702808,
298
+ 0.49828612411023476
299
+ ]
300
+ }
301
+ },
302
+ "grasp_19": {
303
+ "confidence": 0.9724133014678955,
304
+ "position": [
305
+ 0.01241033966653049,
306
+ 0.1754036475904286,
307
+ 0.001303449913393706
308
+ ],
309
+ "orientation": {
310
+ "w": 0.4929847326731179,
311
+ "xyz": [
312
+ 0.4968652440586734,
313
+ -0.5048244492116949,
314
+ 0.505216050888962
315
+ ]
316
+ }
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "part_name": "page block",
322
+ "mask_color": "Green",
323
+ "graspable": true,
324
+ "grasp_scenarios": [
325
+ {
326
+ "scenario": "pinch the page block edge to lift or slide the notebook",
327
+ "confidence": 0.58
328
+ },
329
+ {
330
+ "scenario": "hold the page side to stabilize the notebook while opening the cover",
331
+ "confidence": 0.51
332
+ }
333
+ ],
334
+ "functional_labels": [
335
+ "provide writing pages",
336
+ "store notes",
337
+ "form the inner bulk",
338
+ "indicate book thickness"
339
+ ],
340
+ "semantic_description": "Off-white paper page stack with a matte smooth edge, visible as a thin layered block along the notebook sides and bottom, slightly recessed inside the cover.",
341
+ "id": 1,
342
+ "grasp_group": {}
343
+ },
344
+ {
345
+ "part_name": "elastic strap",
346
+ "mask_color": "Yellow",
347
+ "graspable": true,
348
+ "grasp_scenarios": [
349
+ {
350
+ "scenario": "pinch and pull the elastic strap to open or secure the notebook",
351
+ "confidence": 0.9
352
+ },
353
+ {
354
+ "scenario": "grasp the strap to slightly reposition the notebook when other surfaces are obstructed",
355
+ "confidence": 0.36
356
+ }
357
+ ],
358
+ "functional_labels": [
359
+ "keep the notebook closed",
360
+ "provide tensioned closure",
361
+ "assist opening",
362
+ "retain contents"
363
+ ],
364
+ "semantic_description": "Narrow black elastic band with a matte soft fabric-like finish, running across the cover near one edge as a slim flexible closure strap.",
365
+ "id": 3,
366
+ "grasp_group": {
367
+ "grasp_30": {
368
+ "confidence": 0.9747835397720337,
369
+ "position": [
370
+ 0.033088187454268336,
371
+ 0.17288918094709516,
372
+ 0.00648315652506426
373
+ ],
374
+ "orientation": {
375
+ "w": 0.5007804321291981,
376
+ "xyz": [
377
+ 0.5127324907311823,
378
+ 0.5024826455529983,
379
+ -0.4835654481692745
380
+ ]
381
+ }
382
+ },
383
+ "grasp_31": {
384
+ "confidence": 0.9701398015022278,
385
+ "position": [
386
+ 0.034133274806663394,
387
+ 0.1695190598256886,
388
+ 0.0013118188944645226
389
+ ],
390
+ "orientation": {
391
+ "w": 0.4989327763630237,
392
+ "xyz": [
393
+ 0.5049643565849748,
394
+ 0.5045030041095202,
395
+ -0.4914812326975227
396
+ ]
397
+ }
398
+ },
399
+ "grasp_33": {
400
+ "confidence": 0.9696182012557983,
401
+ "position": [
402
+ 0.03170564281754196,
403
+ -0.17623256845399737,
404
+ -0.00017307593952864408
405
+ ],
406
+ "orientation": {
407
+ "w": 0.5171598239316724,
408
+ "xyz": [
409
+ -0.4937983979983053,
410
+ 0.49703495702836176,
411
+ 0.4915944569836839
412
+ ]
413
+ }
414
+ },
415
+ "grasp_34": {
416
+ "confidence": 0.9689269065856934,
417
+ "position": [
418
+ 0.035634734435006976,
419
+ -0.17513138754293323,
420
+ -0.0051209956291131675
421
+ ],
422
+ "orientation": {
423
+ "w": 0.5047879388702452,
424
+ "xyz": [
425
+ -0.49279916944257024,
426
+ -0.4971275464197735,
427
+ -0.5051755318287874
428
+ ]
429
+ }
430
+ },
431
+ "grasp_35": {
432
+ "confidence": 0.9687860608100891,
433
+ "position": [
434
+ 0.03220830368809402,
435
+ -0.17671627504751086,
436
+ -0.0008571300422772765
437
+ ],
438
+ "orientation": {
439
+ "w": 0.5199914048810574,
440
+ "xyz": [
441
+ -0.4912814216876365,
442
+ 0.4951685160428744,
443
+ 0.49301079529184416
444
+ ]
445
+ }
446
+ },
447
+ "grasp_36": {
448
+ "confidence": 0.9680953025817871,
449
+ "position": [
450
+ 0.016984298592433333,
451
+ -0.1698269913904369,
452
+ 0.0012273380416445434
453
+ ],
454
+ "orientation": {
455
+ "w": 0.5412511217196804,
456
+ "xyz": [
457
+ -0.45717279144998774,
458
+ 0.5398308621270815,
459
+ 0.4545579196209714
460
+ ]
461
+ }
462
+ },
463
+ "grasp_37": {
464
+ "confidence": 0.9665452837944031,
465
+ "position": [
466
+ 0.0759687281679362,
467
+ 0.1673513283021748,
468
+ -0.0015871727955527604
469
+ ],
470
+ "orientation": {
471
+ "w": 0.38576930244816626,
472
+ "xyz": [
473
+ 0.6025979681347909,
474
+ 0.3619435632703256,
475
+ -0.5975404514304091
476
+ ]
477
+ }
478
+ },
479
+ "grasp_39": {
480
+ "confidence": 0.9641340970993042,
481
+ "position": [
482
+ 0.033474891213700175,
483
+ -0.16743747098371387,
484
+ -0.0008992811781354249
485
+ ],
486
+ "orientation": {
487
+ "w": 0.49970641525494447,
488
+ "xyz": [
489
+ -0.5048981914963482,
490
+ 0.489398865917652,
491
+ 0.5058261211278892
492
+ ]
493
+ }
494
+ },
495
+ "grasp_40": {
496
+ "confidence": 0.9638546109199524,
497
+ "position": [
498
+ 0.002268465053930413,
499
+ 0.1674380381591618,
500
+ -0.00364382955012843
501
+ ],
502
+ "orientation": {
503
+ "w": 0.5762604581346781,
504
+ "xyz": [
505
+ 0.42888159179596336,
506
+ 0.5620255849739585,
507
+ -0.410014275902256
508
+ ]
509
+ }
510
+ },
511
+ "grasp_41": {
512
+ "confidence": 0.9597490429878235,
513
+ "position": [
514
+ 0.044305146439000964,
515
+ 0.17050839262083173,
516
+ 0.040872491255868226
517
+ ],
518
+ "orientation": {
519
+ "w": 0.42468826389191583,
520
+ "xyz": [
521
+ 0.5537632147563096,
522
+ -0.6175291018662938,
523
+ 0.36282776746472484
524
+ ]
525
+ }
526
+ },
527
+ "grasp_43": {
528
+ "confidence": 0.956304669380188,
529
+ "position": [
530
+ 0.0775067291688174,
531
+ 0.15833070175722241,
532
+ -0.0004778254442499019
533
+ ],
534
+ "orientation": {
535
+ "w": 0.3682936512036879,
536
+ "xyz": [
537
+ 0.6046494065312877,
538
+ 0.3607924094030335,
539
+ -0.6071142552943162
540
+ ]
541
+ }
542
+ },
543
+ "grasp_44": {
544
+ "confidence": 0.9549410343170166,
545
+ "position": [
546
+ 0.037982360227033496,
547
+ -0.16460520727559924,
548
+ 0.0008999137789942324
549
+ ],
550
+ "orientation": {
551
+ "w": 0.5075184681358551,
552
+ "xyz": [
553
+ -0.488155593717594,
554
+ -0.5123590784764047,
555
+ -0.4915458224072984
556
+ ]
557
+ }
558
+ },
559
+ "grasp_46": {
560
+ "confidence": 0.9542016386985779,
561
+ "position": [
562
+ 0.0396121374797076,
563
+ -0.16365445358678699,
564
+ 0.00026580836856737733
565
+ ],
566
+ "orientation": {
567
+ "w": 0.5019068016031165,
568
+ "xyz": [
569
+ -0.5105593289830962,
570
+ 0.4786909964202428,
571
+ 0.5082063203454438
572
+ ]
573
+ }
574
+ },
575
+ "grasp_47": {
576
+ "confidence": 0.954010546207428,
577
+ "position": [
578
+ 0.036188051803037524,
579
+ -0.16480990452691913,
580
+ -0.001637572713661939
581
+ ],
582
+ "orientation": {
583
+ "w": 0.5118323480141536,
584
+ "xyz": [
585
+ -0.48565701339053147,
586
+ -0.5005057128236771,
587
+ -0.5016562012990272
588
+ ]
589
+ }
590
+ },
591
+ "grasp_48": {
592
+ "confidence": 0.9532283544540405,
593
+ "position": [
594
+ 0.08224086533300579,
595
+ -0.1619132380001247,
596
+ -0.00883364089531824
597
+ ],
598
+ "orientation": {
599
+ "w": 0.6254686414126012,
600
+ "xyz": [
601
+ -0.3396829046668558,
602
+ -0.6045449896556577,
603
+ -0.35767283705756003
604
+ ]
605
+ }
606
+ }
607
+ }
608
+ },
609
+ {
610
+ "part_name": "cover logo text",
611
+ "mask_color": "Blue",
612
+ "graspable": false,
613
+ "grasp_scenarios": [],
614
+ "functional_labels": [
615
+ "brand identification",
616
+ "visual marking",
617
+ "indicate front orientation"
618
+ ],
619
+ "semantic_description": "Small gold printed text on the black cover, flat and smooth with a reflective ink-like finish, positioned near a corner as branding.",
620
+ "id": 2,
621
+ "grasp_group": {}
622
+ }
623
+ ],
624
+ "quality_check": {
625
+ "success": true,
626
+ "message": "YES"
627
+ }
628
+ }
dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:58fac133b00cf1384b246ecbc70a2f0e56d0ad313bf6667f3529ea44c140bad3
3
+ size 3784628