Add asset desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734
Browse files
.gitattributes
CHANGED
|
@@ -8176,3 +8176,4 @@ dataset/desktop_supplies/office_stationery/10ab616ea78652a8a5611334723ad931/affo
|
|
| 8176 |
dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8177 |
dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8178 |
dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8176 |
dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8177 |
dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8178 |
dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8179 |
+
dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,349 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the eraser body from the sides to pick up and move the eraser",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the eraser body while rubbing to erase marks",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the body to reorient the eraser for precise edge use",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support erasing motion",
|
| 24 |
+
"provide bulk structure",
|
| 25 |
+
"stabilize the eraser during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large bright pink rubber block with a matte smooth slightly soft surface, rounded rectangular shape, and the main outer volume of the eraser surrounding the working face.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9745106101036072,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.0033984865876846015,
|
| 34 |
+
-0.008691783194080926,
|
| 35 |
+
0.1027178824879229
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.023441626877820296,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.9991830651595656,
|
| 41 |
+
-0.002446905554454447,
|
| 42 |
+
-0.03282841879932743
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9739170074462891,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0009203999652527273,
|
| 50 |
+
-0.016094684731797315,
|
| 51 |
+
0.10058823088183999
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.04859280355981868,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.9986101790870099,
|
| 57 |
+
0.0012984389684455103,
|
| 58 |
+
-0.020365748752554227
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9732729196548462,
|
| 64 |
+
"position": [
|
| 65 |
+
0.0015012544463388622,
|
| 66 |
+
-0.02390135837777052,
|
| 67 |
+
0.10019638249650598
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.0895966730385297,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.9958063554801325,
|
| 73 |
+
-0.01274816902111893,
|
| 74 |
+
-0.013402341303359894
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9729062914848328,
|
| 80 |
+
"position": [
|
| 81 |
+
0.010396856639999896,
|
| 82 |
+
0.011894016395672224,
|
| 83 |
+
-0.09769547125324607
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.022695218682905634,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.046695036222157864,
|
| 89 |
+
0.011656677413059424,
|
| 90 |
+
-0.9985833077479487
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9724818468093872,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.01799092738656327,
|
| 98 |
+
-0.10562194151862059,
|
| 99 |
+
0.06001147860661149
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.486274059305342,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.8709680796286747,
|
| 105 |
+
0.010412854933450011,
|
| 106 |
+
-0.06959681003305956
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9724810719490051,
|
| 112 |
+
"position": [
|
| 113 |
+
0.008792321954388171,
|
| 114 |
+
0.010365854817791842,
|
| 115 |
+
-0.09889782359823585
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.02996873335926487,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.037502916953605955,
|
| 121 |
+
0.008379921317005712,
|
| 122 |
+
-0.9988118857720578
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9722139239311218,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.009779161016922444,
|
| 130 |
+
-0.004461728167370893,
|
| 131 |
+
0.10169646004214883
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.01624830351889583,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.997757044906807,
|
| 137 |
+
0.02618576232417265,
|
| 138 |
+
-0.0594237143158846
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9717001914978027,
|
| 144 |
+
"position": [
|
| 145 |
+
0.0066031020251102746,
|
| 146 |
+
-0.0004120859521208331,
|
| 147 |
+
-0.09762852033600211
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.016691105732109805,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.025414127674513315,
|
| 153 |
+
-0.0061940218899195765,
|
| 154 |
+
-0.999518465660745
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.970792829990387,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.002019789710175246,
|
| 162 |
+
0.010210747699602507,
|
| 163 |
+
0.09635822335258126
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.037385047948332195,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.9987232586705771,
|
| 169 |
+
0.03005959873273352,
|
| 170 |
+
0.01583133931010379
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.97066330909729,
|
| 176 |
+
"position": [
|
| 177 |
+
0.0008616962586529553,
|
| 178 |
+
0.030075866598053835,
|
| 179 |
+
0.09895978728309274
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.10054553454447943,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.9944290719251608,
|
| 185 |
+
0.029406933624869333,
|
| 186 |
+
0.011689681262147885
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9705978035926819,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.006078209902625531,
|
| 194 |
+
0.01816431047336664,
|
| 195 |
+
0.09953255811706185
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.022024117062432593,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.9992388790456561,
|
| 201 |
+
0.016990520571598985,
|
| 202 |
+
0.027348182424195643
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9705079793930054,
|
| 208 |
+
"position": [
|
| 209 |
+
0.009635328140575439,
|
| 210 |
+
0.0017589428316568956,
|
| 211 |
+
-0.09601853927597404
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.9994109858423333,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.017721121990910124,
|
| 217 |
+
-0.019798678758963573,
|
| 218 |
+
0.021717631833115373
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9704973101615906,
|
| 224 |
+
"position": [
|
| 225 |
+
0.007724135008174926,
|
| 226 |
+
0.048362847286625765,
|
| 227 |
+
-0.09298125049099326
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.9726697907541162,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.23121675170305397,
|
| 233 |
+
-0.018562657954508732,
|
| 234 |
+
0.010378806092016375
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9702356457710266,
|
| 240 |
+
"position": [
|
| 241 |
+
0.0031398097635246813,
|
| 242 |
+
0.05693016933219042,
|
| 243 |
+
-0.09030695399269462
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.9705991615736176,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.24052846695945546,
|
| 249 |
+
0.0015908543964712196,
|
| 250 |
+
0.00898851027776371
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9701748490333557,
|
| 256 |
+
"position": [
|
| 257 |
+
0.002734248817432672,
|
| 258 |
+
0.005393581799580716,
|
| 259 |
+
-0.0976573615334928
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.9998511404091363,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.01281981376998832,
|
| 265 |
+
0.009449143260104376,
|
| 266 |
+
0.006638003397305053
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_16": {
|
| 271 |
+
"confidence": 0.9698747992515564,
|
| 272 |
+
"position": [
|
| 273 |
+
0.00026571850321488455,
|
| 274 |
+
-0.1223542766092578,
|
| 275 |
+
0.001574025023728609
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.7190483724890693,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.6949208429275793,
|
| 281 |
+
0.0013512955026401263,
|
| 282 |
+
-0.007254935293162965
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_17": {
|
| 287 |
+
"confidence": 0.9697996377944946,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.00036597135476768017,
|
| 290 |
+
-0.10703750712855253,
|
| 291 |
+
0.0611076601780951
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.4776310939758059,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.8784955841771427,
|
| 297 |
+
-0.008036366536621375,
|
| 298 |
+
-0.007033026491115089
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_18": {
|
| 303 |
+
"confidence": 0.9695391654968262,
|
| 304 |
+
"position": [
|
| 305 |
+
-0.002925072272773832,
|
| 306 |
+
0.03076918782608118,
|
| 307 |
+
-0.0954906134866178
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.9905886205891955,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.1347246066197395,
|
| 313 |
+
0.023988571011299697,
|
| 314 |
+
-0.002830828710365931
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
}
|
| 318 |
+
}
|
| 319 |
+
},
|
| 320 |
+
{
|
| 321 |
+
"part_name": "erasing face",
|
| 322 |
+
"mask_color": "Green",
|
| 323 |
+
"graspable": true,
|
| 324 |
+
"grasp_scenarios": [
|
| 325 |
+
{
|
| 326 |
+
"scenario": "lightly pinch the exposed erasing face to reorient or flip the eraser",
|
| 327 |
+
"confidence": 0.42
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"scenario": "hold the erasing face area briefly to stabilize the eraser during placement",
|
| 331 |
+
"confidence": 0.31
|
| 332 |
+
}
|
| 333 |
+
],
|
| 334 |
+
"functional_labels": [
|
| 335 |
+
"erase pencil marks",
|
| 336 |
+
"provide frictional contact surface",
|
| 337 |
+
"enable rubbing against paper",
|
| 338 |
+
"serve as the primary working face"
|
| 339 |
+
],
|
| 340 |
+
"semantic_description": "Flat bright pink rubber face with a matte smooth slightly tacky texture, broad rectangular shape, and positioned on one large side as the main contact surface for erasing.",
|
| 341 |
+
"id": 1,
|
| 342 |
+
"grasp_group": {}
|
| 343 |
+
}
|
| 344 |
+
],
|
| 345 |
+
"quality_check": {
|
| 346 |
+
"success": true,
|
| 347 |
+
"message": "YES"
|
| 348 |
+
}
|
| 349 |
+
}
|
dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7a4f21fe82903a154891a05a6186e8e7c20e4a5c25ccffa0560d7b625a8f528e
|
| 3 |
+
size 1313260
|