xinjjj commited on
Commit
ddf77b5
·
verified ·
1 Parent(s): 0e97631

Add asset desktop_supplies/decorations/4bf232b3bcfd55ffa7b26ff156f50ad2

Browse files
.gitattributes CHANGED
@@ -6110,3 +6110,4 @@ dataset/desktop_supplies/decorations/440e5b0b92775001b0581a82098178ef/affordance
6110
  dataset/desktop_supplies/decorations/4587be1e229e56c0871a9f122bc405d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6111
  dataset/desktop_supplies/decorations/49188a1b75735ac79bb0c396ac871943/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6112
  dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6110
  dataset/desktop_supplies/decorations/4587be1e229e56c0871a9f122bc405d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6111
  dataset/desktop_supplies/decorations/49188a1b75735ac79bb0c396ac871943/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6112
  dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6113
+ dataset/desktop_supplies/decorations/4bf232b3bcfd55ffa7b26ff156f50ad2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/4bf232b3bcfd55ffa7b26ff156f50ad2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,234 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top surface of mouse pad",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch an outer edge from the top side to lift the mouse pad off the desk",
10
+ "confidence": 0.76
11
+ },
12
+ {
13
+ "scenario": "hold the pad along a side while repositioning it on the desk",
14
+ "confidence": 0.72
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide mouse tracking surface",
19
+ "support hand and wrist",
20
+ "offer low-friction contact area",
21
+ "form the primary usable upper face"
22
+ ],
23
+ "semantic_description": "Large irregular orange upper face with a matte soft-looking fabric-like surface, faint swirled texture, and a broad flat shape covering the top of the pad.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_26": {
27
+ "confidence": 0.9711652398109436,
28
+ "position": [
29
+ 0.0655479932174785,
30
+ 0.14742817770456895,
31
+ -0.0023407998960465193
32
+ ],
33
+ "orientation": {
34
+ "w": 0.3791513564961611,
35
+ "xyz": [
36
+ 0.600482338305285,
37
+ 0.361346673453635,
38
+ -0.6042299163683722
39
+ ]
40
+ }
41
+ },
42
+ "grasp_30": {
43
+ "confidence": 0.9348703026771545,
44
+ "position": [
45
+ 0.07508076522208285,
46
+ 0.13532770465826616,
47
+ -0.0013466975651681423
48
+ ],
49
+ "orientation": {
50
+ "w": 0.32984684874589687,
51
+ "xyz": [
52
+ 0.6233527028553844,
53
+ 0.3207199891695256,
54
+ -0.6322745865226497
55
+ ]
56
+ }
57
+ },
58
+ "grasp_31": {
59
+ "confidence": 0.9127543568611145,
60
+ "position": [
61
+ -0.018082441951264627,
62
+ -0.14340863336110488,
63
+ 0.034328518435359
64
+ ],
65
+ "orientation": {
66
+ "w": 0.3056657533796714,
67
+ "xyz": [
68
+ -0.6187304250285859,
69
+ -0.5657722377158454,
70
+ -0.451268083720518
71
+ ]
72
+ }
73
+ }
74
+ }
75
+ },
76
+ {
77
+ "part_name": "bottom surface of mouse pad",
78
+ "mask_color": "Red",
79
+ "graspable": true,
80
+ "grasp_scenarios": [
81
+ {
82
+ "scenario": "pinch the pad by an exposed underside edge to pick it up from the desk",
83
+ "confidence": 0.7
84
+ },
85
+ {
86
+ "scenario": "grasp an edge of the underside to reposition or peel the pad off a surface",
87
+ "confidence": 0.74
88
+ }
89
+ ],
90
+ "functional_labels": [
91
+ "provide anti-slip base",
92
+ "contact the desk",
93
+ "stabilize the pad during use",
94
+ "form the desk-contacting lower face"
95
+ ],
96
+ "semantic_description": "Large orange-red underside with a matte slightly textured rubber-like surface, broad flat profile, and the same rounded asymmetric outline as the pad, forming the desk-contacting base.",
97
+ "id": 0,
98
+ "grasp_group": {
99
+ "grasp_7": {
100
+ "confidence": 0.9845882058143616,
101
+ "position": [
102
+ 0.15880907866812777,
103
+ 0.05509475286817178,
104
+ -0.011957365088164806
105
+ ],
106
+ "orientation": {
107
+ "w": 0.07988641221747819,
108
+ "xyz": [
109
+ 0.6736088416035209,
110
+ 0.06626331831947097,
111
+ -0.731763938918744
112
+ ]
113
+ }
114
+ },
115
+ "grasp_8": {
116
+ "confidence": 0.9845654368400574,
117
+ "position": [
118
+ 0.16537396404601168,
119
+ 0.03806785907363519,
120
+ -0.007880816701799631
121
+ ],
122
+ "orientation": {
123
+ "w": 0.0621412487029673,
124
+ "xyz": [
125
+ 0.6894558863707553,
126
+ 0.05931556643281699,
127
+ -0.7192153429516823
128
+ ]
129
+ }
130
+ },
131
+ "grasp_9": {
132
+ "confidence": 0.9832735061645508,
133
+ "position": [
134
+ 0.16271434519148897,
135
+ 0.04062836657976732,
136
+ -0.015904024243354797
137
+ ],
138
+ "orientation": {
139
+ "w": 0.09283976701436124,
140
+ "xyz": [
141
+ 0.6549703738829307,
142
+ 0.10810787436030445,
143
+ -0.742096539877171
144
+ ]
145
+ }
146
+ },
147
+ "grasp_11": {
148
+ "confidence": 0.9828469157218933,
149
+ "position": [
150
+ 0.16290630194998812,
151
+ 0.029129678790923208,
152
+ -0.004778278060257435
153
+ ],
154
+ "orientation": {
155
+ "w": 0.09017760746484743,
156
+ "xyz": [
157
+ 0.6964429936742983,
158
+ 0.09682264669251506,
159
+ -0.7053088194268902
160
+ ]
161
+ }
162
+ },
163
+ "grasp_12": {
164
+ "confidence": 0.9828019738197327,
165
+ "position": [
166
+ 0.1429631242499454,
167
+ 0.09282852004980668,
168
+ -0.00839431956410408
169
+ ],
170
+ "orientation": {
171
+ "w": 0.19842421097838323,
172
+ "xyz": [
173
+ 0.6616560467761702,
174
+ 0.19856074133346702,
175
+ -0.6952788938715455
176
+ ]
177
+ }
178
+ },
179
+ "grasp_13": {
180
+ "confidence": 0.9827775955200195,
181
+ "position": [
182
+ 0.162531165216933,
183
+ 0.04523719887947664,
184
+ -0.00884297676384449
185
+ ],
186
+ "orientation": {
187
+ "w": 0.09297876746740813,
188
+ "xyz": [
189
+ 0.6867221338041376,
190
+ 0.09177739089089854,
191
+ -0.7150836106812918
192
+ ]
193
+ }
194
+ },
195
+ "grasp_14": {
196
+ "confidence": 0.982582688331604,
197
+ "position": [
198
+ -0.0034146806719945744,
199
+ -0.15886928845429793,
200
+ -0.004348941147327423
201
+ ],
202
+ "orientation": {
203
+ "w": 0.41883720775844074,
204
+ "xyz": [
205
+ -0.5684668995429876,
206
+ 0.4069308535403995,
207
+ 0.5795067367666897
208
+ ]
209
+ }
210
+ },
211
+ "grasp_19": {
212
+ "confidence": 0.9818551540374756,
213
+ "position": [
214
+ 0.137300429676543,
215
+ 0.09490870725130662,
216
+ -0.009642206132411957
217
+ ],
218
+ "orientation": {
219
+ "w": 0.19430892204597358,
220
+ "xyz": [
221
+ 0.6582622278047372,
222
+ 0.18871918549519595,
223
+ -0.7023673905335481
224
+ ]
225
+ }
226
+ }
227
+ }
228
+ }
229
+ ],
230
+ "quality_check": {
231
+ "success": true,
232
+ "message": "YES"
233
+ }
234
+ }
dataset/desktop_supplies/decorations/4bf232b3bcfd55ffa7b26ff156f50ad2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2568e79a51c6886a8a48d3762833114efae7cedff8cee80895ac2c7c1b76a5b0
3
+ size 639480