Add asset desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51
Browse files
.gitattributes
CHANGED
|
@@ -6686,3 +6686,4 @@ dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/affordanc
|
|
| 6686 |
dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6687 |
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6688 |
dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6686 |
dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6687 |
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6688 |
dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6689 |
+
dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,338 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stamp handle and body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and move the stamp",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle while pressing the stamp onto a surface",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reorient the stamp between uses",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide primary grip",
|
| 23 |
+
"support pressing force",
|
| 24 |
+
"position the stamp",
|
| 25 |
+
"connect handle to stamp face"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Bulb-shaped light brown wood body with a matte to satin finish, hard smooth texture, visible wood grain, and a medium-sized rounded knob over a short neck above the base.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9787286520004272,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.08684047588030808,
|
| 34 |
+
-0.04582820963696577,
|
| 35 |
+
-0.003620959469117224
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6206066337824971,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5869249636793182,
|
| 41 |
+
0.3407120547084128,
|
| 42 |
+
-0.39278720561082364
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9780870079994202,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.05024882682482712,
|
| 50 |
+
-0.08525758367613889,
|
| 51 |
+
0.019265399198047817
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6677650619359247,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6979596755379693,
|
| 57 |
+
0.1680286659611775,
|
| 58 |
+
-0.19674470970257507
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9777140021324158,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.056598818831844255,
|
| 66 |
+
-0.08105916660861112,
|
| 67 |
+
0.009767724084667861
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6829186723064569,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6667569412460357,
|
| 73 |
+
0.18363563542327555,
|
| 74 |
+
-0.23523439739567648
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9777098894119263,
|
| 80 |
+
"position": [
|
| 81 |
+
0.08332393786986358,
|
| 82 |
+
0.051803039939841256,
|
| 83 |
+
0.005065863369964063
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.36208424949591916,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.3365841196849104,
|
| 89 |
+
-0.6128053617419401,
|
| 90 |
+
0.6165028104260684
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.977683424949646,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.038700162403983995,
|
| 98 |
+
-0.0943338884098921,
|
| 99 |
+
0.013054236653260887
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7209167243727652,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.662230807339496,
|
| 105 |
+
0.19095065689811963,
|
| 106 |
+
-0.07257603571633059
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_7": {
|
| 111 |
+
"confidence": 0.9768233299255371,
|
| 112 |
+
"position": [
|
| 113 |
+
0.09227405212004669,
|
| 114 |
+
0.03278106320067309,
|
| 115 |
+
-0.0007699133129790425
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.40503234219539036,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.4167091202166814,
|
| 121 |
+
-0.5639986011835375,
|
| 122 |
+
0.5866923288802821
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_8": {
|
| 127 |
+
"confidence": 0.9766969680786133,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.08982827790896408,
|
| 130 |
+
-0.037932251958409324,
|
| 131 |
+
-0.009513633442111313
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.6459537328774381,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.5204977584988831,
|
| 137 |
+
0.3835423668063527,
|
| 138 |
+
-0.4058584867215706
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_9": {
|
| 143 |
+
"confidence": 0.9766303300857544,
|
| 144 |
+
"position": [
|
| 145 |
+
0.09835467211087234,
|
| 146 |
+
-0.009647796308854595,
|
| 147 |
+
0.010978114674799144
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5371210902763562,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.5100660884714774,
|
| 153 |
+
-0.488436804720605,
|
| 154 |
+
0.46126240640883603
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_10": {
|
| 159 |
+
"confidence": 0.9765558838844299,
|
| 160 |
+
"position": [
|
| 161 |
+
0.013859859696822241,
|
| 162 |
+
0.09587146955891512,
|
| 163 |
+
0.0007670959457755089
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.7334255355251054,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.6755707211277685,
|
| 169 |
+
-0.03878847710100419,
|
| 170 |
+
-0.06470423972819754
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_11": {
|
| 175 |
+
"confidence": 0.9764658212661743,
|
| 176 |
+
"position": [
|
| 177 |
+
0.09446020892937668,
|
| 178 |
+
0.019791601778706536,
|
| 179 |
+
-0.008679045480675995
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.4647386343667236,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.42902213885575047,
|
| 185 |
+
-0.5281267391055994,
|
| 186 |
+
0.5666040535861673
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_12": {
|
| 191 |
+
"confidence": 0.9763485193252563,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.08433303513447754,
|
| 194 |
+
-0.04827895518974401,
|
| 195 |
+
-0.0002755783498287201
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.6689998093969557,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.5446008998439702,
|
| 201 |
+
0.34332242703310567,
|
| 202 |
+
-0.3714550120971211
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_13": {
|
| 207 |
+
"confidence": 0.9762451648712158,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.04749414973775856,
|
| 210 |
+
-0.08573986720875837,
|
| 211 |
+
0.0031433545518666506
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.6718589990614792,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.6950660766739882,
|
| 217 |
+
0.10955619760855284,
|
| 218 |
+
-0.23127056449685054
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_14": {
|
| 223 |
+
"confidence": 0.9756199717521667,
|
| 224 |
+
"position": [
|
| 225 |
+
0.0969289215572644,
|
| 226 |
+
-0.01909022909239866,
|
| 227 |
+
0.00492800388019532
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.5489494778280717,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.5330859371429912,
|
| 233 |
+
-0.4317788797162352,
|
| 234 |
+
0.4775362325977573
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_15": {
|
| 239 |
+
"confidence": 0.9756088852882385,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.0908697051636409,
|
| 242 |
+
-0.03811052945093252,
|
| 243 |
+
-0.004705215920694172
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.6577142225649079,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.5094922708139482,
|
| 249 |
+
0.4455874274495214,
|
| 250 |
+
-0.33057748246909185
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_17": {
|
| 255 |
+
"confidence": 0.975517213344574,
|
| 256 |
+
"position": [
|
| 257 |
+
0.019975627801613882,
|
| 258 |
+
0.09656806159182452,
|
| 259 |
+
0.013058770331554115
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.7010950027524299,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.7049654932551571,
|
| 265 |
+
-0.07646675537587944,
|
| 266 |
+
-0.07511514998566288
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_18": {
|
| 271 |
+
"confidence": 0.9754149913787842,
|
| 272 |
+
"position": [
|
| 273 |
+
0.0741102444299031,
|
| 274 |
+
0.062321479053935036,
|
| 275 |
+
0.008084025117568672
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.2764535929458787,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.32357754728483873,
|
| 281 |
+
-0.6433892331213087,
|
| 282 |
+
0.6363342490735641
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_19": {
|
| 287 |
+
"confidence": 0.9750913977622986,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.01065757215837948,
|
| 290 |
+
0.09626522529288195,
|
| 291 |
+
0.0017735876608639956
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.7399991187049768,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.66758686400244,
|
| 297 |
+
-0.0010066308579592675,
|
| 298 |
+
0.08202481345032976
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"part_name": "rubber stamp pad",
|
| 306 |
+
"mask_color": "Green",
|
| 307 |
+
"graspable": false,
|
| 308 |
+
"grasp_scenarios": [],
|
| 309 |
+
"functional_labels": [
|
| 310 |
+
"make contact with paper",
|
| 311 |
+
"carry the stamped design",
|
| 312 |
+
"transfer ink",
|
| 313 |
+
"provide printing surface"
|
| 314 |
+
],
|
| 315 |
+
"semantic_description": "Circular dark red rubber pad on the bottom face, with a matte slightly compliant surface and a flat disk shape sized to cover most of the base underside.",
|
| 316 |
+
"id": 1,
|
| 317 |
+
"grasp_group": {}
|
| 318 |
+
},
|
| 319 |
+
{
|
| 320 |
+
"part_name": "engraved stamp design",
|
| 321 |
+
"mask_color": "Blue",
|
| 322 |
+
"graspable": false,
|
| 323 |
+
"grasp_scenarios": [],
|
| 324 |
+
"functional_labels": [
|
| 325 |
+
"form the printed pattern",
|
| 326 |
+
"define stamp impression",
|
| 327 |
+
"transfer detailed markings"
|
| 328 |
+
],
|
| 329 |
+
"semantic_description": "Small recessed central pattern within the rubber face, appearing as carved raised-and-lowered details on the dark red stamp surface with a fine textured finish.",
|
| 330 |
+
"id": 2,
|
| 331 |
+
"grasp_group": {}
|
| 332 |
+
}
|
| 333 |
+
],
|
| 334 |
+
"quality_check": {
|
| 335 |
+
"success": true,
|
| 336 |
+
"message": "YES"
|
| 337 |
+
}
|
| 338 |
+
}
|
dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:87c099675f5964da437af2ce97e158fc3f752c5e940ebc50ff2baf3b6b57177d
|
| 3 |
+
size 3780264
|