xinjjj commited on
Commit
f14e0f4
·
verified ·
1 Parent(s): 7512754

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