xinjjj commited on
Commit
f82a812
·
verified ·
1 Parent(s): 3641287

Add asset desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0

Browse files
.gitattributes CHANGED
@@ -6324,3 +6324,4 @@ dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/affo
6324
  dataset/desktop_supplies/office_stationery/476422810f315b16828845719d2fc9fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6325
  dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6326
  dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6324
  dataset/desktop_supplies/office_stationery/476422810f315b16828845719d2fc9fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6325
  dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6326
  dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6327
+ dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affordance/affordance_annot.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "front cover",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the front cover edge to pick up the notebook from a table",
10
+ "confidence": 0.76
11
+ },
12
+ {
13
+ "scenario": "pinch the cover to open the notebook",
14
+ "confidence": 0.83
15
+ },
16
+ {
17
+ "scenario": "hold the cover to reposition the notebook",
18
+ "confidence": 0.68
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the pages",
23
+ "protect the notebook",
24
+ "provide writing support",
25
+ "open and close the notebook"
26
+ ],
27
+ "semantic_description": "Large rectangular black front cover with a matte, pebbled leather-like texture and scattered small water droplets on the visible outer face. A black elastic band runs across the cover.",
28
+ "id": 3,
29
+ "grasp_group": {
30
+ "grasp_64": {
31
+ "confidence": 0.9842975735664368,
32
+ "position": [
33
+ 0.15393694769591093,
34
+ 0.07029179867822677,
35
+ -0.0029590548656415194
36
+ ],
37
+ "orientation": {
38
+ "w": 0.002904485943335476,
39
+ "xyz": [
40
+ 0.6939799394827977,
41
+ 0.009301030947709954,
42
+ -0.719928398092593
43
+ ]
44
+ }
45
+ },
46
+ "grasp_67": {
47
+ "confidence": 0.9752076864242554,
48
+ "position": [
49
+ -0.011721734888851643,
50
+ 0.19794436928350478,
51
+ 0.001614187058294192
52
+ ],
53
+ "orientation": {
54
+ "w": 0.4926946275733959,
55
+ "xyz": [
56
+ 0.49754287750852094,
57
+ 0.5109854397564352,
58
+ -0.49859499531962437
59
+ ]
60
+ }
61
+ },
62
+ "grasp_68": {
63
+ "confidence": 0.9748260378837585,
64
+ "position": [
65
+ 0.1545124752447009,
66
+ 0.047578130033798516,
67
+ -0.0020719242456834763
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7091815946023832,
71
+ "xyz": [
72
+ 0.0063808868932163955,
73
+ -0.704976079174218,
74
+ 0.005429360167095296
75
+ ]
76
+ }
77
+ },
78
+ "grasp_69": {
79
+ "confidence": 0.9744179248809814,
80
+ "position": [
81
+ -0.022223147563636303,
82
+ 0.1982339882524684,
83
+ 0.0024405850854236633
84
+ ],
85
+ "orientation": {
86
+ "w": 0.4841300207475807,
87
+ "xyz": [
88
+ 0.5059298264951886,
89
+ 0.5108191444517375,
90
+ -0.49871528484205296
91
+ ]
92
+ }
93
+ },
94
+ "grasp_70": {
95
+ "confidence": 0.9738901853561401,
96
+ "position": [
97
+ 0.15496900212019682,
98
+ -0.07650608930271119,
99
+ -0.0047083743556868285
100
+ ],
101
+ "orientation": {
102
+ "w": 0.7239263889883233,
103
+ "xyz": [
104
+ 0.01172562921990202,
105
+ -0.689774988754394,
106
+ -0.0018862223095050163
107
+ ]
108
+ }
109
+ },
110
+ "grasp_73": {
111
+ "confidence": 0.9679641723632812,
112
+ "position": [
113
+ 0.1543845934793353,
114
+ -0.08832236740272492,
115
+ -0.004880870663328096
116
+ ],
117
+ "orientation": {
118
+ "w": 0.7206436365928505,
119
+ "xyz": [
120
+ -0.01870226636232338,
121
+ -0.692399747485519,
122
+ -0.030092589671445725
123
+ ]
124
+ }
125
+ },
126
+ "grasp_74": {
127
+ "confidence": 0.9659891128540039,
128
+ "position": [
129
+ 0.15437726210802794,
130
+ -0.030900413054041564,
131
+ -0.004846759111387655
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7164225339189372,
135
+ "xyz": [
136
+ 0.00929235155214484,
137
+ -0.6976047317689391,
138
+ -0.00020810907605053007
139
+ ]
140
+ }
141
+ },
142
+ "grasp_76": {
143
+ "confidence": 0.9651763439178467,
144
+ "position": [
145
+ 0.13624873291701078,
146
+ 0.1530110799940303,
147
+ -0.007465454254997894
148
+ ],
149
+ "orientation": {
150
+ "w": 0.21295690608170878,
151
+ "xyz": [
152
+ 0.6578101891380667,
153
+ 0.2034348951314522,
154
+ -0.6932166722325006
155
+ ]
156
+ }
157
+ },
158
+ "grasp_79": {
159
+ "confidence": 0.9645534753799438,
160
+ "position": [
161
+ 0.15168374311178923,
162
+ 0.026877751690335572,
163
+ -0.0010633560304995626
164
+ ],
165
+ "orientation": {
166
+ "w": 0.0828283495938029,
167
+ "xyz": [
168
+ -0.6957510770902072,
169
+ 0.07527914972985428,
170
+ 0.7095089519148671
171
+ ]
172
+ }
173
+ }
174
+ }
175
+ },
176
+ {
177
+ "part_name": "back cover",
178
+ "mask_color": "Green",
179
+ "graspable": true,
180
+ "grasp_scenarios": [
181
+ {
182
+ "scenario": "grasp the back cover edge to lift or move the notebook",
183
+ "confidence": 0.79
184
+ },
185
+ {
186
+ "scenario": "hold the back cover to stabilize the notebook while opening",
187
+ "confidence": 0.74
188
+ },
189
+ {
190
+ "scenario": "use the back cover as the main support while placing or carrying the notebook",
191
+ "confidence": 0.7
192
+ }
193
+ ],
194
+ "functional_labels": [
195
+ "support the notebook",
196
+ "protect the pages",
197
+ "provide backing for writing",
198
+ "stabilize the closed notebook"
199
+ ],
200
+ "semantic_description": "Large rectangular black back cover with a matte, pebbled leather-like surface. It forms the rear outer panel of the notebook and appears plain aside from the band wrapping around it.",
201
+ "id": 1,
202
+ "grasp_group": {}
203
+ },
204
+ {
205
+ "part_name": "elastic closure band",
206
+ "mask_color": "Blue",
207
+ "graspable": true,
208
+ "grasp_scenarios": [
209
+ {
210
+ "scenario": "pinch and pull the elastic band aside to open the notebook",
211
+ "confidence": 0.94
212
+ },
213
+ {
214
+ "scenario": "grasp the band lightly to stabilize the notebook during handling",
215
+ "confidence": 0.43
216
+ },
217
+ {
218
+ "scenario": "hook or pinch the band to adjust the notebook position briefly",
219
+ "confidence": 0.32
220
+ }
221
+ ],
222
+ "functional_labels": [
223
+ "keep the notebook closed",
224
+ "provide tensioned closure",
225
+ "secure the covers",
226
+ "assist opening by releasing tension"
227
+ ],
228
+ "semantic_description": "Narrow black elastic strap with a matte finish, wrapped around the notebook exterior as a long flexible band.",
229
+ "id": 2,
230
+ "grasp_group": {
231
+ "grasp_40": {
232
+ "confidence": 0.9783129692077637,
233
+ "position": [
234
+ 0.04848406370729208,
235
+ 0.19402131077367812,
236
+ 0.0031123773951549083
237
+ ],
238
+ "orientation": {
239
+ "w": 0.5037276565489887,
240
+ "xyz": [
241
+ 0.48835555044611906,
242
+ -0.5058536479644289,
243
+ 0.5018758723202498
244
+ ]
245
+ }
246
+ },
247
+ "grasp_42": {
248
+ "confidence": 0.9776025414466858,
249
+ "position": [
250
+ 0.040179125033318996,
251
+ -0.1961444205371663,
252
+ -0.0011406441626604646
253
+ ],
254
+ "orientation": {
255
+ "w": 0.4975193658460475,
256
+ "xyz": [
257
+ -0.5050778257242752,
258
+ -0.49145835299525353,
259
+ -0.5058058499473673
260
+ ]
261
+ }
262
+ },
263
+ "grasp_43": {
264
+ "confidence": 0.976729154586792,
265
+ "position": [
266
+ 0.04207312595099211,
267
+ -0.19618060055654496,
268
+ 0.0007350804517045617
269
+ ],
270
+ "orientation": {
271
+ "w": 0.49300165887285724,
272
+ "xyz": [
273
+ -0.4949611629580852,
274
+ 0.5019455212356172,
275
+ 0.5099151941482964
276
+ ]
277
+ }
278
+ },
279
+ "grasp_44": {
280
+ "confidence": 0.9764776229858398,
281
+ "position": [
282
+ 0.043967063538730145,
283
+ 0.1955835634144023,
284
+ 0.002417251031147316
285
+ ],
286
+ "orientation": {
287
+ "w": 0.48693856716586353,
288
+ "xyz": [
289
+ 0.5111941000335785,
290
+ 0.504944916263794,
291
+ -0.4965904302709281
292
+ ]
293
+ }
294
+ },
295
+ "grasp_45": {
296
+ "confidence": 0.9758840799331665,
297
+ "position": [
298
+ 0.04364574234932661,
299
+ -0.19650568428914994,
300
+ -0.0002959699195344001
301
+ ],
302
+ "orientation": {
303
+ "w": 0.510144534634803,
304
+ "xyz": [
305
+ -0.4991996856793877,
306
+ -0.49140293453724426,
307
+ -0.4990745270278033
308
+ ]
309
+ }
310
+ },
311
+ "grasp_47": {
312
+ "confidence": 0.9746071100234985,
313
+ "position": [
314
+ 0.04644324164837599,
315
+ -0.1981486118165776,
316
+ 0.0018883509619627148
317
+ ],
318
+ "orientation": {
319
+ "w": 0.4989012616362,
320
+ "xyz": [
321
+ -0.502834847552896,
322
+ 0.4875646492902228,
323
+ 0.5104266450595676
324
+ ]
325
+ }
326
+ },
327
+ "grasp_48": {
328
+ "confidence": 0.9737860560417175,
329
+ "position": [
330
+ 0.04204374086111784,
331
+ 0.19043030973989516,
332
+ 0.0015736201603431255
333
+ ],
334
+ "orientation": {
335
+ "w": 0.4892545456555455,
336
+ "xyz": [
337
+ 0.5155741890507544,
338
+ 0.4997446158491907,
339
+ -0.4950440021551489
340
+ ]
341
+ }
342
+ },
343
+ "grasp_49": {
344
+ "confidence": 0.9736297726631165,
345
+ "position": [
346
+ 0.04609456192702055,
347
+ 0.18985564645845443,
348
+ 0.002555415063397959
349
+ ],
350
+ "orientation": {
351
+ "w": 0.496001359067232,
352
+ "xyz": [
353
+ 0.5057861482431076,
354
+ 0.5004728809174838,
355
+ -0.49768455824449165
356
+ ]
357
+ }
358
+ },
359
+ "grasp_52": {
360
+ "confidence": 0.9684715270996094,
361
+ "position": [
362
+ 0.06487893965095282,
363
+ -0.19299733999650925,
364
+ -0.0037042675248812884
365
+ ],
366
+ "orientation": {
367
+ "w": 0.44387139611864557,
368
+ "xyz": [
369
+ -0.5413576433273648,
370
+ 0.42760907218310473,
371
+ 0.5718920939350622
372
+ ]
373
+ }
374
+ },
375
+ "grasp_53": {
376
+ "confidence": 0.9683104753494263,
377
+ "position": [
378
+ 0.04648353438824415,
379
+ 0.18853416678030044,
380
+ 0.00255251771886833
381
+ ],
382
+ "orientation": {
383
+ "w": 0.4940742141900173,
384
+ "xyz": [
385
+ 0.5040136382338899,
386
+ 0.5038819518777701,
387
+ -0.49795973925469417
388
+ ]
389
+ }
390
+ },
391
+ "grasp_55": {
392
+ "confidence": 0.9668115377426147,
393
+ "position": [
394
+ 0.0884620575234294,
395
+ 0.18640415009576827,
396
+ 0.0002370388901908882
397
+ ],
398
+ "orientation": {
399
+ "w": 0.3742475878713098,
400
+ "xyz": [
401
+ 0.597039997330765,
402
+ 0.36597586700526896,
403
+ -0.6079010193522693
404
+ ]
405
+ }
406
+ },
407
+ "grasp_56": {
408
+ "confidence": 0.9661051630973816,
409
+ "position": [
410
+ 0.035197350196540356,
411
+ -0.1911456024972722,
412
+ -0.01058315156842582
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5186068401686018,
416
+ "xyz": [
417
+ -0.45689576229598405,
418
+ 0.5045825643555675,
419
+ 0.5173873244240426
420
+ ]
421
+ }
422
+ },
423
+ "grasp_59": {
424
+ "confidence": 0.9651957750320435,
425
+ "position": [
426
+ 0.04048347007483244,
427
+ 0.18845033284742385,
428
+ -0.00011331186397001147
429
+ ],
430
+ "orientation": {
431
+ "w": 0.50120114579922,
432
+ "xyz": [
433
+ 0.5042264643664032,
434
+ 0.4962307061601037,
435
+ -0.4983052983322076
436
+ ]
437
+ }
438
+ }
439
+ }
440
+ },
441
+ {
442
+ "part_name": "page block",
443
+ "mask_color": "Red",
444
+ "graspable": true,
445
+ "grasp_scenarios": [
446
+ {
447
+ "scenario": "grasp the page block side to lift the notebook when covers are inaccessible",
448
+ "confidence": 0.4
449
+ },
450
+ {
451
+ "scenario": "pinch the page edges to flip or separate pages",
452
+ "confidence": 0.55
453
+ }
454
+ ],
455
+ "functional_labels": [
456
+ "provide writing pages",
457
+ "store notes",
458
+ "form the paper interior",
459
+ "indicate book thickness"
460
+ ],
461
+ "semantic_description": "Cream-colored paper page stack visible between the black covers, with smooth cut edges and a matte paper appearance.",
462
+ "id": 0,
463
+ "grasp_group": {}
464
+ },
465
+ {
466
+ "part_name": "spine hinge strip",
467
+ "mask_color": "Orange",
468
+ "graspable": false,
469
+ "grasp_scenarios": [],
470
+ "functional_labels": [
471
+ "join the front and back covers",
472
+ "allow the notebook to open and close",
473
+ "reinforce the bound edge",
474
+ "protect the bound spine area"
475
+ ],
476
+ "semantic_description": "Thin black strip running along the bound outer edge of the notebook near the spine, with a matte finish and slightly rounded profile where the covers hinge together.",
477
+ "id": 4,
478
+ "grasp_group": {}
479
+ }
480
+ ],
481
+ "quality_check": {
482
+ "success": true,
483
+ "message": "YES"
484
+ }
485
+ }
dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42aac2253b88bcc84e834e7d354a7fa762572c29ca3474fc607d4f288d47f580
3
+ size 3786820