xinjjj commited on
Commit
0c8e93b
·
verified ·
1 Parent(s): 6f9eafe

Add asset desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc

Browse files
.gitattributes CHANGED
@@ -8201,3 +8201,4 @@ dataset/desktop_supplies/office_stationery/22ba451e4e095c55bea7efcc99501355/affo
8201
  dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8202
  dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8203
  dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8201
  dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8202
  dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8203
  dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8204
+ dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/affordance/affordance_annot.json ADDED
@@ -0,0 +1,277 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 it up from a desk",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the eraser body in a pinch grip to rub and erase markings",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize and reorient the eraser by clamping its rectangular body",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "erase pencil marks",
23
+ "provide the main grasp surface",
24
+ "contact paper for rubbing",
25
+ "support object manipulation"
26
+ ],
27
+ "semantic_description": "Small bright pink-red rectangular eraser block made of soft rubbery material with a matte smooth finish, slightly rounded edges, and a plain unmarked surface forming the entire object body.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9890950322151184,
32
+ "position": [
33
+ 0.08376039558606863,
34
+ 0.0513903696264606,
35
+ 0.000594083387113642
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6678165356274783,
39
+ "xyz": [
40
+ 0.17202165308386677,
41
+ -0.699052700407397,
42
+ 0.18908978731262316
43
+ ]
44
+ }
45
+ },
46
+ "grasp_3": {
47
+ "confidence": 0.9880964756011963,
48
+ "position": [
49
+ 0.08560810232120275,
50
+ 0.049265870096860453,
51
+ 0.0035873564702342264
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6594627002790655,
55
+ "xyz": [
56
+ 0.1687226803720961,
57
+ -0.708269211555421,
58
+ 0.1870730553322992
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.9875977635383606,
64
+ "position": [
65
+ 0.08740689599471807,
66
+ 0.050998372229514644,
67
+ -0.00259021559759276
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6807572851543445,
71
+ "xyz": [
72
+ 0.17305710155783582,
73
+ -0.6889274363911765,
74
+ 0.17888472740054767
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.9875777363777161,
80
+ "position": [
81
+ 0.08490382128911733,
82
+ 0.04763117918628268,
83
+ 0.004495467226661276
84
+ ],
85
+ "orientation": {
86
+ "w": 0.665534180904966,
87
+ "xyz": [
88
+ 0.17050797745636492,
89
+ -0.7033138294479901,
90
+ 0.1825950190396752
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.9874738454818726,
96
+ "position": [
97
+ 0.08545647555547475,
98
+ 0.05366736763971858,
99
+ 0.0029011382066528313
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6636151492251147,
103
+ "xyz": [
104
+ 0.17391948434319315,
105
+ -0.7019244349790195,
106
+ 0.19149160363867293
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.9870815873146057,
112
+ "position": [
113
+ -0.01713905862015963,
114
+ -0.0824837039981503,
115
+ 0.05566853860364063
116
+ ],
117
+ "orientation": {
118
+ "w": 0.47444469863773003,
119
+ "xyz": [
120
+ -0.8756285834438684,
121
+ 0.03451032839648782,
122
+ -0.08358139161682182
123
+ ]
124
+ }
125
+ },
126
+ "grasp_8": {
127
+ "confidence": 0.9869252443313599,
128
+ "position": [
129
+ 0.08374717080550909,
130
+ 0.05495546499150805,
131
+ 0.0022732440193067305
132
+ ],
133
+ "orientation": {
134
+ "w": 0.18123419144097758,
135
+ "xyz": [
136
+ 0.6955227259723445,
137
+ 0.190412072139861,
138
+ -0.6686894258862915
139
+ ]
140
+ }
141
+ },
142
+ "grasp_9": {
143
+ "confidence": 0.9864580035209656,
144
+ "position": [
145
+ 0.08670221263128042,
146
+ 0.05176682511228137,
147
+ -0.0022629665400017984
148
+ ],
149
+ "orientation": {
150
+ "w": 0.1864790289555521,
151
+ "xyz": [
152
+ 0.6832858215216716,
153
+ 0.18645095752713492,
154
+ -0.680868635130495
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.9863292574882507,
160
+ "position": [
161
+ 0.0819034948344779,
162
+ 0.056629975530086085,
163
+ 0.003948346879042219
164
+ ],
165
+ "orientation": {
166
+ "w": 0.1927109552997382,
167
+ "xyz": [
168
+ 0.6971094315920101,
169
+ 0.19403081055169513,
170
+ -0.662761625812463
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.9863005876541138,
176
+ "position": [
177
+ 0.08764537417846441,
178
+ 0.043761537614045665,
179
+ -0.001097618900530506
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6775025900441984,
183
+ "xyz": [
184
+ 0.1666471914684417,
185
+ -0.6931935652371178,
186
+ 0.18083593440723214
187
+ ]
188
+ }
189
+ },
190
+ "grasp_12": {
191
+ "confidence": 0.9861456155776978,
192
+ "position": [
193
+ 0.08260210597472906,
194
+ 0.05633139723795466,
195
+ 0.0038628337715636007
196
+ ],
197
+ "orientation": {
198
+ "w": 0.21972972849609204,
199
+ "xyz": [
200
+ 0.6980222981535344,
201
+ 0.1885608379451773,
202
+ -0.6549263531794275
203
+ ]
204
+ }
205
+ },
206
+ "grasp_16": {
207
+ "confidence": 0.9857250452041626,
208
+ "position": [
209
+ 0.0018571154778328491,
210
+ 0.10459768513101153,
211
+ -0.009687062185548712
212
+ ],
213
+ "orientation": {
214
+ "w": 0.7111550376909322,
215
+ "xyz": [
216
+ 0.701876959527642,
217
+ -0.03525556025544585,
218
+ 0.01960335486888682
219
+ ]
220
+ }
221
+ },
222
+ "grasp_17": {
223
+ "confidence": 0.9855863451957703,
224
+ "position": [
225
+ 0.08865890645938634,
226
+ 0.04138417655485682,
227
+ -0.004301322922401596
228
+ ],
229
+ "orientation": {
230
+ "w": 0.7039293330289793,
231
+ "xyz": [
232
+ 0.1673383518143829,
233
+ -0.6686994321177065,
234
+ 0.17123796190938337
235
+ ]
236
+ }
237
+ },
238
+ "grasp_18": {
239
+ "confidence": 0.9855813384056091,
240
+ "position": [
241
+ 0.08244115108209371,
242
+ 0.06345676371711306,
243
+ -0.0010677966711227782
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6661062518916079,
247
+ "xyz": [
248
+ 0.19110744722668108,
249
+ -0.6910470766002301,
250
+ 0.20550995773365988
251
+ ]
252
+ }
253
+ },
254
+ "grasp_19": {
255
+ "confidence": 0.9855723977088928,
256
+ "position": [
257
+ 0.08708336198287725,
258
+ 0.05640563482302241,
259
+ -0.0044461235593189485
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6938444258330111,
263
+ "xyz": [
264
+ 0.1816006384647179,
265
+ -0.6749586181673995,
266
+ 0.1732973877795631
267
+ ]
268
+ }
269
+ }
270
+ }
271
+ }
272
+ ],
273
+ "quality_check": {
274
+ "success": true,
275
+ "message": "YES"
276
+ }
277
+ }
dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:52992dbb93da1e62078dee244c980cc87c9d34a5345079dd701b787f672a0fba
3
+ size 748412
dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  </custom_data>
57
  </robot>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  </custom_data>
58
  </robot>