xinjjj commited on
Commit
0cab81b
·
verified ·
1 Parent(s): a6d73f2

Add asset desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2

Browse files
.gitattributes CHANGED
@@ -6290,4 +6290,4 @@ dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/affo
6290
  dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6291
  dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6292
  dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6293
- dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6290
  dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6291
  dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6292
  dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6293
+ dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,317 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "glue stick barrel",
5
+ "mask_color": "Pink",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical barrel to pick up and move the glue stick",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the barrel while manipulating the lower base section",
14
+ "confidence": 0.8
15
+ },
16
+ {
17
+ "scenario": "stabilize the glue stick body during placement or handling",
18
+ "confidence": 0.78
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "contain the adhesive mechanism",
24
+ "support handling during use",
25
+ "provide structural body"
26
+ ],
27
+ "semantic_description": "Tall white plastic cylindrical body with a smooth matte-to-satin hard surface, slightly tapered and centrally positioned, with red printed branding and text on the side.",
28
+ "id": 8,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "base cap",
33
+ "mask_color": "Purple",
34
+ "graspable": true,
35
+ "grasp_scenarios": [
36
+ {
37
+ "scenario": "grasp the wider base cap to pick up the glue stick from a flat surface",
38
+ "confidence": 0.74
39
+ },
40
+ {
41
+ "scenario": "hold the lower base area during manipulation",
42
+ "confidence": 0.64
43
+ },
44
+ {
45
+ "scenario": "use the base cap as a stabilizing hold near the bottom during placement",
46
+ "confidence": 0.58
47
+ }
48
+ ],
49
+ "functional_labels": [
50
+ "cover the bottom end",
51
+ "provide a standing base",
52
+ "house or interface with the bottom mechanism",
53
+ "stabilize upright placement"
54
+ ],
55
+ "semantic_description": "Wide white plastic bottom base section with a smooth matte hard surface, disk-like and slightly flared, located at the lower end and forming the broadest support area.",
56
+ "id": 5,
57
+ "grasp_group": {
58
+ "grasp_0": {
59
+ "confidence": 0.9659979343414307,
60
+ "position": [
61
+ 0.05501013313187286,
62
+ 0.09626279133954085,
63
+ -0.03812887240201235
64
+ ],
65
+ "orientation": {
66
+ "w": 0.1897071022742521,
67
+ "xyz": [
68
+ -0.1850247981198004,
69
+ -0.6729943397182161,
70
+ 0.690547361253865
71
+ ]
72
+ }
73
+ },
74
+ "grasp_2": {
75
+ "confidence": 0.9604172706604004,
76
+ "position": [
77
+ 0.027273666753899306,
78
+ 0.0844780515471939,
79
+ -0.10055154282599688
80
+ ],
81
+ "orientation": {
82
+ "w": 0.8613522264262404,
83
+ "xyz": [
84
+ 0.4791654166395873,
85
+ -0.05264564703822494,
86
+ -0.16031619186812024
87
+ ]
88
+ }
89
+ },
90
+ "grasp_5": {
91
+ "confidence": 0.9531180262565613,
92
+ "position": [
93
+ -0.011065562546718866,
94
+ -0.05164568018517457,
95
+ -0.1281398581340909
96
+ ],
97
+ "orientation": {
98
+ "w": 0.9600892523332859,
99
+ "xyz": [
100
+ -0.2629607517978175,
101
+ 0.05525888829437353,
102
+ -0.07763198974977181
103
+ ]
104
+ }
105
+ },
106
+ "grasp_6": {
107
+ "confidence": 0.9522958993911743,
108
+ "position": [
109
+ -0.05420750688062981,
110
+ -0.05915716555318795,
111
+ -0.1096001910045743
112
+ ],
113
+ "orientation": {
114
+ "w": 0.3874863606798477,
115
+ "xyz": [
116
+ 0.12873710726678578,
117
+ 0.38051161474743067,
118
+ 0.8297541735610434
119
+ ]
120
+ }
121
+ },
122
+ "grasp_8": {
123
+ "confidence": 0.9512734413146973,
124
+ "position": [
125
+ 0.09702876274241135,
126
+ 0.03123059603967704,
127
+ -0.027115178294479847
128
+ ],
129
+ "orientation": {
130
+ "w": 0.571120321251745,
131
+ "xyz": [
132
+ 0.5733371689538633,
133
+ -0.4178837378378554,
134
+ -0.41289133073961976
135
+ ]
136
+ }
137
+ },
138
+ "grasp_9": {
139
+ "confidence": 0.9507613182067871,
140
+ "position": [
141
+ 0.05314001132501289,
142
+ 0.09440070498385467,
143
+ -0.05920188967138529
144
+ ],
145
+ "orientation": {
146
+ "w": 0.743871601247477,
147
+ "xyz": [
148
+ 0.610414329522246,
149
+ -0.13976345649785238,
150
+ -0.23348568135796974
151
+ ]
152
+ }
153
+ },
154
+ "grasp_10": {
155
+ "confidence": 0.9497462511062622,
156
+ "position": [
157
+ 0.058598582341801375,
158
+ 0.09036567914881743,
159
+ -0.054187932051718235
160
+ ],
161
+ "orientation": {
162
+ "w": 0.7302841476502938,
163
+ "xyz": [
164
+ 0.6211109232717089,
165
+ -0.17793347834021944,
166
+ -0.22191431222208294
167
+ ]
168
+ }
169
+ },
170
+ "grasp_11": {
171
+ "confidence": 0.9481909275054932,
172
+ "position": [
173
+ -0.0034139883355237544,
174
+ -0.014452560659265146,
175
+ -0.14052191097289324
176
+ ],
177
+ "orientation": {
178
+ "w": 0.1376972238533714,
179
+ "xyz": [
180
+ 0.016026767907183295,
181
+ 0.06560750666477788,
182
+ 0.988169151675337
183
+ ]
184
+ }
185
+ },
186
+ "grasp_12": {
187
+ "confidence": 0.9478371143341064,
188
+ "position": [
189
+ -0.030106132209766656,
190
+ -0.10347175490460359,
191
+ -0.04657175112515688
192
+ ],
193
+ "orientation": {
194
+ "w": 0.7293794294513558,
195
+ "xyz": [
196
+ -0.669574331772796,
197
+ 0.10099170512894518,
198
+ -0.09734750956946377
199
+ ]
200
+ }
201
+ },
202
+ "grasp_13": {
203
+ "confidence": 0.9472638964653015,
204
+ "position": [
205
+ 0.021353398158680648,
206
+ 0.09415708589949645,
207
+ -0.08939879108220339
208
+ ],
209
+ "orientation": {
210
+ "w": 0.8471727871040138,
211
+ "xyz": [
212
+ 0.5096088568560987,
213
+ -0.014654364487803107,
214
+ -0.1496072571959545
215
+ ]
216
+ }
217
+ },
218
+ "grasp_14": {
219
+ "confidence": 0.9469607472419739,
220
+ "position": [
221
+ -0.016646814823616296,
222
+ -0.1042499084433075,
223
+ -0.03458865452557802
224
+ ],
225
+ "orientation": {
226
+ "w": 0.7032666022348586,
227
+ "xyz": [
228
+ -0.7066431043886712,
229
+ 0.050375645939571,
230
+ -0.05944664412016754
231
+ ]
232
+ }
233
+ },
234
+ "grasp_15": {
235
+ "confidence": 0.945906937122345,
236
+ "position": [
237
+ -0.05816520313965157,
238
+ -0.06514020901522599,
239
+ -0.09618119616061449
240
+ ],
241
+ "orientation": {
242
+ "w": 0.34230018951702673,
243
+ "xyz": [
244
+ 0.17127601935191125,
245
+ 0.4592107685851816,
246
+ 0.8016361864754971
247
+ ]
248
+ }
249
+ },
250
+ "grasp_17": {
251
+ "confidence": 0.9443101286888123,
252
+ "position": [
253
+ -0.03291178058134392,
254
+ -0.09718442600569688,
255
+ -0.02611988876014948
256
+ ],
257
+ "orientation": {
258
+ "w": 0.13831446998082214,
259
+ "xyz": [
260
+ 0.11494819673397781,
261
+ 0.7048413002952316,
262
+ 0.6861885752908294
263
+ ]
264
+ }
265
+ },
266
+ "grasp_19": {
267
+ "confidence": 0.9439839720726013,
268
+ "position": [
269
+ 0.02564518031431362,
270
+ 0.07943092394270934,
271
+ -0.10647824127227068
272
+ ],
273
+ "orientation": {
274
+ "w": 0.16857540123231982,
275
+ "xyz": [
276
+ -0.07312094780956149,
277
+ -0.43851168047392464,
278
+ 0.8797403976052981
279
+ ]
280
+ }
281
+ }
282
+ }
283
+ },
284
+ {
285
+ "part_name": "bottom insert",
286
+ "mask_color": "Navy",
287
+ "graspable": false,
288
+ "grasp_scenarios": [],
289
+ "functional_labels": [
290
+ "seal the bottom opening",
291
+ "retain internal mechanism",
292
+ "provide bottom surface detail"
293
+ ],
294
+ "semantic_description": "Circular white-to-off-white insert recessed in the underside, appearing as a hard smooth plastic ring and center disk with slight discoloration around the edge.",
295
+ "id": 13,
296
+ "grasp_group": {}
297
+ },
298
+ {
299
+ "part_name": "printed labels and top cap pad",
300
+ "mask_color": "Brown",
301
+ "graspable": false,
302
+ "grasp_scenarios": [],
303
+ "functional_labels": [
304
+ "display branding and product information",
305
+ "provide visual identification",
306
+ "form a small molded top end pad"
307
+ ],
308
+ "semantic_description": "Brown-tan masked details consisting of red printed branding/text areas on the white barrel sides and a small light beige rounded-rectangular molded pad on the top face.",
309
+ "id": 11,
310
+ "grasp_group": {}
311
+ }
312
+ ],
313
+ "quality_check": {
314
+ "success": false,
315
+ "message": "Pink part includes cap and barrel; brown mask is printed text plus top grip, not top cap pad."
316
+ }
317
+ }
dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:649b2c3675cf1af4786ac54f382ee41aa20f8ad823a3d713397a340504f99dd7
3
+ size 3800692
dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/glue_stick_033.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>