xinjjj commited on
Commit
2da69b6
·
verified ·
1 Parent(s): 4d7a6ff

Add asset desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764

Browse files
.gitattributes CHANGED
@@ -6303,3 +6303,4 @@ dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affo
6303
  dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6304
  dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6305
  dataset/desktop_supplies/office_stationery/3595795f8711538395de08027f1fa214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6303
  dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6304
  dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6305
  dataset/desktop_supplies/office_stationery/3595795f8711538395de08027f1fa214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6306
+ dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/affordance/affordance_annot.json ADDED
@@ -0,0 +1,600 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to pull it off and uncap the marker",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "grasp the capped end to pick up or reposition the marker",
14
+ "confidence": 0.74
15
+ },
16
+ {
17
+ "scenario": "hold the cap to align and press it back onto the barrel for recapping",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the marker tip",
23
+ "help prevent ink from drying out",
24
+ "provide a pull-off grip",
25
+ "protect surrounding objects from the tip"
26
+ ],
27
+ "semantic_description": "A medium-sized salmon/coral plastic cap with a smooth slightly glossy finish and an integrated clip, mounted on one end of the marker as a rounded cylindrical cover.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_2": {
31
+ "confidence": 0.981475830078125,
32
+ "position": [
33
+ 0.06204497697763145,
34
+ 0.08548467232321855,
35
+ -0.0037138803745619953
36
+ ],
37
+ "orientation": {
38
+ "w": 0.3675928077472779,
39
+ "xyz": [
40
+ 0.6075723108084045,
41
+ 0.35278012574983053,
42
+ -0.6093255268797971
43
+ ]
44
+ }
45
+ },
46
+ "grasp_3": {
47
+ "confidence": 0.9805933237075806,
48
+ "position": [
49
+ 0.04144036280922592,
50
+ -0.013163464158424176,
51
+ 0.09558328782441095
52
+ ],
53
+ "orientation": {
54
+ "w": 0.140066554043898,
55
+ "xyz": [
56
+ -0.6887722279259724,
57
+ -0.7095224013937457,
58
+ 0.05051871333093192
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.9801550507545471,
64
+ "position": [
65
+ 0.016872160835191607,
66
+ -0.008562061018892564,
67
+ 0.09936713968636468
68
+ ],
69
+ "orientation": {
70
+ "w": 0.03962869470358521,
71
+ "xyz": [
72
+ -0.7044527999039497,
73
+ -0.708540714415668,
74
+ -0.012077883875539139
75
+ ]
76
+ }
77
+ },
78
+ "grasp_6": {
79
+ "confidence": 0.9795645475387573,
80
+ "position": [
81
+ 0.009610484121367335,
82
+ -0.0041703679744387046,
83
+ 0.09995262866141275
84
+ ],
85
+ "orientation": {
86
+ "w": 0.0044076750589047385,
87
+ "xyz": [
88
+ -0.7139858868161494,
89
+ -0.6990108068915988,
90
+ -0.03985746701293835
91
+ ]
92
+ }
93
+ },
94
+ "grasp_7": {
95
+ "confidence": 0.9795078635215759,
96
+ "position": [
97
+ 0.06838299217633903,
98
+ 0.0863695554289734,
99
+ -0.003075135813560337
100
+ ],
101
+ "orientation": {
102
+ "w": 0.36475073278080566,
103
+ "xyz": [
104
+ 0.5996358212316679,
105
+ 0.3608014213502123,
106
+ -0.6141792239919515
107
+ ]
108
+ }
109
+ },
110
+ "grasp_10": {
111
+ "confidence": 0.9760861396789551,
112
+ "position": [
113
+ 0.009000241523608565,
114
+ 0.0008951905037974939,
115
+ 0.09921365772606805
116
+ ],
117
+ "orientation": {
118
+ "w": 0.003196667441342208,
119
+ "xyz": [
120
+ -0.6999959983949338,
121
+ 0.7135612305672997,
122
+ -0.028735931855967574
123
+ ]
124
+ }
125
+ },
126
+ "grasp_14": {
127
+ "confidence": 0.9717903733253479,
128
+ "position": [
129
+ -0.033635345520451665,
130
+ -0.008892280995496549,
131
+ 0.08575230633141473
132
+ ],
133
+ "orientation": {
134
+ "w": 0.20468396607940118,
135
+ "xyz": [
136
+ -0.676895524869807,
137
+ 0.690571795686241,
138
+ -0.15174820408794212
139
+ ]
140
+ }
141
+ },
142
+ "grasp_17": {
143
+ "confidence": 0.9660956859588623,
144
+ "position": [
145
+ 0.08493453892879188,
146
+ 0.009669812381616794,
147
+ 0.08499239926459268
148
+ ],
149
+ "orientation": {
150
+ "w": 0.23589232329782683,
151
+ "xyz": [
152
+ 0.6583346806600198,
153
+ -0.7010207264323994,
154
+ -0.1397147134757615
155
+ ]
156
+ }
157
+ },
158
+ "grasp_19": {
159
+ "confidence": 0.9658295512199402,
160
+ "position": [
161
+ 0.11919154110364616,
162
+ -0.009367501377710141,
163
+ 0.049427682359237224
164
+ ],
165
+ "orientation": {
166
+ "w": 0.3808260952488804,
167
+ "xyz": [
168
+ -0.6003902198979546,
169
+ -0.6270455968284738,
170
+ 0.31830313935994914
171
+ ]
172
+ }
173
+ }
174
+ }
175
+ },
176
+ {
177
+ "part_name": "barrel",
178
+ "mask_color": "Cyan",
179
+ "graspable": true,
180
+ "grasp_scenarios": [
181
+ {
182
+ "scenario": "grasp the barrel to pick up the marker",
183
+ "confidence": 0.97
184
+ },
185
+ {
186
+ "scenario": "hold the barrel while writing or drawing",
187
+ "confidence": 0.96
188
+ },
189
+ {
190
+ "scenario": "grasp the barrel to stabilize the marker during uncapping",
191
+ "confidence": 0.91
192
+ }
193
+ ],
194
+ "functional_labels": [
195
+ "main grasp surface",
196
+ "contain ink reservoir",
197
+ "support writing control",
198
+ "connect cap end to tip section"
199
+ ],
200
+ "semantic_description": "The main body is a light pink plastic barrel with a smooth semi-gloss finish, elongated cylindrical shape, and visible printed branding on the side.",
201
+ "id": 6,
202
+ "grasp_group": {
203
+ "grasp_20": {
204
+ "confidence": 0.9782811403274536,
205
+ "position": [
206
+ 0.05030726897530258,
207
+ 0.08467512948845979,
208
+ 0.0008779490308370441
209
+ ],
210
+ "orientation": {
211
+ "w": 0.34119127799303345,
212
+ "xyz": [
213
+ 0.6238669762089913,
214
+ 0.36684416332833836,
215
+ -0.5998365341068027
216
+ ]
217
+ }
218
+ },
219
+ "grasp_21": {
220
+ "confidence": 0.976628839969635,
221
+ "position": [
222
+ -0.05565776047296822,
223
+ 0.0850992090854561,
224
+ 0.0013952478184364736
225
+ ],
226
+ "orientation": {
227
+ "w": 0.3496287548126196,
228
+ "xyz": [
229
+ 0.6063433590176166,
230
+ -0.36457067368518425,
231
+ 0.6141625913975399
232
+ ]
233
+ }
234
+ },
235
+ "grasp_24": {
236
+ "confidence": 0.9743413925170898,
237
+ "position": [
238
+ -0.04302932438440621,
239
+ -0.009060436874278821,
240
+ 0.08495565300108865
241
+ ],
242
+ "orientation": {
243
+ "w": 0.1442087739418483,
244
+ "xyz": [
245
+ 0.689898884012463,
246
+ 0.6765452881348185,
247
+ 0.2133772069812572
248
+ ]
249
+ }
250
+ },
251
+ "grasp_27": {
252
+ "confidence": 0.971906304359436,
253
+ "position": [
254
+ -0.05848763254471123,
255
+ -0.002747339676716365,
256
+ 0.08390673046233132
257
+ ],
258
+ "orientation": {
259
+ "w": 0.17208837284033116,
260
+ "xyz": [
261
+ 0.6894918520336714,
262
+ 0.6737482842688285,
263
+ 0.20260756984168968
264
+ ]
265
+ }
266
+ },
267
+ "grasp_28": {
268
+ "confidence": 0.9702852368354797,
269
+ "position": [
270
+ -0.06778221693821251,
271
+ -0.003878807430737652,
272
+ 0.084596348751802
273
+ ],
274
+ "orientation": {
275
+ "w": 0.16268044351800512,
276
+ "xyz": [
277
+ 0.6854848546020216,
278
+ 0.679567626380904,
279
+ 0.20453221893641815
280
+ ]
281
+ }
282
+ },
283
+ "grasp_29": {
284
+ "confidence": 0.9702270030975342,
285
+ "position": [
286
+ -0.07126183179207146,
287
+ 0.003697908468893729,
288
+ 0.08295701985480264
289
+ ],
290
+ "orientation": {
291
+ "w": 0.19722904238391176,
292
+ "xyz": [
293
+ 0.6853259869227073,
294
+ 0.6764888793854904,
295
+ 0.18382544044964566
296
+ ]
297
+ }
298
+ },
299
+ "grasp_30": {
300
+ "confidence": 0.969554603099823,
301
+ "position": [
302
+ -0.06475941208191216,
303
+ -0.0033183943160111085,
304
+ 0.08433813398005441
305
+ ],
306
+ "orientation": {
307
+ "w": 0.16497314390360296,
308
+ "xyz": [
309
+ 0.6800308452367507,
310
+ 0.6849403644082158,
311
+ 0.20297440361161687
312
+ ]
313
+ }
314
+ },
315
+ "grasp_32": {
316
+ "confidence": 0.9671229720115662,
317
+ "position": [
318
+ -0.058685315074399114,
319
+ -0.008904987960704602,
320
+ 0.0824569517862983
321
+ ],
322
+ "orientation": {
323
+ "w": 0.21002750377780421,
324
+ "xyz": [
325
+ -0.6736376210946439,
326
+ 0.6867484115203596,
327
+ -0.1745778404525531
328
+ ]
329
+ }
330
+ },
331
+ "grasp_33": {
332
+ "confidence": 0.9660556316375732,
333
+ "position": [
334
+ -0.061913707526400685,
335
+ 0.00596456321363803,
336
+ -0.08498132432578132
337
+ ],
338
+ "orientation": {
339
+ "w": 0.6780391575716253,
340
+ "xyz": [
341
+ -0.1557545524207606,
342
+ 0.21152926057945454,
343
+ -0.6864829146588274
344
+ ]
345
+ }
346
+ },
347
+ "grasp_36": {
348
+ "confidence": 0.9565486311912537,
349
+ "position": [
350
+ -0.0693974879104644,
351
+ 0.08459779991244432,
352
+ -0.004428841348271817
353
+ ],
354
+ "orientation": {
355
+ "w": 0.6139700319324596,
356
+ "xyz": [
357
+ 0.35930179018412944,
358
+ 0.614805363451101,
359
+ -0.3405251657823449
360
+ ]
361
+ }
362
+ },
363
+ "grasp_37": {
364
+ "confidence": 0.9561426043510437,
365
+ "position": [
366
+ -0.069067606003955,
367
+ 0.08457365258072969,
368
+ 0.005610048130620271
369
+ ],
370
+ "orientation": {
371
+ "w": 0.5901681621779648,
372
+ "xyz": [
373
+ 0.39049071454119727,
374
+ 0.6345369633974628,
375
+ -0.310775456384374
376
+ ]
377
+ }
378
+ }
379
+ }
380
+ },
381
+ {
382
+ "part_name": "tip collar",
383
+ "mask_color": "Maroon",
384
+ "graspable": true,
385
+ "grasp_scenarios": [
386
+ {
387
+ "scenario": "lightly grasp near the front collar for precise orientation during placement",
388
+ "confidence": 0.42
389
+ },
390
+ {
391
+ "scenario": "hold the front section to stabilize the marker while recapping",
392
+ "confidence": 0.39
393
+ }
394
+ ],
395
+ "functional_labels": [
396
+ "support the writing tip",
397
+ "transition from barrel to nib",
398
+ "provide front-end structure",
399
+ "indicate the tip area"
400
+ ],
401
+ "semantic_description": "A small dark red-burgundy plastic front section with a smooth finish and tapered cylindrical shape, surrounding the base of the writing tip near the front end.",
402
+ "id": 12,
403
+ "grasp_group": {
404
+ "grasp_41": {
405
+ "confidence": 0.9758299589157104,
406
+ "position": [
407
+ -0.08323754486627877,
408
+ -0.01193664969468955,
409
+ 0.08548967336537316
410
+ ],
411
+ "orientation": {
412
+ "w": 0.1428711867878702,
413
+ "xyz": [
414
+ 0.6872440044653382,
415
+ 0.6764006977948285,
416
+ 0.2230820439545516
417
+ ]
418
+ }
419
+ },
420
+ "grasp_43": {
421
+ "confidence": 0.974002480506897,
422
+ "position": [
423
+ -0.08419524249620736,
424
+ -0.0022146746196085587,
425
+ 0.08658656274201348
426
+ ],
427
+ "orientation": {
428
+ "w": 0.17044975525960449,
429
+ "xyz": [
430
+ 0.6845545178626466,
431
+ 0.6823983863044806,
432
+ 0.19147959519181457
433
+ ]
434
+ }
435
+ },
436
+ "grasp_44": {
437
+ "confidence": 0.9732761979103088,
438
+ "position": [
439
+ -0.08193284389562905,
440
+ -0.001655535786994733,
441
+ 0.08320785110117868
442
+ ],
443
+ "orientation": {
444
+ "w": 0.17339709047126872,
445
+ "xyz": [
446
+ 0.6801146205447711,
447
+ 0.6854308888328442,
448
+ 0.19380930981549213
449
+ ]
450
+ }
451
+ },
452
+ "grasp_45": {
453
+ "confidence": 0.971687912940979,
454
+ "position": [
455
+ -0.08702656743116677,
456
+ 0.003343891105032526,
457
+ 0.08393750136019662
458
+ ],
459
+ "orientation": {
460
+ "w": 0.19923999637030615,
461
+ "xyz": [
462
+ 0.6763104088455945,
463
+ 0.6845644609480701,
464
+ 0.1851463030696096
465
+ ]
466
+ }
467
+ },
468
+ "grasp_46": {
469
+ "confidence": 0.9715482592582703,
470
+ "position": [
471
+ -0.040501558454707265,
472
+ -0.01304083784634713,
473
+ 0.09791609441163018
474
+ ],
475
+ "orientation": {
476
+ "w": 0.055918309254640634,
477
+ "xyz": [
478
+ -0.7057069940570387,
479
+ 0.7055606715695281,
480
+ 0.032170171952248215
481
+ ]
482
+ }
483
+ },
484
+ "grasp_47": {
485
+ "confidence": 0.9698628783226013,
486
+ "position": [
487
+ -0.03380102035589516,
488
+ -0.003209922244423069,
489
+ 0.09846056794049218
490
+ ],
491
+ "orientation": {
492
+ "w": 0.009801663382268585,
493
+ "xyz": [
494
+ -0.708062213038438,
495
+ -0.7059333848022291,
496
+ -0.01448744572790317
497
+ ]
498
+ }
499
+ },
500
+ "grasp_48": {
501
+ "confidence": 0.9694445729255676,
502
+ "position": [
503
+ -0.08681229618377984,
504
+ -0.0033552819077158347,
505
+ 0.08233895694138482
506
+ ],
507
+ "orientation": {
508
+ "w": 0.18847397892101278,
509
+ "xyz": [
510
+ -0.6688387960617667,
511
+ 0.6906635273845168,
512
+ -0.20029007986693925
513
+ ]
514
+ }
515
+ },
516
+ "grasp_51": {
517
+ "confidence": 0.9664750099182129,
518
+ "position": [
519
+ -0.08657164988107979,
520
+ 0.0026745488721644506,
521
+ 0.08132726495387033
522
+ ],
523
+ "orientation": {
524
+ "w": 0.16813710332658746,
525
+ "xyz": [
526
+ -0.7195427242163026,
527
+ 0.6301856589643192,
528
+ -0.23844122493401368
529
+ ]
530
+ }
531
+ },
532
+ "grasp_52": {
533
+ "confidence": 0.962303876876831,
534
+ "position": [
535
+ -0.05168613535352051,
536
+ -0.010584013551124372,
537
+ 0.09686685149790719
538
+ ],
539
+ "orientation": {
540
+ "w": 0.037479044624457315,
541
+ "xyz": [
542
+ 0.7146760259153659,
543
+ 0.6915129619145411,
544
+ 0.09820042107870774
545
+ ]
546
+ }
547
+ },
548
+ "grasp_57": {
549
+ "confidence": 0.9510526657104492,
550
+ "position": [
551
+ -0.035593436332419515,
552
+ 0.09623755885695573,
553
+ -0.007494730118196458
554
+ ],
555
+ "orientation": {
556
+ "w": 0.5090520091081581,
557
+ "xyz": [
558
+ 0.49702884241620837,
559
+ 0.4975258459438686,
560
+ -0.49628259534985614
561
+ ]
562
+ }
563
+ }
564
+ }
565
+ },
566
+ {
567
+ "part_name": "ring near tip",
568
+ "mask_color": "Magenta",
569
+ "graspable": false,
570
+ "grasp_scenarios": [],
571
+ "functional_labels": [
572
+ "visually separate front sections",
573
+ "mark the transition near the tip",
574
+ "provide a colored accent band"
575
+ ],
576
+ "semantic_description": "A very thin bright pink plastic ring with a smooth glossy surface encircling the marker near the tip, visible as a narrow band between the darker collar and the tip.",
577
+ "id": 7,
578
+ "grasp_group": {}
579
+ },
580
+ {
581
+ "part_name": "marker tip",
582
+ "mask_color": "Red",
583
+ "graspable": false,
584
+ "grasp_scenarios": [],
585
+ "functional_labels": [
586
+ "write",
587
+ "draw",
588
+ "transfer ink to a surface",
589
+ "make marks"
590
+ ],
591
+ "semantic_description": "A small pointed writing tip at the front end, appearing bright pink to reddish in color and darker than the surrounding plastic, with a conical shape suited for marking.",
592
+ "id": 0,
593
+ "grasp_group": {}
594
+ }
595
+ ],
596
+ "quality_check": {
597
+ "success": false,
598
+ "message": "Multiple part descriptions use wrong visible colors; tip ring/tip colors and barrel/cap colors mismatch RGB image."
599
+ }
600
+ }
dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e1dfcbbe79af1ceee391217854ac6d79160706629fbd11464bb09406155b0446
3
+ size 3788440
dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>YES</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>YES</PartSegChecker>