xinjjj commited on
Commit
341e969
·
verified ·
1 Parent(s): 718a566

Add asset desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f

Browse files
.gitattributes CHANGED
@@ -6328,3 +6328,4 @@ dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affo
6328
  dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6329
  dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6330
  dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6328
  dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6329
  dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6330
  dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6331
+ dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,562 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cover",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the notebook covers along the side to pick up the closed notebook",
10
+ "confidence": 0.88
11
+ },
12
+ {
13
+ "scenario": "hold a cover edge to open or reposition the notebook",
14
+ "confidence": 0.76
15
+ },
16
+ {
17
+ "scenario": "clamp the closed notebook body for transport",
18
+ "confidence": 0.83
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "protect the pages",
23
+ "provide the main outer structure",
24
+ "support opening and closing",
25
+ "present the notebook exterior"
26
+ ],
27
+ "semantic_description": "Large light green hard cover panels with a matte leather-like finish, fine wrinkled texture, rounded rectangular shape, and embossed circular emblem centered on the front.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9876388311386108,
32
+ "position": [
33
+ 0.0069315810687839985,
34
+ -0.16198176420584787,
35
+ 0.002002233319217339
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5006362659950422,
39
+ "xyz": [
40
+ -0.509690133648401,
41
+ 0.4932413905784687,
42
+ 0.4962783769742894
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9871116280555725,
48
+ "position": [
49
+ -0.004743690602481365,
50
+ -0.16152888811484445,
51
+ -0.0008827631827443838
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5057823515783925,
55
+ "xyz": [
56
+ -0.4888633747880927,
57
+ -0.4997915338683403,
58
+ -0.5053763313572961
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9870599508285522,
64
+ "position": [
65
+ 0.01247713528573513,
66
+ -0.1641125557507621,
67
+ 0.002267070041853003
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5025063049814725,
71
+ "xyz": [
72
+ -0.5031160066857027,
73
+ 0.4948076925238195,
74
+ 0.49952682079118893
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.9867830276489258,
80
+ "position": [
81
+ 0.012017782311886549,
82
+ -0.16381536699191201,
83
+ -0.0028541164938360453
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5027107056869887,
87
+ "xyz": [
88
+ -0.49929240684370907,
89
+ 0.4964286389319946,
90
+ 0.5015452574833433
91
+ ]
92
+ }
93
+ },
94
+ "grasp_5": {
95
+ "confidence": 0.9866401553153992,
96
+ "position": [
97
+ 0.011396841146051884,
98
+ -0.16390656209841836,
99
+ -0.0025163788814097643
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5033839709712538,
103
+ "xyz": [
104
+ -0.5015067494066591,
105
+ 0.4968338095753536,
106
+ 0.49824865652766165
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.9864640235900879,
112
+ "position": [
113
+ 0.0041332675609737635,
114
+ -0.16117455340281595,
115
+ -0.0034435235429555178
116
+ ],
117
+ "orientation": {
118
+ "w": 0.513770039611423,
119
+ "xyz": [
120
+ -0.49647075774037636,
121
+ 0.4923254123417551,
122
+ 0.49716478301353473
123
+ ]
124
+ }
125
+ },
126
+ "grasp_8": {
127
+ "confidence": 0.9864428043365479,
128
+ "position": [
129
+ 0.009500810876488686,
130
+ -0.16342407740012277,
131
+ -0.004807379329577088
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5128884809837441,
135
+ "xyz": [
136
+ -0.4849784093986512,
137
+ -0.48901117476085665,
138
+ -0.5124543096221837
139
+ ]
140
+ }
141
+ },
142
+ "grasp_9": {
143
+ "confidence": 0.9863073229789734,
144
+ "position": [
145
+ -0.005048833787441254,
146
+ -0.15761810816184152,
147
+ 0.005850645713508129
148
+ ],
149
+ "orientation": {
150
+ "w": 0.4938526898162706,
151
+ "xyz": [
152
+ -0.518231189924126,
153
+ 0.4917611917129807,
154
+ 0.49569838094963375
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.9862400889396667,
160
+ "position": [
161
+ -0.016038796864449978,
162
+ 0.16354122482880484,
163
+ 0.001550689514260739
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5053059318274443,
167
+ "xyz": [
168
+ 0.4927804688382067,
169
+ -0.5069742768354757,
170
+ 0.4947831923365444
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.9861350655555725,
176
+ "position": [
177
+ 0.008540085284039378,
178
+ -0.16175565398589242,
179
+ -0.004255748586729169
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5052771095567167,
183
+ "xyz": [
184
+ -0.4934583173698318,
185
+ -0.494669092178459,
186
+ -0.506454756932821
187
+ ]
188
+ }
189
+ },
190
+ "grasp_13": {
191
+ "confidence": 0.9859024286270142,
192
+ "position": [
193
+ 0.0004685022868216038,
194
+ -0.15739667690650094,
195
+ 0.0011831216979771852
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5025688550100298,
199
+ "xyz": [
200
+ -0.5092049101350705,
201
+ 0.4902435216376705,
202
+ 0.497791316678523
203
+ ]
204
+ }
205
+ },
206
+ "grasp_14": {
207
+ "confidence": 0.9857577085494995,
208
+ "position": [
209
+ -0.1372845722362399,
210
+ 0.04517097496136557,
211
+ 0.008474618894979358
212
+ ],
213
+ "orientation": {
214
+ "w": 0.017939035712741497,
215
+ "xyz": [
216
+ -0.7163113728960133,
217
+ 0.005347973028865027,
218
+ -0.6975296461384335
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.9855105876922607,
224
+ "position": [
225
+ -0.0070517584681510925,
226
+ -0.1622210023488151,
227
+ -0.002787916222587228
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5112698017922791,
231
+ "xyz": [
232
+ -0.4896519122482188,
233
+ -0.4962243041909046,
234
+ -0.5025988803580834
235
+ ]
236
+ }
237
+ },
238
+ "grasp_16": {
239
+ "confidence": 0.9854980707168579,
240
+ "position": [
241
+ 0.006789345294237137,
242
+ -0.165858658918296,
243
+ -0.0065429850947111845
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5135259006171293,
247
+ "xyz": [
248
+ -0.484009917291402,
249
+ -0.4890955409241513,
250
+ -0.5126510520881112
251
+ ]
252
+ }
253
+ },
254
+ "grasp_17": {
255
+ "confidence": 0.9854617118835449,
256
+ "position": [
257
+ -0.004612421616911888,
258
+ -0.160458969839965,
259
+ -0.001721760956570506
260
+ ],
261
+ "orientation": {
262
+ "w": 0.5027902327572908,
263
+ "xyz": [
264
+ -0.5043955011981329,
265
+ 0.4911960038116946,
266
+ 0.5015113618397637
267
+ ]
268
+ }
269
+ },
270
+ "grasp_19": {
271
+ "confidence": 0.9854089617729187,
272
+ "position": [
273
+ 0.016451967880129814,
274
+ -0.1601404724206077,
275
+ -0.001318139024078846
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5102995264906685,
279
+ "xyz": [
280
+ -0.49731073462160263,
281
+ 0.49722886913010944,
282
+ 0.49501502825380445
283
+ ]
284
+ }
285
+ }
286
+ }
287
+ },
288
+ {
289
+ "part_name": "pages",
290
+ "mask_color": "Orange",
291
+ "graspable": true,
292
+ "grasp_scenarios": [
293
+ {
294
+ "scenario": "pinch the page block edge to lift or reposition the notebook",
295
+ "confidence": 0.42
296
+ },
297
+ {
298
+ "scenario": "grasp the page block lightly to steady the notebook while opening",
299
+ "confidence": 0.37
300
+ }
301
+ ],
302
+ "functional_labels": [
303
+ "provide writing surfaces",
304
+ "store written content",
305
+ "form the page block",
306
+ "indicate notebook thickness"
307
+ ],
308
+ "semantic_description": "Thick off-white paper page block with a matte finish, smooth fine edges, and layered sheet lines visible around the outer sides of the notebook.",
309
+ "id": 4,
310
+ "grasp_group": {}
311
+ },
312
+ {
313
+ "part_name": "elastic strap",
314
+ "mask_color": "Blue",
315
+ "graspable": true,
316
+ "grasp_scenarios": [
317
+ {
318
+ "scenario": "pinch the elastic loop to pull it off and open the notebook",
319
+ "confidence": 0.91
320
+ },
321
+ {
322
+ "scenario": "grasp the strap to stabilize the notebook while closing it",
323
+ "confidence": 0.64
324
+ }
325
+ ],
326
+ "functional_labels": [
327
+ "keep the notebook closed",
328
+ "provide a pull tab for opening",
329
+ "secure the covers together",
330
+ "add retention tension"
331
+ ],
332
+ "semantic_description": "Thin white elastic loop near the notebook edge, with a soft slightly matte surface and flexible cord-like form wrapping around the closed cover.",
333
+ "id": 2,
334
+ "grasp_group": {
335
+ "grasp_22": {
336
+ "confidence": 0.9628511667251587,
337
+ "position": [
338
+ 0.14535868633538485,
339
+ 0.005105583506519906,
340
+ -0.001036826753988862
341
+ ],
342
+ "orientation": {
343
+ "w": 0.02109056807327451,
344
+ "xyz": [
345
+ -0.7070996780652963,
346
+ -0.006678731551496453,
347
+ 0.7067677325424271
348
+ ]
349
+ }
350
+ },
351
+ "grasp_23": {
352
+ "confidence": 0.8928214907646179,
353
+ "position": [
354
+ 0.14217146206647158,
355
+ 0.0038638934929622337,
356
+ 0.035106184193864465
357
+ ],
358
+ "orientation": {
359
+ "w": 0.5865882427120873,
360
+ "xyz": [
361
+ 0.010304719617781127,
362
+ -0.8095804708157863,
363
+ -0.01968521118084729
364
+ ]
365
+ }
366
+ },
367
+ "grasp_27": {
368
+ "confidence": 0.962804913520813,
369
+ "position": [
370
+ 0.14593562949448824,
371
+ -0.007124160372768529,
372
+ 0.00023490632884204388
373
+ ],
374
+ "orientation": {
375
+ "w": 0.020974364858389886,
376
+ "xyz": [
377
+ -0.713813227404906,
378
+ -0.008283693509372747,
379
+ 0.6999729514934288
380
+ ]
381
+ }
382
+ },
383
+ "grasp_29": {
384
+ "confidence": 0.966974675655365,
385
+ "position": [
386
+ 0.12992666382342577,
387
+ 0.05801240824803244,
388
+ 0.00032146088778972626
389
+ ],
390
+ "orientation": {
391
+ "w": 0.19378548556024047,
392
+ "xyz": [
393
+ 0.6905197672560118,
394
+ 0.19354599090431113,
395
+ -0.6694546930298971
396
+ ]
397
+ }
398
+ },
399
+ "grasp_30": {
400
+ "confidence": 0.9654802680015564,
401
+ "position": [
402
+ 0.1331834988668561,
403
+ 0.05294543229683768,
404
+ 0.001485236396547407
405
+ ],
406
+ "orientation": {
407
+ "w": 0.18452032190755938,
408
+ "xyz": [
409
+ 0.694199765772477,
410
+ 0.19007096026085146,
411
+ -0.6692622550765029
412
+ ]
413
+ }
414
+ },
415
+ "grasp_31": {
416
+ "confidence": 0.9603749513626099,
417
+ "position": [
418
+ 0.12772066611796618,
419
+ 0.057363496205653064,
420
+ -0.000920008635148406
421
+ ],
422
+ "orientation": {
423
+ "w": 0.1956627539474947,
424
+ "xyz": [
425
+ 0.6771224100678553,
426
+ 0.19801375528033172,
427
+ -0.6811841756979994
428
+ ]
429
+ }
430
+ },
431
+ "grasp_33": {
432
+ "confidence": 0.9323226809501648,
433
+ "position": [
434
+ 0.13397859502583742,
435
+ -0.04482232681766618,
436
+ -0.0008749191183596849
437
+ ],
438
+ "orientation": {
439
+ "w": 0.21964133104131164,
440
+ "xyz": [
441
+ -0.6858919716049404,
442
+ 0.16915557639206324,
443
+ 0.6728270802827109
444
+ ]
445
+ }
446
+ },
447
+ "grasp_34": {
448
+ "confidence": 0.2776269316673279,
449
+ "position": [
450
+ 0.10224336106330156,
451
+ -0.005594073285465129,
452
+ 0.0718274808023125
453
+ ],
454
+ "orientation": {
455
+ "w": 0.38863317860843705,
456
+ "xyz": [
457
+ 0.018644048641241924,
458
+ -0.9211784686434302,
459
+ -0.006846958646815692
460
+ ]
461
+ }
462
+ },
463
+ "grasp_35": {
464
+ "confidence": 0.9668538570404053,
465
+ "position": [
466
+ 0.1303114416077733,
467
+ 0.06061628558381926,
468
+ -0.0005067626480013132
469
+ ],
470
+ "orientation": {
471
+ "w": 0.20253681653499928,
472
+ "xyz": [
473
+ 0.6773198118088136,
474
+ 0.193822292426862,
475
+ -0.6801835262909102
476
+ ]
477
+ }
478
+ },
479
+ "grasp_36": {
480
+ "confidence": 0.961506187915802,
481
+ "position": [
482
+ 0.13408311177045107,
483
+ 0.0569335008476628,
484
+ -0.0013382562901824713
485
+ ],
486
+ "orientation": {
487
+ "w": 0.20185046177931704,
488
+ "xyz": [
489
+ 0.675800421541962,
490
+ 0.19593645703088358,
491
+ -0.6812922178693726
492
+ ]
493
+ }
494
+ },
495
+ "grasp_37": {
496
+ "confidence": 0.9445868730545044,
497
+ "position": [
498
+ 0.13929801154881716,
499
+ -0.03424210003868211,
500
+ -0.003584723686799407
501
+ ],
502
+ "orientation": {
503
+ "w": 0.1469388308537278,
504
+ "xyz": [
505
+ -0.7041549330650781,
506
+ 0.09362175848253462,
507
+ 0.6883384171801635
508
+ ]
509
+ }
510
+ },
511
+ "grasp_38": {
512
+ "confidence": 0.9338321685791016,
513
+ "position": [
514
+ 0.14987625647336245,
515
+ -0.004312029996071942,
516
+ -0.003137630643323064
517
+ ],
518
+ "orientation": {
519
+ "w": 0.018900181200133658,
520
+ "xyz": [
521
+ -0.7077985064772112,
522
+ -0.006882909759753586,
523
+ 0.7061279508222784
524
+ ]
525
+ }
526
+ }
527
+ }
528
+ },
529
+ {
530
+ "part_name": "medallion center",
531
+ "mask_color": "Cyan",
532
+ "graspable": false,
533
+ "grasp_scenarios": [],
534
+ "functional_labels": [
535
+ "decorate the front cover",
536
+ "provide a visual focal point",
537
+ "display emblem detail"
538
+ ],
539
+ "semantic_description": "Small circular inset on the front cover, appearing pale green-blue with a matte embossed surface and a central animal silhouette motif.",
540
+ "id": 6,
541
+ "grasp_group": {}
542
+ },
543
+ {
544
+ "part_name": "medallion ring",
545
+ "mask_color": "Purple",
546
+ "graspable": false,
547
+ "grasp_scenarios": [],
548
+ "functional_labels": [
549
+ "frame the emblem",
550
+ "decorate the front cover",
551
+ "highlight the center medallion"
552
+ ],
553
+ "semantic_description": "Narrow raised circular ring around the front emblem, matching the green cover tone with a matte finish and crisp embossed border detail.",
554
+ "id": 5,
555
+ "grasp_group": {}
556
+ }
557
+ ],
558
+ "quality_check": {
559
+ "success": true,
560
+ "message": "YES"
561
+ }
562
+ }
dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b031d3562916325625513d248035c8b9ed191845f20bfa85e3d6d89a5faddd52
3
+ size 3785300
dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/notebook_018.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>