xinjjj commited on
Commit
6d12bb1
·
verified ·
1 Parent(s): 48c137f

Add asset desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb

Browse files
.gitattributes CHANGED
@@ -6300,4 +6300,5 @@ dataset/desktop_supplies/office_stationery/337ab234af0259b98488c1e3a73b9a11/affo
6300
  dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6301
  dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6302
  dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6303
- dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6300
  dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6301
  dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6302
  dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/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
dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,341 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "eraser with paper sleeve",
5
+ "mask_color": "Gray",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the eraser from the sides to pick it up from a desk",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the sleeved middle section while rubbing an exposed eraser end on paper",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "pinch one end to reorient or place the eraser precisely",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "erase pencil marks",
23
+ "provide a hand grip for manipulation",
24
+ "protect and reinforce the eraser with a paper sleeve",
25
+ "display product branding and barcode information"
26
+ ],
27
+ "semantic_description": "Small rectangular pink eraser with beveled ends and a black paper sleeve wrapped around the middle. The sleeve has white and yellow branding on one side and a white barcode/information label on another side; the eraser surface appears smooth and matte.",
28
+ "id": 15,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9854825735092163,
32
+ "position": [
33
+ 0.006066627684049308,
34
+ 0.1011106944642961,
35
+ -0.0028412322280928493
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5022066361747047,
39
+ "xyz": [
40
+ 0.4907702428669961,
41
+ -0.5029612222544532,
42
+ 0.5039474895330505
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9853549003601074,
48
+ "position": [
49
+ -0.014104730100370944,
50
+ 0.10317244892939925,
51
+ 0.001501390477642417
52
+ ],
53
+ "orientation": {
54
+ "w": 0.48418772084034783,
55
+ "xyz": [
56
+ 0.510231906460686,
57
+ -0.5064448206170232,
58
+ 0.4987377028931282
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9848237037658691,
64
+ "position": [
65
+ 0.005601890734396875,
66
+ 0.10118962591513991,
67
+ -0.003663634415715933
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5049158258672094,
71
+ "xyz": [
72
+ 0.4994602240660937,
73
+ -0.4947121487088386,
74
+ 0.5008586460115918
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9847362637519836,
80
+ "position": [
81
+ -0.020726148621179163,
82
+ 0.10142958676442504,
83
+ -0.011182506335899234
84
+ ],
85
+ "orientation": {
86
+ "w": 0.49440854158594916,
87
+ "xyz": [
88
+ 0.48832791734812175,
89
+ -0.4817182007658867,
90
+ 0.5338947594762263
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9846200346946716,
96
+ "position": [
97
+ 0.032130374922417104,
98
+ 0.09871818637475371,
99
+ 0.00047326344065368176
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5582636487407092,
103
+ "xyz": [
104
+ 0.4395039363652453,
105
+ -0.5585502911971828,
106
+ 0.4280181779056897
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9846163988113403,
112
+ "position": [
113
+ -0.0066987775499001145,
114
+ 0.10322276270017028,
115
+ -0.00022226304281502962
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4953637097224416,
119
+ "xyz": [
120
+ 0.5165073938097027,
121
+ -0.4885455642466846,
122
+ 0.4991574289588581
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9845908880233765,
128
+ "position": [
129
+ 0.0022701896959915757,
130
+ 0.1032524979673326,
131
+ -0.002422476187348366
132
+ ],
133
+ "orientation": {
134
+ "w": 0.49131557005322407,
135
+ "xyz": [
136
+ 0.5064912769315947,
137
+ -0.496092821170358,
138
+ 0.505932317408873
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9843364953994751,
144
+ "position": [
145
+ -0.016488101915456355,
146
+ 0.1004843688569963,
147
+ -0.00022602651733905077
148
+ ],
149
+ "orientation": {
150
+ "w": 0.49203334307225977,
151
+ "xyz": [
152
+ 0.5142360736129296,
153
+ -0.489533348858766,
154
+ 0.5038070565756451
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9840422868728638,
160
+ "position": [
161
+ 0.0031911839032545686,
162
+ 0.09961841022595763,
163
+ -0.0016256947128567845
164
+ ],
165
+ "orientation": {
166
+ "w": 0.48614563183652754,
167
+ "xyz": [
168
+ 0.48065834380455935,
169
+ -0.512867003295185,
170
+ 0.5192277131551611
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.983925461769104,
176
+ "position": [
177
+ -0.01011136977467686,
178
+ 0.10319275176152587,
179
+ -0.0027362373657524586
180
+ ],
181
+ "orientation": {
182
+ "w": 0.49521219894138147,
183
+ "xyz": [
184
+ 0.5194894612335407,
185
+ 0.4944556091855701,
186
+ -0.4903154374806629
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9838309288024902,
192
+ "position": [
193
+ -0.006347612594254315,
194
+ 0.10125514632090926,
195
+ -0.004483856027945876
196
+ ],
197
+ "orientation": {
198
+ "w": 0.49766803711555446,
199
+ "xyz": [
200
+ 0.50333979641228,
201
+ -0.49714783767601256,
202
+ 0.5018163027196909
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9836406111717224,
208
+ "position": [
209
+ -0.01734265743289143,
210
+ 0.10176932578906417,
211
+ -0.005295912967994809
212
+ ],
213
+ "orientation": {
214
+ "w": 0.48959354859766857,
215
+ "xyz": [
216
+ 0.5007416579827914,
217
+ -0.49989538858649596,
218
+ 0.509568984144584
219
+ ]
220
+ }
221
+ },
222
+ "grasp_13": {
223
+ "confidence": 0.983119785785675,
224
+ "position": [
225
+ -0.002846243209205568,
226
+ 0.10227462416514754,
227
+ 0.004729267442598939
228
+ ],
229
+ "orientation": {
230
+ "w": 0.48433526306302055,
231
+ "xyz": [
232
+ 0.517045276317321,
233
+ -0.5035130681467358,
234
+ 0.49452818463367765
235
+ ]
236
+ }
237
+ },
238
+ "grasp_14": {
239
+ "confidence": 0.9829952120780945,
240
+ "position": [
241
+ 0.010324271745048463,
242
+ 0.10164583241567016,
243
+ -0.007147839060053229
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5014737565731907,
247
+ "xyz": [
248
+ 0.4944205825515457,
249
+ -0.49403762067999923,
250
+ 0.5099011554905587
251
+ ]
252
+ }
253
+ },
254
+ "grasp_15": {
255
+ "confidence": 0.9828935265541077,
256
+ "position": [
257
+ 0.005486391368322074,
258
+ 0.10308550065383315,
259
+ -0.001278398180147633
260
+ ],
261
+ "orientation": {
262
+ "w": 0.500491199943552,
263
+ "xyz": [
264
+ 0.5071897132689158,
265
+ 0.5084917828354202,
266
+ -0.48342865070464514
267
+ ]
268
+ }
269
+ },
270
+ "grasp_16": {
271
+ "confidence": 0.9828739762306213,
272
+ "position": [
273
+ 0.00775796954985708,
274
+ 0.1020199260674417,
275
+ -0.005194531287997961
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5008747756443421,
279
+ "xyz": [
280
+ 0.5047301603779435,
281
+ 0.49846884271316716,
282
+ -0.4958837940206167
283
+ ]
284
+ }
285
+ },
286
+ "grasp_17": {
287
+ "confidence": 0.9825583696365356,
288
+ "position": [
289
+ 0.004973120870999992,
290
+ 0.10293114697560668,
291
+ -0.0007877035532146692
292
+ ],
293
+ "orientation": {
294
+ "w": 0.49639740537385674,
295
+ "xyz": [
296
+ 0.5082433908713971,
297
+ 0.510104945058642,
298
+ -0.4848414344921093
299
+ ]
300
+ }
301
+ },
302
+ "grasp_18": {
303
+ "confidence": 0.982359766960144,
304
+ "position": [
305
+ -0.019969922141171992,
306
+ 0.10047144955024123,
307
+ -0.006655097706243396
308
+ ],
309
+ "orientation": {
310
+ "w": 0.4914930078168419,
311
+ "xyz": [
312
+ 0.496841072214341,
313
+ -0.4948527316615401,
314
+ 0.5164342612522623
315
+ ]
316
+ }
317
+ },
318
+ "grasp_19": {
319
+ "confidence": 0.9823145866394043,
320
+ "position": [
321
+ -0.03560664935503155,
322
+ 0.09773712372407317,
323
+ -0.0054244669154286385
324
+ ],
325
+ "orientation": {
326
+ "w": 0.4214309748565372,
327
+ "xyz": [
328
+ 0.5640512266055461,
329
+ -0.4248803525894629,
330
+ 0.5689629453485535
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ }
336
+ ],
337
+ "quality_check": {
338
+ "success": true,
339
+ "message": "YES"
340
+ }
341
+ }
dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:13dad662f6223cb67ce0a94f3cf6624f5d150cbc16f3c2e468955afd6f43f6ac
3
+ size 3827848
dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.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>