xinjjj commited on
Commit
6d549a5
·
verified ·
1 Parent(s): bce144e

Add asset desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6

Browse files
.gitattributes CHANGED
@@ -6325,4 +6325,4 @@ dataset/desktop_supplies/office_stationery/476422810f315b16828845719d2fc9fe/affo
6325
  dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6326
  dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6327
  dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6328
- dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6325
  dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6326
  dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6327
  dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/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
dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,245 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "eraser body",
5
+ "mask_color": "Blue",
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": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the eraser body to rub and remove pencil marks",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "pinch the eraser body to reposition or orient it precisely",
18
+ "confidence": 0.92
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "erase pencil marks",
23
+ "provide the main grasp surface",
24
+ "support rubbing against paper",
25
+ "stabilize during precise erasing"
26
+ ],
27
+ "semantic_description": "A small rectangular white rubber eraser body with a matte smooth slightly soft surface, beveled edges, blue printed logo and text, and a compact block shape forming the entire object.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.951359212398529,
32
+ "position": [
33
+ 0.0778608532709768,
34
+ 0.06117684894707054,
35
+ -0.006938656704733148
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6817865304010684,
39
+ "xyz": [
40
+ 0.20789113609933682,
41
+ -0.6588993219165667,
42
+ 0.2404164846113701
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9497796893119812,
48
+ "position": [
49
+ 0.08124460150429513,
50
+ 0.054231756716035306,
51
+ -0.01796284076408483
52
+ ],
53
+ "orientation": {
54
+ "w": 0.7275305626640947,
55
+ "xyz": [
56
+ 0.1658035975146457,
57
+ -0.6295683327363054,
58
+ 0.21645360208713454
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9497758150100708,
64
+ "position": [
65
+ 0.08351685722300317,
66
+ 0.054103055386804044,
67
+ -0.006318993779132143
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6938946733522554,
71
+ "xyz": [
72
+ 0.17697111850165248,
73
+ -0.6661077374819792,
74
+ 0.20854708719202852
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.9456577301025391,
80
+ "position": [
81
+ 0.0822287486953428,
82
+ 0.04820658022072166,
83
+ -0.020738139195600525
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7411726182134851,
87
+ "xyz": [
88
+ 0.16237793779033496,
89
+ -0.6181994747597596,
90
+ 0.205246107725052
91
+ ]
92
+ }
93
+ },
94
+ "grasp_5": {
95
+ "confidence": 0.9452300071716309,
96
+ "position": [
97
+ 0.08267287035414483,
98
+ 0.05579092854168266,
99
+ 0.0018989711243193597
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6673618622217478,
103
+ "xyz": [
104
+ 0.18092359308260872,
105
+ -0.690353790379341,
106
+ 0.21285310058083612
107
+ ]
108
+ }
109
+ },
110
+ "grasp_8": {
111
+ "confidence": 0.9424578547477722,
112
+ "position": [
113
+ 0.07949679960438516,
114
+ 0.05850938463117927,
115
+ 0.004535882821073756
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6623742186975169,
119
+ "xyz": [
120
+ 0.18530270560172352,
121
+ -0.6942729711823173,
122
+ 0.21191588705713305
123
+ ]
124
+ }
125
+ },
126
+ "grasp_9": {
127
+ "confidence": 0.9424380660057068,
128
+ "position": [
129
+ 0.08608308304974344,
130
+ 0.05144553387071937,
131
+ -0.012454176699975505
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7220011613336303,
135
+ "xyz": [
136
+ 0.1784128777501438,
137
+ -0.6423183678158374,
138
+ 0.18523034970598073
139
+ ]
140
+ }
141
+ },
142
+ "grasp_11": {
143
+ "confidence": 0.9415842294692993,
144
+ "position": [
145
+ 0.07727261503168847,
146
+ 0.05913738289382309,
147
+ -0.002591360273072496
148
+ ],
149
+ "orientation": {
150
+ "w": 0.21958971239714095,
151
+ "xyz": [
152
+ 0.6733178328353263,
153
+ 0.20356223472040835,
154
+ -0.6760073008414288
155
+ ]
156
+ }
157
+ },
158
+ "grasp_13": {
159
+ "confidence": 0.9393975734710693,
160
+ "position": [
161
+ 0.08007014413306024,
162
+ 0.05600389966275543,
163
+ 0.011454705701908097
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6374406989366476,
167
+ "xyz": [
168
+ 0.18605294098092087,
169
+ -0.7176493946775988,
170
+ 0.20984042701630384
171
+ ]
172
+ }
173
+ },
174
+ "grasp_14": {
175
+ "confidence": 0.9382508397102356,
176
+ "position": [
177
+ 0.08227123935648706,
178
+ 0.055288077681325376,
179
+ 0.013172371865948662
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6232425270018028,
183
+ "xyz": [
184
+ 0.18230168457212298,
185
+ -0.7340120706315928,
186
+ 0.19889979513738704
187
+ ]
188
+ }
189
+ },
190
+ "grasp_15": {
191
+ "confidence": 0.9381257891654968,
192
+ "position": [
193
+ 0.07031641025969293,
194
+ 0.07400510960724205,
195
+ -0.008924897207180038
196
+ ],
197
+ "orientation": {
198
+ "w": 0.2965434720393764,
199
+ "xyz": [
200
+ 0.633022063797606,
201
+ 0.24522466437294965,
202
+ -0.6717215940547284
203
+ ]
204
+ }
205
+ },
206
+ "grasp_17": {
207
+ "confidence": 0.9376416206359863,
208
+ "position": [
209
+ 0.042422919170348905,
210
+ 0.09411599987652153,
211
+ -0.010840291535714641
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6281415361917828,
215
+ "xyz": [
216
+ 0.3613520852241343,
217
+ -0.5687770716381403,
218
+ 0.3890443725252161
219
+ ]
220
+ }
221
+ },
222
+ "grasp_18": {
223
+ "confidence": 0.9374703168869019,
224
+ "position": [
225
+ 0.08106547464558389,
226
+ 0.05459759512450546,
227
+ -0.012315289495745674
228
+ ],
229
+ "orientation": {
230
+ "w": 0.20534540778999574,
231
+ "xyz": [
232
+ 0.6355521934435083,
233
+ 0.20286987476071583,
234
+ -0.7160659793784914
235
+ ]
236
+ }
237
+ }
238
+ }
239
+ }
240
+ ],
241
+ "quality_check": {
242
+ "success": true,
243
+ "message": "YES"
244
+ }
245
+ }
dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff452e303c75e9cef59912ac7e7b8d76f1bcb163cf6d9a63a970a2c947c95637
3
+ size 3777008
dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/eraser_043.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>