xinjjj commited on
Commit
9c76c8b
·
verified ·
1 Parent(s): 8e69ff6

Add asset desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9

Browse files
.gitattributes CHANGED
@@ -6304,3 +6304,4 @@ dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/affo
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/3656004426b658169850d0078a4aca29/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/3656004426b658169850d0078a4aca29/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6307
+ dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/affordance/affordance_annot.json ADDED
@@ -0,0 +1,591 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "correction tape housing",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main housing to pick up and move the correction tape dispenser",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the housing to stabilize and orient the dispenser during tape application",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the housing to place the dispenser into storage",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "enclose the tape mechanism",
23
+ "main grasp surface",
24
+ "support dispensing motion",
25
+ "protect internal components",
26
+ "provide structural body"
27
+ ],
28
+ "semantic_description": "Large rounded asymmetrical body made of pale pink translucent plastic with a glossy smooth hard surface, occupying most of the dispenser and showing a printed circular top label over the internal mechanism.",
29
+ "id": 4,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9854215383529663,
33
+ "position": [
34
+ 0.10260828910395503,
35
+ -0.01316168182529509,
36
+ 0.0001831502995628398
37
+ ],
38
+ "orientation": {
39
+ "w": 0.03388561914254607,
40
+ "xyz": [
41
+ -0.7075784476626408,
42
+ 0.012335237557872802,
43
+ 0.7057140689635178
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9849977493286133,
49
+ "position": [
50
+ 0.10457387147471309,
51
+ -0.010816619964316487,
52
+ 0.0029906044619565364
53
+ ],
54
+ "orientation": {
55
+ "w": 0.025343524679327125,
56
+ "xyz": [
57
+ -0.7134237318491503,
58
+ 0.014177086690407625,
59
+ 0.7001309126186561
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9849050641059875,
65
+ "position": [
66
+ 0.10260221688076854,
67
+ -0.012561276787891984,
68
+ -0.004683751762058819
69
+ ],
70
+ "orientation": {
71
+ "w": 0.034085420293521504,
72
+ "xyz": [
73
+ -0.6943634095480443,
74
+ 0.011562095241281378,
75
+ 0.7187238395641684
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9844549894332886,
81
+ "position": [
82
+ 0.10329894302412868,
83
+ -0.017143534729257226,
84
+ -0.00032605178785161115
85
+ ],
86
+ "orientation": {
87
+ "w": 0.031316360022773417,
88
+ "xyz": [
89
+ -0.7016894748580597,
90
+ 0.014788702277914179,
91
+ 0.7116406823343366
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9841922521591187,
97
+ "position": [
98
+ 0.10259995935484767,
99
+ -0.013993642525747418,
100
+ -0.004154781494435156
101
+ ],
102
+ "orientation": {
103
+ "w": 0.030106957598434916,
104
+ "xyz": [
105
+ -0.6994216197839613,
106
+ 0.013942413831095402,
107
+ 0.7139387774729065
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9836351871490479,
113
+ "position": [
114
+ 0.09859257517382503,
115
+ -0.0282386124599725,
116
+ -0.001697987117950106
117
+ ],
118
+ "orientation": {
119
+ "w": 0.09506376465372662,
120
+ "xyz": [
121
+ -0.7015443480953968,
122
+ 0.05259402001531843,
123
+ 0.7042955894820679
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9824211001396179,
129
+ "position": [
130
+ 0.09869771776720881,
131
+ -0.014312953921034932,
132
+ -0.0011466008472780231
133
+ ],
134
+ "orientation": {
135
+ "w": 0.03822248881329142,
136
+ "xyz": [
137
+ -0.7007386562356802,
138
+ 0.018491047294823426,
139
+ 0.7121533951164398
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9818840026855469,
145
+ "position": [
146
+ 0.1015729415230453,
147
+ -0.03112065722234547,
148
+ -0.00385110025308677
149
+ ],
150
+ "orientation": {
151
+ "w": 0.10163450854251262,
152
+ "xyz": [
153
+ -0.6989286759945668,
154
+ 0.0747931795225284,
155
+ 0.7039709602268511
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9817255139350891,
161
+ "position": [
162
+ 0.09959140745922923,
163
+ -0.02716146712191403,
164
+ -0.0030575815217162017
165
+ ],
166
+ "orientation": {
167
+ "w": 0.061118110553412916,
168
+ "xyz": [
169
+ -0.6959015401484928,
170
+ 0.04372864992241965,
171
+ 0.7141942509970931
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9814391732215881,
177
+ "position": [
178
+ 0.09970309166237712,
179
+ -0.012841485673561692,
180
+ -0.007139212601032341
181
+ ],
182
+ "orientation": {
183
+ "w": 0.03046370546704572,
184
+ "xyz": [
185
+ -0.6913919684837777,
186
+ 0.010883671684152385,
187
+ 0.7217552592506797
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9811842441558838,
193
+ "position": [
194
+ 0.09872255800291896,
195
+ -0.001388317672535777,
196
+ -0.004487126749154413
197
+ ],
198
+ "orientation": {
199
+ "w": 0.03669887354412559,
200
+ "xyz": [
201
+ -0.6954877443029518,
202
+ 0.019147687085216747,
203
+ 0.7173446565523928
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9801678657531738,
209
+ "position": [
210
+ 0.09838155237957835,
211
+ 0.014047237811610103,
212
+ -0.012338531352725113
213
+ ],
214
+ "orientation": {
215
+ "w": 0.7419593854086521,
216
+ "xyz": [
217
+ 0.03736141773664599,
218
+ -0.6692902965765646,
219
+ 0.012283882821691112
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9800344705581665,
225
+ "position": [
226
+ 0.10543176857754588,
227
+ -0.017741429852321744,
228
+ -0.0021469964740390424
229
+ ],
230
+ "orientation": {
231
+ "w": 0.032653325333816624,
232
+ "xyz": [
233
+ -0.699693077943081,
234
+ 0.008261802706192256,
235
+ 0.7136491432344227
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9790594577789307,
241
+ "position": [
242
+ 0.10067638335749507,
243
+ 0.01253347541205585,
244
+ 4.335136591748778e-05
245
+ ],
246
+ "orientation": {
247
+ "w": 0.7094558141101409,
248
+ "xyz": [
249
+ 0.03122432004277998,
250
+ -0.704011319082969,
251
+ 0.008096435403408455
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9788599014282227,
257
+ "position": [
258
+ 0.09720888314768672,
259
+ -0.029537684516981244,
260
+ -0.00474149515866884
261
+ ],
262
+ "orientation": {
263
+ "w": 0.07136241934265122,
264
+ "xyz": [
265
+ -0.6923385106111083,
266
+ 0.0467424928880531,
267
+ 0.7165123384764326
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9787154197692871,
273
+ "position": [
274
+ 0.10104778734967113,
275
+ -0.0021008201874792576,
276
+ -0.006454165708419168
277
+ ],
278
+ "orientation": {
279
+ "w": 0.7142569486576734,
280
+ "xyz": [
281
+ -0.004936788163157539,
282
+ -0.6990544498027138,
283
+ -0.03369741277734334
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9786672592163086,
289
+ "position": [
290
+ 0.10002328036352992,
291
+ -0.008961379760876298,
292
+ 0.0005591785557044204
293
+ ],
294
+ "orientation": {
295
+ "w": 0.6980774137825559,
296
+ "xyz": [
297
+ -0.006674742492752717,
298
+ -0.7153276136129267,
299
+ -0.03081845846484152
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9783734083175659,
305
+ "position": [
306
+ 0.0982751208357513,
307
+ 0.004438718548044562,
308
+ 0.0025977947188948747
309
+ ],
310
+ "orientation": {
311
+ "w": 0.6993269626303629,
312
+ "xyz": [
313
+ 0.010697477969597158,
314
+ -0.7145665799846231,
315
+ -0.014898525845190727
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9783563017845154,
321
+ "position": [
322
+ -0.014308964367955923,
323
+ -0.11351363104768097,
324
+ -0.004779276587214554
325
+ ],
326
+ "orientation": {
327
+ "w": 0.4849548189637447,
328
+ "xyz": [
329
+ -0.5213994420116717,
330
+ -0.46526212547594403,
331
+ -0.5258256365292261
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9782721996307373,
337
+ "position": [
338
+ 0.09881747094914317,
339
+ -0.015011735493317246,
340
+ -0.0008765354614297394
341
+ ],
342
+ "orientation": {
343
+ "w": 0.7035160672318654,
344
+ "xyz": [
345
+ -0.0214617201838642,
346
+ -0.7089689899630337,
347
+ -0.0443566115044224
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "dispensing tip cover",
355
+ "mask_color": "Cyan",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the front cover to pull or slide it while opening the dispensing tip",
360
+ "confidence": 0.62
361
+ },
362
+ {
363
+ "scenario": "hold the front cover to stabilize the small dispenser during repositioning",
364
+ "confidence": 0.38
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "cover the dispensing tip",
369
+ "protect the tape applicator end",
370
+ "indicate the front end",
371
+ "assist opening or closing"
372
+ ],
373
+ "semantic_description": "Smaller rounded cap-like front section in opaque light pink plastic with a glossy smooth hard finish, located at the narrow end and shaped to cover the tape application tip.",
374
+ "id": 6,
375
+ "grasp_group": {
376
+ "grasp_20": {
377
+ "confidence": 0.9769473075866699,
378
+ "position": [
379
+ 0.09968945709988475,
380
+ 0.007210108218714595,
381
+ -0.0010408584821561817
382
+ ],
383
+ "orientation": {
384
+ "w": 0.03437028367198509,
385
+ "xyz": [
386
+ -0.7078131361544641,
387
+ 0.026916766365530198,
388
+ 0.7050494561205712
389
+ ]
390
+ }
391
+ },
392
+ "grasp_21": {
393
+ "confidence": 0.9768129587173462,
394
+ "position": [
395
+ 0.08915531961247325,
396
+ 0.0644947316031903,
397
+ -0.004287226740416372
398
+ ],
399
+ "orientation": {
400
+ "w": 0.17438740802267744,
401
+ "xyz": [
402
+ 0.6776116378056235,
403
+ 0.1723110464897225,
404
+ -0.6933544573240514
405
+ ]
406
+ }
407
+ },
408
+ "grasp_22": {
409
+ "confidence": 0.9758633375167847,
410
+ "position": [
411
+ 0.08935707388445735,
412
+ 0.0643302749376744,
413
+ -0.0015850961535761598
414
+ ],
415
+ "orientation": {
416
+ "w": 0.17371148687474935,
417
+ "xyz": [
418
+ 0.6883072384130176,
419
+ 0.1654599765116025,
420
+ -0.6846024109282624
421
+ ]
422
+ }
423
+ },
424
+ "grasp_23": {
425
+ "confidence": 0.9738548994064331,
426
+ "position": [
427
+ 0.05325762880966067,
428
+ 0.10265147197060287,
429
+ 0.0021527594326471444
430
+ ],
431
+ "orientation": {
432
+ "w": 0.3330512114951181,
433
+ "xyz": [
434
+ 0.6263507394396984,
435
+ 0.3432378125437756,
436
+ -0.6155886985359146
437
+ ]
438
+ }
439
+ },
440
+ "grasp_24": {
441
+ "confidence": 0.9736663699150085,
442
+ "position": [
443
+ 0.09273489890620112,
444
+ 0.06119052576832473,
445
+ -0.001908491049107397
446
+ ],
447
+ "orientation": {
448
+ "w": 0.1574019987961566,
449
+ "xyz": [
450
+ 0.6840263098943408,
451
+ 0.16701830325517597,
452
+ -0.692414257886901
453
+ ]
454
+ }
455
+ },
456
+ "grasp_25": {
457
+ "confidence": 0.9736470580101013,
458
+ "position": [
459
+ -0.08359466167166829,
460
+ 0.0791710417252034,
461
+ 0.003187331687513506
462
+ ],
463
+ "orientation": {
464
+ "w": 0.6502751920125456,
465
+ "xyz": [
466
+ 0.22932954771400468,
467
+ 0.685640688902338,
468
+ -0.2333387642888873
469
+ ]
470
+ }
471
+ },
472
+ "grasp_27": {
473
+ "confidence": 0.9731763601303101,
474
+ "position": [
475
+ -0.08145045908167958,
476
+ 0.07980533200316131,
477
+ -0.0021583194939012174
478
+ ],
479
+ "orientation": {
480
+ "w": 0.6644318789325339,
481
+ "xyz": [
482
+ 0.24129680303369683,
483
+ 0.6675764032588966,
484
+ -0.23376885360504057
485
+ ]
486
+ }
487
+ },
488
+ "grasp_28": {
489
+ "confidence": 0.9730299711227417,
490
+ "position": [
491
+ -0.08330995263531804,
492
+ 0.08195431786589324,
493
+ -0.005284291841235245
494
+ ],
495
+ "orientation": {
496
+ "w": 0.669754792070949,
497
+ "xyz": [
498
+ 0.23912572493509138,
499
+ 0.6614749134048393,
500
+ -0.2381141430245738
501
+ ]
502
+ }
503
+ },
504
+ "grasp_29": {
505
+ "confidence": 0.9729776978492737,
506
+ "position": [
507
+ 0.09929539589211345,
508
+ 0.003754265373572707,
509
+ 0.013908429853472626
510
+ ],
511
+ "orientation": {
512
+ "w": 0.06652595220650445,
513
+ "xyz": [
514
+ -0.7391117916205979,
515
+ 0.02819424415370475,
516
+ 0.6696963056244294
517
+ ]
518
+ }
519
+ },
520
+ "grasp_34": {
521
+ "confidence": 0.9718911051750183,
522
+ "position": [
523
+ -0.07205917360261083,
524
+ 0.09267417597584426,
525
+ 0.0006884851864015218
526
+ ],
527
+ "orientation": {
528
+ "w": 0.29090663508859943,
529
+ "xyz": [
530
+ 0.6386142003166094,
531
+ -0.2887167615420695,
532
+ 0.6512970631133426
533
+ ]
534
+ }
535
+ },
536
+ "grasp_37": {
537
+ "confidence": 0.9716075658798218,
538
+ "position": [
539
+ -0.04462717520073056,
540
+ 0.11218421417288482,
541
+ -0.0008689972783031408
542
+ ],
543
+ "orientation": {
544
+ "w": 0.5849019453663203,
545
+ "xyz": [
546
+ 0.39432502452592355,
547
+ 0.6001181258477618,
548
+ -0.37716803200734483
549
+ ]
550
+ }
551
+ },
552
+ "grasp_38": {
553
+ "confidence": 0.9712011218070984,
554
+ "position": [
555
+ -0.04897831426933408,
556
+ 0.10832031327299774,
557
+ -0.003197369082045043
558
+ ],
559
+ "orientation": {
560
+ "w": 0.38313195873397266,
561
+ "xyz": [
562
+ 0.5908837245439563,
563
+ -0.3683730944094614,
564
+ 0.6069329366420393
565
+ ]
566
+ }
567
+ },
568
+ "grasp_39": {
569
+ "confidence": 0.9708688855171204,
570
+ "position": [
571
+ -0.07974598975852132,
572
+ 0.08190472680144012,
573
+ 0.012610390633199131
574
+ ],
575
+ "orientation": {
576
+ "w": 0.6238063980538406,
577
+ "xyz": [
578
+ 0.25563468880609713,
579
+ 0.7017454138715198,
580
+ -0.2303689600106609
581
+ ]
582
+ }
583
+ }
584
+ }
585
+ }
586
+ ],
587
+ "quality_check": {
588
+ "success": true,
589
+ "message": "YES"
590
+ }
591
+ }
dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:01eeb2a46ee70e803fb152c412ac3f8a8284914065d1e51db2fa62534c75e69d
3
+ size 3780992
dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/correction_tape_013.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>