xinjjj commited on
Commit
a59f8f6
·
verified ·
1 Parent(s): 547b54a

Add asset desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d

Browse files
.gitattributes CHANGED
@@ -6286,3 +6286,4 @@ dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/affo
6286
  dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6287
  dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6288
  dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6286
  dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6287
  dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6288
  dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6289
+ dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,369 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main casing",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and reposition the correction tape dispenser",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body while applying correction tape to paper",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize the dispenser body while orienting the tape outlet",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house the tape mechanism",
24
+ "protect internal components",
25
+ "support dispensing control"
26
+ ],
27
+ "semantic_description": "Large rounded rectangular coral-orange plastic body with a smooth matte-to-satin hard surface, forming the main shell of the dispenser and covering most of the object.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9854309558868408,
32
+ "position": [
33
+ 0.13230004924116656,
34
+ 0.02867853839416057,
35
+ 0.003635420260252431
36
+ ],
37
+ "orientation": {
38
+ "w": 0.012349723885681441,
39
+ "xyz": [
40
+ 0.7129232013330371,
41
+ 0.028048766084798116,
42
+ -0.7005720948211693
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.984392523765564,
48
+ "position": [
49
+ 0.131568506534677,
50
+ 0.02335847180802375,
51
+ 0.0021250425197649747
52
+ ],
53
+ "orientation": {
54
+ "w": 0.0046258564096997344,
55
+ "xyz": [
56
+ 0.714076129879825,
57
+ 0.018880710633896514,
58
+ -0.699798114426073
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9840339422225952,
64
+ "position": [
65
+ 0.01137980556814,
66
+ -0.13404179725330323,
67
+ 0.0017855475016403943
68
+ ],
69
+ "orientation": {
70
+ "w": 0.49861777707814803,
71
+ "xyz": [
72
+ -0.5074318666597246,
73
+ 0.49739108181259684,
74
+ 0.496482955209107
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9839391708374023,
80
+ "position": [
81
+ 0.1344218702870421,
82
+ 0.034906838205643,
83
+ 0.0002683588827494532
84
+ ],
85
+ "orientation": {
86
+ "w": 0.011226018040992908,
87
+ "xyz": [
88
+ 0.7038274694623377,
89
+ 0.02123173543201562,
90
+ -0.7099648464253213
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9835577607154846,
96
+ "position": [
97
+ 0.015830086718779057,
98
+ -0.13261414680164307,
99
+ -0.0021657362522091717
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5008958973007216,
103
+ "xyz": [
104
+ -0.49569438700058926,
105
+ 0.4995484517272909,
106
+ 0.5038270726551731
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9832665920257568,
112
+ "position": [
113
+ 0.01062800659565255,
114
+ -0.13404941174667329,
115
+ 0.001176817953819409
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5060881229273277,
119
+ "xyz": [
120
+ -0.5146107722099084,
121
+ 0.48979472909885224,
122
+ 0.4890313776276511
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9832558631896973,
128
+ "position": [
129
+ 0.12797246890841052,
130
+ 0.030084191006608307,
131
+ 0.004511155450018123
132
+ ],
133
+ "orientation": {
134
+ "w": 0.008646455389067022,
135
+ "xyz": [
136
+ 0.7172317702113368,
137
+ 0.03100431296948669,
138
+ -0.6960909130178381
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9828678369522095,
144
+ "position": [
145
+ 0.047296308155637234,
146
+ 0.12837155547458678,
147
+ 0.005663081334205344
148
+ ],
149
+ "orientation": {
150
+ "w": 0.4239868755600921,
151
+ "xyz": [
152
+ 0.5927681409611694,
153
+ 0.4145153109073746,
154
+ -0.5450120342135505
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9827768802642822,
160
+ "position": [
161
+ 0.011352057743351907,
162
+ -0.13288358959835023,
163
+ -0.0037933755374979228
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5038735967608455,
167
+ "xyz": [
168
+ -0.49405533575450744,
169
+ 0.49821994927715463,
170
+ 0.5037832925396183
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9827656149864197,
176
+ "position": [
177
+ 0.003145679540466517,
178
+ -0.13377049181144685,
179
+ -0.0011947246093768626
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5091497071800853,
183
+ "xyz": [
184
+ -0.5024473457000619,
185
+ 0.49628737265983547,
186
+ 0.4919472372275243
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9827393293380737,
192
+ "position": [
193
+ 0.006354381039272994,
194
+ -0.1315440199105069,
195
+ -0.003845512605039403
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5091421127552296,
199
+ "xyz": [
200
+ -0.5079399910910138,
201
+ 0.48427947202243904,
202
+ 0.49824157539016084
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9827324151992798,
208
+ "position": [
209
+ 0.014526221144478768,
210
+ -0.13115128490608186,
211
+ -0.0010141446546185762
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5091741040035039,
215
+ "xyz": [
216
+ -0.5007046726685666,
217
+ 0.4913320159817913,
218
+ 0.4986275289746459
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.982515811920166,
224
+ "position": [
225
+ -0.02331767772557214,
226
+ 0.13194239523727447,
227
+ 0.0007166156137827784
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4903670354555775,
231
+ "xyz": [
232
+ 0.5244305190910875,
233
+ 0.4892022280152679,
234
+ -0.4951706587523726
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9824215769767761,
240
+ "position": [
241
+ -0.0065317697008140385,
242
+ -0.12911213550250977,
243
+ -0.006003524380503222
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5072075149345986,
247
+ "xyz": [
248
+ -0.48718598623614073,
249
+ -0.4915862313017739,
250
+ -0.5135497335249103
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9822317957878113,
256
+ "position": [
257
+ -0.026412734587211162,
258
+ 0.13248373952228576,
259
+ 0.002266022638650611
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4900223873560445,
263
+ "xyz": [
264
+ 0.5246796094226293,
265
+ 0.490292927353583,
266
+ -0.494168202875351
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9822207093238831,
272
+ "position": [
273
+ -0.025333305646199733,
274
+ 0.13316913333255798,
275
+ 0.00448259970289655
276
+ ],
277
+ "orientation": {
278
+ "w": 0.4881607173151261,
279
+ "xyz": [
280
+ 0.5273768131324494,
281
+ 0.4918767542128496,
282
+ -0.4915588161203853
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9822136163711548,
288
+ "position": [
289
+ -0.02604638022603467,
290
+ 0.13155983772594482,
291
+ 0.005036102869780734
292
+ ],
293
+ "orientation": {
294
+ "w": 0.48622680942169266,
295
+ "xyz": [
296
+ 0.52305732128738,
297
+ 0.496199139951367,
298
+ -0.49374177659865415
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9822090864181519,
304
+ "position": [
305
+ 0.0009404343436472118,
306
+ -0.12907544884365052,
307
+ -0.004629214497981593
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5046388681808363,
311
+ "xyz": [
312
+ -0.49314821071397014,
313
+ -0.4936607669587134,
314
+ -0.5083733885211826
315
+ ]
316
+ }
317
+ },
318
+ "grasp_19": {
319
+ "confidence": 0.9821398854255676,
320
+ "position": [
321
+ 0.0029939798987470567,
322
+ -0.13303981337230653,
323
+ -0.002081752143567428
324
+ ],
325
+ "orientation": {
326
+ "w": 0.5033640914147776,
327
+ "xyz": [
328
+ -0.4937639659282476,
329
+ -0.503190688816899,
330
+ -0.49962072426287396
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "branding band",
338
+ "mask_color": "Orange",
339
+ "graspable": false,
340
+ "grasp_scenarios": [],
341
+ "functional_labels": [
342
+ "provide visual branding area",
343
+ "indicate orientation",
344
+ "decorate the casing"
345
+ ],
346
+ "semantic_description": "A narrow white curved band wrapping around the middle of the dispenser, with a smooth finish and red printed 'deli' branding visible on its outer face.",
347
+ "id": 4,
348
+ "grasp_group": {}
349
+ },
350
+ {
351
+ "part_name": "dispensing-end frame",
352
+ "mask_color": "Yellow",
353
+ "graspable": false,
354
+ "grasp_scenarios": [],
355
+ "functional_labels": [
356
+ "surround the tape outlet",
357
+ "guide and protect the dispensing end",
358
+ "define the working end for tape application"
359
+ ],
360
+ "semantic_description": "Small yellow-orange plastic frame at one end of the dispenser around the outlet opening, visible as a rounded border/end cap surrounding the recessed orange dispensing slot.",
361
+ "id": 3,
362
+ "grasp_group": {}
363
+ }
364
+ ],
365
+ "quality_check": {
366
+ "success": false,
367
+ "message": "Yellow part description mismatches RGB; outlet insert is orange, not yellow-orange frame, and graspability/function wording needs correction."
368
+ }
369
+ }
dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0c99ef7503be24441fb6f68b42f1dc3a5cde0b8ed673eb8331d4bb7b46a0b8fd
3
+ size 3783544
dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.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>