xinjjj commited on
Commit
c5a83c4
·
verified ·
1 Parent(s): 69db8ae

Add asset desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1

Browse files
.gitattributes CHANGED
@@ -6315,3 +6315,4 @@ dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/affo
6315
  dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6316
  dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6317
  dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6315
  dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6316
  dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6317
  dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6318
+ dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,525 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "paper sleeve",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the sleeve around the middle to pick up and reposition the eraser",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the sleeve to stabilize the eraser during wiping use",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp the sleeve to rotate or reorient the eraser",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main grasp surface",
23
+ "wrap and hold the eraser core",
24
+ "protect the eraser from direct hand contact",
25
+ "provide printed labeling and branding",
26
+ "improve grip during erasing"
27
+ ],
28
+ "semantic_description": "Bright yellow paper or thin cardboard sleeve with a matte finish, folded around the middle of the small rectangular eraser, with black and blue printed text and graphics on its outer faces.",
29
+ "id": 3,
30
+ "grasp_group": {
31
+ "grasp_21": {
32
+ "confidence": 0.9371985197067261,
33
+ "position": [
34
+ 0.0450713993050158,
35
+ 0.08852234311052598,
36
+ 0.0005280699115246534
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5867402749629942,
40
+ "xyz": [
41
+ 0.3490173708199941,
42
+ -0.6283796574915709,
43
+ 0.37290981571021337
44
+ ]
45
+ }
46
+ },
47
+ "grasp_23": {
48
+ "confidence": 0.9350128173828125,
49
+ "position": [
50
+ 0.042694533709436655,
51
+ 0.09021290219970979,
52
+ -0.007841407612431794
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5975769843065825,
56
+ "xyz": [
57
+ 0.3405857426997939,
58
+ -0.6012405198221796,
59
+ 0.40670989294660004
60
+ ]
61
+ }
62
+ },
63
+ "grasp_24": {
64
+ "confidence": 0.9328818321228027,
65
+ "position": [
66
+ 0.04694135719910264,
67
+ 0.08572811461635865,
68
+ -0.008503199380356818
69
+ ],
70
+ "orientation": {
71
+ "w": 0.6195997416827246,
72
+ "xyz": [
73
+ 0.35077448221282215,
74
+ -0.5962194744646464,
75
+ 0.3709120664040581
76
+ ]
77
+ }
78
+ },
79
+ "grasp_25": {
80
+ "confidence": 0.9325767159461975,
81
+ "position": [
82
+ 0.09914028504863381,
83
+ -0.006827563367551193,
84
+ -0.009260824706871063
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4958405516396243,
88
+ "xyz": [
89
+ 0.476198700774591,
90
+ -0.5096287058263519,
91
+ -0.5173543533479372
92
+ ]
93
+ }
94
+ },
95
+ "grasp_26": {
96
+ "confidence": 0.9325059652328491,
97
+ "position": [
98
+ 0.09336139122024179,
99
+ 0.04232101343222894,
100
+ 0.0009334850474260747
101
+ ],
102
+ "orientation": {
103
+ "w": 0.683225698204544,
104
+ "xyz": [
105
+ 0.12548389854364753,
106
+ -0.6980076513909595,
107
+ 0.17390156732726014
108
+ ]
109
+ }
110
+ },
111
+ "grasp_27": {
112
+ "confidence": 0.931564211845398,
113
+ "position": [
114
+ 0.004141561221331358,
115
+ 0.10138746179291047,
116
+ -0.0038929072325117886
117
+ ],
118
+ "orientation": {
119
+ "w": 0.49916276011984095,
120
+ "xyz": [
121
+ 0.4796674452619383,
122
+ -0.5075600514041776,
123
+ 0.5129702477571345
124
+ ]
125
+ }
126
+ },
127
+ "grasp_28": {
128
+ "confidence": 0.931276261806488,
129
+ "position": [
130
+ -0.04880906781181693,
131
+ -0.08619049363187514,
132
+ -0.020932939660269767
133
+ ],
134
+ "orientation": {
135
+ "w": 0.35684736388668364,
136
+ "xyz": [
137
+ -0.5579832641944293,
138
+ -0.3325711736786111,
139
+ -0.6713501695866961
140
+ ]
141
+ }
142
+ },
143
+ "grasp_29": {
144
+ "confidence": 0.9295356869697571,
145
+ "position": [
146
+ 0.10125141451135278,
147
+ -0.0030232671124394983,
148
+ 0.005722823727410287
149
+ ],
150
+ "orientation": {
151
+ "w": 0.6742761838322084,
152
+ "xyz": [
153
+ 0.0016000307875824163,
154
+ -0.737428121645926,
155
+ -0.039355218509287616
156
+ ]
157
+ }
158
+ },
159
+ "grasp_30": {
160
+ "confidence": 0.9273071885108948,
161
+ "position": [
162
+ -0.05188389262184501,
163
+ -0.08464840226224624,
164
+ -0.0036669993423856795
165
+ ],
166
+ "orientation": {
167
+ "w": 0.32729820211223476,
168
+ "xyz": [
169
+ -0.6032325322972194,
170
+ -0.35896090448342866,
171
+ -0.6325610388925497
172
+ ]
173
+ }
174
+ },
175
+ "grasp_31": {
176
+ "confidence": 0.9269344210624695,
177
+ "position": [
178
+ 0.10319185862317681,
179
+ -0.005960147682344541,
180
+ -0.0027082011220045388
181
+ ],
182
+ "orientation": {
183
+ "w": 0.7034087698694522,
184
+ "xyz": [
185
+ -0.058114998966204,
186
+ -0.7078076864598613,
187
+ 0.029103751549252193
188
+ ]
189
+ }
190
+ },
191
+ "grasp_32": {
192
+ "confidence": 0.9268645644187927,
193
+ "position": [
194
+ 0.00017118996129283914,
195
+ 0.09954634882160462,
196
+ -0.0018274881294928491
197
+ ],
198
+ "orientation": {
199
+ "w": 0.49289534976448823,
200
+ "xyz": [
201
+ 0.5063314412738632,
202
+ -0.4924736766251371,
203
+ 0.5080869252297245
204
+ ]
205
+ }
206
+ },
207
+ "grasp_33": {
208
+ "confidence": 0.9268617033958435,
209
+ "position": [
210
+ -0.041096733417361975,
211
+ 0.09141678191372193,
212
+ -0.006008176889736205
213
+ ],
214
+ "orientation": {
215
+ "w": 0.370213816498084,
216
+ "xyz": [
217
+ 0.5856056741667576,
218
+ -0.3704548377103203,
219
+ 0.6186848451955493
220
+ ]
221
+ }
222
+ },
223
+ "grasp_34": {
224
+ "confidence": 0.9263061285018921,
225
+ "position": [
226
+ -0.048452848102897406,
227
+ -0.0859098973160144,
228
+ -0.004709301341790706
229
+ ],
230
+ "orientation": {
231
+ "w": 0.3366380400950098,
232
+ "xyz": [
233
+ -0.6023497588631119,
234
+ -0.35191749562888075,
235
+ -0.6324584367599493
236
+ ]
237
+ }
238
+ },
239
+ "grasp_36": {
240
+ "confidence": 0.9259069561958313,
241
+ "position": [
242
+ 0.10039897123351693,
243
+ 0.0020309904648456722,
244
+ 0.0021306415437720716
245
+ ],
246
+ "orientation": {
247
+ "w": 0.49255820082027085,
248
+ "xyz": [
249
+ -0.5002173744326882,
250
+ -0.5117473865000257,
251
+ 0.49526115285852873
252
+ ]
253
+ }
254
+ },
255
+ "grasp_37": {
256
+ "confidence": 0.9255145192146301,
257
+ "position": [
258
+ -0.05261085322126746,
259
+ -0.08500409297994338,
260
+ -0.004369132046122104
261
+ ],
262
+ "orientation": {
263
+ "w": 0.334632021279173,
264
+ "xyz": [
265
+ -0.6097148993322763,
266
+ -0.3449525572309855,
267
+ -0.6302990442057259
268
+ ]
269
+ }
270
+ },
271
+ "grasp_38": {
272
+ "confidence": 0.925313413143158,
273
+ "position": [
274
+ -0.05278258165344596,
275
+ -0.08606239579967223,
276
+ -0.0020134166697971523
277
+ ],
278
+ "orientation": {
279
+ "w": 0.31338461703268894,
280
+ "xyz": [
281
+ -0.6001765133988516,
282
+ -0.3647679225199739,
283
+ -0.6391577248787156
284
+ ]
285
+ }
286
+ }
287
+ }
288
+ },
289
+ {
290
+ "part_name": "eraser core",
291
+ "mask_color": "Red",
292
+ "graspable": true,
293
+ "grasp_scenarios": [
294
+ {
295
+ "scenario": "grasp an exposed eraser end to pick up the eraser when the sleeve is not accessible",
296
+ "confidence": 0.64
297
+ },
298
+ {
299
+ "scenario": "pinch an exposed eraser end to stabilize the object while adjusting the sleeve",
300
+ "confidence": 0.58
301
+ }
302
+ ],
303
+ "functional_labels": [
304
+ "erase pencil marks",
305
+ "provide frictional contact for rubbing",
306
+ "serve as consumable cleaning material",
307
+ "form the working ends of the eraser"
308
+ ],
309
+ "semantic_description": "White rubber eraser core with a matte finish and smooth, slightly soft-looking texture, exposed at both ends as rectangular blocks extending beyond the yellow sleeve.",
310
+ "id": 0,
311
+ "grasp_group": {
312
+ "grasp_0": {
313
+ "confidence": 0.630861222743988,
314
+ "position": [
315
+ 0.06517201522365212,
316
+ 0.08830340034910478,
317
+ -0.005372892890591174
318
+ ],
319
+ "orientation": {
320
+ "w": 0.36887854124602687,
321
+ "xyz": [
322
+ 0.596939075825743,
323
+ 0.3546594318638796,
324
+ -0.6179069905337704
325
+ ]
326
+ }
327
+ },
328
+ "grasp_3": {
329
+ "confidence": 0.551908016204834,
330
+ "position": [
331
+ 0.0646961540915072,
332
+ 0.08580392427393235,
333
+ -0.0013574751210398972
334
+ ],
335
+ "orientation": {
336
+ "w": 0.37217083334928575,
337
+ "xyz": [
338
+ 0.605907813008875,
339
+ 0.3603576714707022,
340
+ -0.6037441027050398
341
+ ]
342
+ }
343
+ },
344
+ "grasp_6": {
345
+ "confidence": 0.6020652055740356,
346
+ "position": [
347
+ 0.06745045492425561,
348
+ -0.08823032103828155,
349
+ 0.0021174782305024564
350
+ ],
351
+ "orientation": {
352
+ "w": 0.36029157610826074,
353
+ "xyz": [
354
+ -0.6337041062871185,
355
+ 0.3346197146300982,
356
+ 0.5971923747345924
357
+ ]
358
+ }
359
+ },
360
+ "grasp_9": {
361
+ "confidence": 0.7039640545845032,
362
+ "position": [
363
+ 0.060578732285648584,
364
+ 0.09132295675226487,
365
+ -0.002515889995265752
366
+ ],
367
+ "orientation": {
368
+ "w": 0.37961277275115207,
369
+ "xyz": [
370
+ 0.5948743829290997,
371
+ 0.35794676095933275,
372
+ -0.6114676832160691
373
+ ]
374
+ }
375
+ },
376
+ "grasp_10": {
377
+ "confidence": 0.679100513458252,
378
+ "position": [
379
+ 0.06229442963376641,
380
+ 0.08879756010719575,
381
+ 0.0014756677555851638
382
+ ],
383
+ "orientation": {
384
+ "w": 0.36591305894857845,
385
+ "xyz": [
386
+ 0.606300782743713,
387
+ 0.36058275305149645,
388
+ -0.6070313602583138
389
+ ]
390
+ }
391
+ },
392
+ "grasp_11": {
393
+ "confidence": 0.6518868803977966,
394
+ "position": [
395
+ 0.07113644341006875,
396
+ -0.08596362345269881,
397
+ -0.004772837564814836
398
+ ],
399
+ "orientation": {
400
+ "w": 0.6133581542117941,
401
+ "xyz": [
402
+ -0.32072276839084957,
403
+ -0.6337640215127545,
404
+ -0.3453575618595777
405
+ ]
406
+ }
407
+ },
408
+ "grasp_12": {
409
+ "confidence": 0.6465195417404175,
410
+ "position": [
411
+ 0.06717345723882318,
412
+ -0.08758823000243865,
413
+ -0.005332042288500816
414
+ ],
415
+ "orientation": {
416
+ "w": 0.379006221760863,
417
+ "xyz": [
418
+ -0.6227263127338797,
419
+ 0.31412965034724993,
420
+ 0.6081848288704154
421
+ ]
422
+ }
423
+ },
424
+ "grasp_13": {
425
+ "confidence": 0.6464637517929077,
426
+ "position": [
427
+ 0.06197203183546662,
428
+ -0.08889515869668685,
429
+ -0.0021197707974351943
430
+ ],
431
+ "orientation": {
432
+ "w": 0.5984411115469954,
433
+ "xyz": [
434
+ -0.3531191003395286,
435
+ -0.6145423299274131,
436
+ -0.3735142055038669
437
+ ]
438
+ }
439
+ },
440
+ "grasp_14": {
441
+ "confidence": 0.6255868673324585,
442
+ "position": [
443
+ 0.06535950908437371,
444
+ 0.09020957179018296,
445
+ 0.006136029667686671
446
+ ],
447
+ "orientation": {
448
+ "w": 0.5854673758171178,
449
+ "xyz": [
450
+ 0.34888843407461906,
451
+ -0.6350103148174601,
452
+ 0.36368490826292016
453
+ ]
454
+ }
455
+ },
456
+ "grasp_16": {
457
+ "confidence": 0.5512705445289612,
458
+ "position": [
459
+ 0.07498726854100823,
460
+ 0.0011116322421003133,
461
+ 0.0826055213692598
462
+ ],
463
+ "orientation": {
464
+ "w": 0.20487169671986924,
465
+ "xyz": [
466
+ -0.6786602122207603,
467
+ -0.6680035239264344,
468
+ 0.22631658413262706
469
+ ]
470
+ }
471
+ },
472
+ "grasp_17": {
473
+ "confidence": 0.5379824042320251,
474
+ "position": [
475
+ 0.10019554803147912,
476
+ 0.002050267212325707,
477
+ -0.052965939801651984
478
+ ],
479
+ "orientation": {
480
+ "w": 0.7409126464144474,
481
+ "xyz": [
482
+ -0.266518879601588,
483
+ -0.3881613415053706,
484
+ 0.47890177506437126
485
+ ]
486
+ }
487
+ },
488
+ "grasp_18": {
489
+ "confidence": 0.4876609444618225,
490
+ "position": [
491
+ 0.07134696701541543,
492
+ -0.08140409164479934,
493
+ -0.002432554552797228
494
+ ],
495
+ "orientation": {
496
+ "w": 0.612393959813262,
497
+ "xyz": [
498
+ -0.32988303154891435,
499
+ -0.6246190612756243,
500
+ -0.3549673953639811
501
+ ]
502
+ }
503
+ }
504
+ }
505
+ },
506
+ {
507
+ "part_name": "printed graphics on sleeve",
508
+ "mask_color": "Cyan",
509
+ "graspable": false,
510
+ "grasp_scenarios": [],
511
+ "functional_labels": [
512
+ "display branding",
513
+ "show product information",
514
+ "show markings and symbols"
515
+ ],
516
+ "semantic_description": "Blue printed text, logos, and small marking areas applied flat onto the outer surface of the yellow sleeve; these are ink graphics rather than a separate structural component.",
517
+ "id": 6,
518
+ "grasp_group": {}
519
+ }
520
+ ],
521
+ "quality_check": {
522
+ "success": true,
523
+ "message": "YES"
524
+ }
525
+ }
dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:95194bfa0ac35558ef81f3eaab85e6456af73b819d29ad1fde56a30d87b8fe19
3
+ size 3782408
dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/eraser_016.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>NO: {"summary":"Text graphics are mislabeled as a part; true eraser ends are merged and incomplete.","merge_groups":[]}</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>NO: {"summary":"Text graphics are mislabeled as a part; true eraser ends are merged and incomplete.","merge_groups":[]}</PartSegChecker>