xinjjj commited on
Commit
d168593
·
verified ·
1 Parent(s): 996ccf0

Add asset desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6

Browse files
.gitattributes CHANGED
@@ -8204,3 +8204,4 @@ dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affo
8204
  dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8205
  dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8206
  dataset/desktop_supplies/office_stationery/dd16e44ba3c75b43b6fc416f3b05da9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8204
  dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8205
  dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8206
  dataset/desktop_supplies/office_stationery/dd16e44ba3c75b43b6fc416f3b05da9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8207
+ dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "eraser body",
5
+ "mask_color": "Olive",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the eraser body to pick up and reposition the eraser",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the eraser body while rubbing it against paper to erase pencil marks",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "pinch the eraser body to stabilize and orient it for precise erasing",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "erase pencil marks",
23
+ "provide the main grasp surface",
24
+ "support rubbing against paper",
25
+ "stabilize the printed branding"
26
+ ],
27
+ "semantic_description": "Small rectangular white rubber eraser body with a matte smooth slightly soft surface, rounded edges, and a plain block shape forming nearly the entire object.",
28
+ "id": 14,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9639566540718079,
32
+ "position": [
33
+ 0.08321949986566324,
34
+ 0.050272205291548744,
35
+ -0.0019583575194701552
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6799229586335584,
39
+ "xyz": [
40
+ 0.1867434497688315,
41
+ -0.6832112119123935,
42
+ 0.1898791568567295
43
+ ]
44
+ }
45
+ },
46
+ "grasp_3": {
47
+ "confidence": 0.9445981979370117,
48
+ "position": [
49
+ -0.005926692319917493,
50
+ 0.09991226848796941,
51
+ -0.0007894705631770194
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6860932295058896,
55
+ "xyz": [
56
+ 0.7257986210921346,
57
+ -0.011251164153581072,
58
+ 0.048640038570337496
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.941489577293396,
64
+ "position": [
65
+ 0.00029923241527285427,
66
+ 0.10279077794984914,
67
+ -0.0064448058838024735
68
+ ],
69
+ "orientation": {
70
+ "w": 0.06296956015260663,
71
+ "xyz": [
72
+ 0.04811171051989006,
73
+ 0.7034584148909507,
74
+ -0.7063047191716538
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.9409043192863464,
80
+ "position": [
81
+ 0.07174340782512445,
82
+ 0.06919168439344503,
83
+ 0.004016550374217331
84
+ ],
85
+ "orientation": {
86
+ "w": 0.2431408421206534,
87
+ "xyz": [
88
+ 0.6750908306765163,
89
+ 0.24316916598059213,
90
+ -0.6526895570986672
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.9391050934791565,
96
+ "position": [
97
+ 0.08320023266423959,
98
+ -0.05444297063513659,
99
+ 0.008809512830339372
100
+ ],
101
+ "orientation": {
102
+ "w": 0.24388716464854618,
103
+ "xyz": [
104
+ -0.7270079377957365,
105
+ 0.14547625402723297,
106
+ 0.6251521165411564
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.9386822581291199,
112
+ "position": [
113
+ 0.0006779888790333644,
114
+ -0.09948123487993143,
115
+ -0.004664499429054558
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4819258494301056,
119
+ "xyz": [
120
+ -0.434528017394962,
121
+ -0.5346492673646118,
122
+ -0.5413714424093296
123
+ ]
124
+ }
125
+ },
126
+ "grasp_8": {
127
+ "confidence": 0.9384676814079285,
128
+ "position": [
129
+ -0.006803464537370019,
130
+ 0.10675922539667226,
131
+ 0.0021699961507692933
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6777921611870601,
135
+ "xyz": [
136
+ 0.7334437139728344,
137
+ -0.01908613678899529,
138
+ 0.04789388321676469
139
+ ]
140
+ }
141
+ },
142
+ "grasp_10": {
143
+ "confidence": 0.9377610087394714,
144
+ "position": [
145
+ -0.0037417250423459336,
146
+ 0.09890598562196828,
147
+ -0.006338706822134554
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5013138007388325,
151
+ "xyz": [
152
+ 0.4880197160212626,
153
+ 0.5077680242472686,
154
+ -0.5026856507951444
155
+ ]
156
+ }
157
+ },
158
+ "grasp_11": {
159
+ "confidence": 0.9376705288887024,
160
+ "position": [
161
+ -0.005644457807647996,
162
+ 0.10627058651880361,
163
+ 0.0002469118626322597
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6917246597299813,
167
+ "xyz": [
168
+ 0.7214112033842458,
169
+ -0.002380944636805493,
170
+ 0.032820753430902745
171
+ ]
172
+ }
173
+ },
174
+ "grasp_12": {
175
+ "confidence": 0.9376509785652161,
176
+ "position": [
177
+ -0.029686369394767098,
178
+ 0.09148141500190832,
179
+ 0.03915837442036718
180
+ ],
181
+ "orientation": {
182
+ "w": 0.24044163911163194,
183
+ "xyz": [
184
+ 0.10216071204227907,
185
+ 0.8329707197933807,
186
+ -0.4877609937902206
187
+ ]
188
+ }
189
+ },
190
+ "grasp_13": {
191
+ "confidence": 0.9357456564903259,
192
+ "position": [
193
+ -0.005523538144188933,
194
+ 0.10342629757360555,
195
+ -0.0012987152440473437
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6942960139000672,
199
+ "xyz": [
200
+ 0.7189642934363487,
201
+ 0.014650403294645065,
202
+ 0.028788114376492892
203
+ ]
204
+ }
205
+ },
206
+ "grasp_14": {
207
+ "confidence": 0.9355428814888,
208
+ "position": [
209
+ 0.08051509557117242,
210
+ -0.054245243401965126,
211
+ 0.0055550410179421306
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6359496558122409,
215
+ "xyz": [
216
+ -0.15462922650123992,
217
+ -0.71733590266488,
218
+ -0.23892894410657317
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.9349352121353149,
224
+ "position": [
225
+ 0.08084511903871316,
226
+ 0.04371014368371107,
227
+ 0.020164007670246065
228
+ ],
229
+ "orientation": {
230
+ "w": 0.6012298431445999,
231
+ "xyz": [
232
+ 0.17332573552690206,
233
+ -0.7565286222950742,
234
+ 0.19011919620252918
235
+ ]
236
+ }
237
+ },
238
+ "grasp_17": {
239
+ "confidence": 0.9333362579345703,
240
+ "position": [
241
+ 0.08561144171108026,
242
+ -0.05008045452996157,
243
+ 0.011655073030851781
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6131423168499962,
247
+ "xyz": [
248
+ -0.13018821460995197,
249
+ -0.7456805354161756,
250
+ -0.2259824488006486
251
+ ]
252
+ }
253
+ },
254
+ "grasp_18": {
255
+ "confidence": 0.9331958889961243,
256
+ "position": [
257
+ -0.011922335645067506,
258
+ -0.10082257780595683,
259
+ -0.004209782578982413
260
+ ],
261
+ "orientation": {
262
+ "w": 0.5282437404174537,
263
+ "xyz": [
264
+ -0.48119587171133354,
265
+ 0.5060783985399526,
266
+ 0.48300490503615406
267
+ ]
268
+ }
269
+ }
270
+ }
271
+ },
272
+ {
273
+ "part_name": "printed logo text",
274
+ "mask_color": "Burnt Orange",
275
+ "graspable": false,
276
+ "grasp_scenarios": [],
277
+ "functional_labels": [
278
+ "display brand identity",
279
+ "provide product labeling",
280
+ "indicate orientation on the eraser surface"
281
+ ],
282
+ "semantic_description": "Blue printed Pentel logo and lettering on the eraser faces, appearing as flat smooth ink markings on the white rubber surface near the top and side.",
283
+ "id": 18,
284
+ "grasp_group": {}
285
+ }
286
+ ],
287
+ "quality_check": {
288
+ "success": true,
289
+ "message": "YES"
290
+ }
291
+ }
dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6125dc8ef418792c35d23342e61b1a38c785b0f34879d5db84376e7621b3cbad
3
+ size 3836504
dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/eraser_046.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>