Add asset desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.urdf +1 -1
- dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/affordance/affordance_annot.json +310 -0
- dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
|
@@ -8187,3 +8187,4 @@ dataset/desktop_supplies/office_stationery/1740bc6dc16f509587e292c20c6b74b4/affo
|
|
| 8187 |
dataset/desktop_supplies/office_stationery/18d9b7dcbdf959d3bd76c31de9fde6f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8188 |
dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8189 |
dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8187 |
dataset/desktop_supplies/office_stationery/18d9b7dcbdf959d3bd76c31de9fde6f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8188 |
dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8189 |
dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8190 |
+
dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.urdf
CHANGED
|
@@ -45,7 +45,7 @@
|
|
| 45 |
<PartSegChecker>YES</PartSegChecker>
|
| 46 |
</quality>
|
| 47 |
<affordance>
|
| 48 |
-
<part_count>
|
| 49 |
<visual_seg>
|
| 50 |
<origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
|
| 51 |
<geometry>
|
|
|
|
| 45 |
<PartSegChecker>YES</PartSegChecker>
|
| 46 |
</quality>
|
| 47 |
<affordance>
|
| 48 |
+
<part_count>2</part_count>
|
| 49 |
<visual_seg>
|
| 50 |
<origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
|
| 51 |
<geometry>
|
dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,310 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spiral notebook body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the notebook body from the side edges to pick it up",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the notebook body flat to reposition or stack it",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the notebook body while opening or turning pages",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide the main writing surface assembly",
|
| 23 |
+
"support the pages and covers",
|
| 24 |
+
"protect enclosed pages",
|
| 25 |
+
"main grasp surface",
|
| 26 |
+
"enable storage of notes"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Rectangular dark gray notebook body with hard smooth matte paperboard covers and visible light page edges, medium-sized and flat with a metal spiral binding along one side.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9818935394287109,
|
| 33 |
+
"position": [
|
| 34 |
+
0.1360095057170838,
|
| 35 |
+
0.02550010083723464,
|
| 36 |
+
-0.0024539311416447163
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.03771562314972326,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.700474925004418,
|
| 42 |
+
0.03669752733082676,
|
| 43 |
+
0.7117342922034081
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.981567919254303,
|
| 49 |
+
"position": [
|
| 50 |
+
0.1368889573495835,
|
| 51 |
+
0.024789458871964598,
|
| 52 |
+
-0.005695342435501516
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7236871167478522,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.0294778276200328,
|
| 58 |
+
-0.6891863329910742,
|
| 59 |
+
-0.020741580226696078
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9803397059440613,
|
| 65 |
+
"position": [
|
| 66 |
+
0.13597794505767524,
|
| 67 |
+
0.03212786166477599,
|
| 68 |
+
-0.005853754817508161
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7174276995143954,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.014917788100116652,
|
| 74 |
+
-0.696466668105275,
|
| 75 |
+
0.0030225462807335645
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_4": {
|
| 80 |
+
"confidence": 0.9802044034004211,
|
| 81 |
+
"position": [
|
| 82 |
+
0.13866441580466926,
|
| 83 |
+
0.0367817699770967,
|
| 84 |
+
-0.0020318098831921816
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.008594959242355024,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.7012536444272721,
|
| 90 |
+
0.021134389525375608,
|
| 91 |
+
0.712546693510314
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.9799807667732239,
|
| 97 |
+
"position": [
|
| 98 |
+
0.1366293195169419,
|
| 99 |
+
0.04335582329440513,
|
| 100 |
+
-0.002865966991521418
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.02234983822842734,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.6984210843168184,
|
| 106 |
+
0.007695896507718847,
|
| 107 |
+
-0.7152966146220922
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.9798269271850586,
|
| 113 |
+
"position": [
|
| 114 |
+
0.13758136960677803,
|
| 115 |
+
0.035611287490610266,
|
| 116 |
+
-0.006687867338769138
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.018058944160966154,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.6939804883582427,
|
| 122 |
+
0.028819814093515306,
|
| 123 |
+
0.7191900824048266
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.9796791076660156,
|
| 129 |
+
"position": [
|
| 130 |
+
0.13815436395816505,
|
| 131 |
+
0.010332003967050696,
|
| 132 |
+
-0.0053904702654108405
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.7123871799935764,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.05647368754421963,
|
| 138 |
+
-0.6974371913697774,
|
| 139 |
+
-0.05382000083792149
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.97967529296875,
|
| 145 |
+
"position": [
|
| 146 |
+
0.13706832262687385,
|
| 147 |
+
0.022652792544249678,
|
| 148 |
+
-0.0013792159734293818
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.714709783997236,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.0048674157611218105,
|
| 154 |
+
-0.6993618824915343,
|
| 155 |
+
-0.007693519372215512
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_9": {
|
| 160 |
+
"confidence": 0.979642391204834,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.13674985733814538,
|
| 163 |
+
-0.02114912049364648,
|
| 164 |
+
0.00570258975494653
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.019169067610872132,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.7241159974210944,
|
| 170 |
+
-0.00181640540779604,
|
| 171 |
+
0.6894093630037079
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_10": {
|
| 176 |
+
"confidence": 0.9795640110969543,
|
| 177 |
+
"position": [
|
| 178 |
+
0.14040518435649574,
|
| 179 |
+
0.05937801002073684,
|
| 180 |
+
-0.005346163525246084
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.0072145273879297995,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.6995131397612459,
|
| 186 |
+
-0.008799206895987788,
|
| 187 |
+
-0.7145291399613694
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_11": {
|
| 192 |
+
"confidence": 0.9790975451469421,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.13798219827003777,
|
| 195 |
+
0.02307589238989749,
|
| 196 |
+
-0.004349963623099029
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.019851647598935904,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.6985858011406375,
|
| 202 |
+
-0.010671823650625911,
|
| 203 |
+
-0.7151712401322304
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_14": {
|
| 208 |
+
"confidence": 0.9789649844169617,
|
| 209 |
+
"position": [
|
| 210 |
+
0.14174445602111518,
|
| 211 |
+
0.05655461622882285,
|
| 212 |
+
-0.0047637614188715816
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.006174330604387753,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.7024201469759213,
|
| 218 |
+
-0.007307477186733746,
|
| 219 |
+
-0.7116982615835717
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_15": {
|
| 224 |
+
"confidence": 0.9789532423019409,
|
| 225 |
+
"position": [
|
| 226 |
+
0.13599166902713478,
|
| 227 |
+
0.03979025109219947,
|
| 228 |
+
-0.005072681582532823
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.7176040403426203,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.00985505779180432,
|
| 234 |
+
-0.696371970814847,
|
| 235 |
+
-0.0036602436138514563
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_16": {
|
| 240 |
+
"confidence": 0.9788356423377991,
|
| 241 |
+
"position": [
|
| 242 |
+
0.1383489880245179,
|
| 243 |
+
0.03642679824042716,
|
| 244 |
+
-0.0036693370202556252
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.7137410023299273,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.011956076302010265,
|
| 250 |
+
-0.7002984648397362,
|
| 251 |
+
0.003590818240940933
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_17": {
|
| 256 |
+
"confidence": 0.9787622094154358,
|
| 257 |
+
"position": [
|
| 258 |
+
0.1368480536621064,
|
| 259 |
+
0.0397480398278276,
|
| 260 |
+
-0.005943402997218072
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.7191144257659625,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.0005084869459791956,
|
| 266 |
+
-0.6948821061790544,
|
| 267 |
+
0.0036114551745696243
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_18": {
|
| 272 |
+
"confidence": 0.9787406325340271,
|
| 273 |
+
"position": [
|
| 274 |
+
0.14293069276027381,
|
| 275 |
+
0.061459292457584525,
|
| 276 |
+
-0.004357830039225519
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.015237292460451158,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.6956520627634127,
|
| 282 |
+
-0.010420686320661399,
|
| 283 |
+
-0.7181416585800394
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_19": {
|
| 288 |
+
"confidence": 0.9787317514419556,
|
| 289 |
+
"position": [
|
| 290 |
+
0.1437707159202546,
|
| 291 |
+
0.051991884396557,
|
| 292 |
+
-0.004519512760452926
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.007178050735697299,
|
| 296 |
+
"xyz": [
|
| 297 |
+
0.6966240895748558,
|
| 298 |
+
-0.02064529478069832,
|
| 299 |
+
-0.7171032876894771
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
}
|
| 305 |
+
],
|
| 306 |
+
"quality_check": {
|
| 307 |
+
"success": true,
|
| 308 |
+
"message": "YES"
|
| 309 |
+
}
|
| 310 |
+
}
|
dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:48a95cde66d2c011a6abcc3efa8504fa10221971fc137e5eb379a47b56f55fb1
|
| 3 |
+
size 741060
|