xinjjj commited on
Commit
2c308d8
·
verified ·
1 Parent(s): 41db7ec

Add asset desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7

Browse files
.gitattributes CHANGED
@@ -6474,3 +6474,4 @@ dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/affo
6474
  dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6475
  dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6476
  dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6474
  dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6475
  dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6476
  dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6477
+ dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,462 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "front cover",
5
+ "mask_color": "Maroon",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the front cover edge to pick up the notebook from a table",
10
+ "confidence": 0.79
11
+ },
12
+ {
13
+ "scenario": "pinch the front cover to open the notebook",
14
+ "confidence": 0.83
15
+ },
16
+ {
17
+ "scenario": "hold the cover to stabilize the notebook while flipping pages",
18
+ "confidence": 0.68
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the pages",
23
+ "protect the contents",
24
+ "provide a writing support surface",
25
+ "open and close the notebook"
26
+ ],
27
+ "semantic_description": "Large rectangular pink paperboard cover with a smooth matte finish, hard flat surface, printed ruled layout and bold dark text, forming the main outer face of the notebook.",
28
+ "id": 12,
29
+ "grasp_group": {
30
+ "grasp_45": {
31
+ "confidence": 0.9733938574790955,
32
+ "position": [
33
+ 0.1468432443216443,
34
+ -0.027800158564787125,
35
+ 0.0010907863907050341
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6997595778841696,
39
+ "xyz": [
40
+ 0.010401412307128892,
41
+ -0.7143016790479371,
42
+ -0.0012062713973360287
43
+ ]
44
+ }
45
+ },
46
+ "grasp_46": {
47
+ "confidence": 0.9702521562576294,
48
+ "position": [
49
+ -0.039479232393205166,
50
+ 0.16497175305630662,
51
+ 0.0013280323764774948
52
+ ],
53
+ "orientation": {
54
+ "w": 0.49782704485374474,
55
+ "xyz": [
56
+ 0.5005281414165603,
57
+ -0.5044909180593893,
58
+ 0.4971204347619054
59
+ ]
60
+ }
61
+ },
62
+ "grasp_47": {
63
+ "confidence": 0.9680166840553284,
64
+ "position": [
65
+ 0.14618337620049715,
66
+ -0.009514788132946705,
67
+ 0.004137146548600867
68
+ ],
69
+ "orientation": {
70
+ "w": 0.05538174743057716,
71
+ "xyz": [
72
+ -0.714045252253335,
73
+ 0.02742906005556356,
74
+ 0.6973663932614441
75
+ ]
76
+ }
77
+ },
78
+ "grasp_48": {
79
+ "confidence": 0.9677908420562744,
80
+ "position": [
81
+ 0.14362210500985384,
82
+ -0.049693399076204514,
83
+ 0.012166873581008986
84
+ ],
85
+ "orientation": {
86
+ "w": 0.11738860222227454,
87
+ "xyz": [
88
+ -0.7355200593183425,
89
+ 0.06492856045215245,
90
+ 0.6640891810941161
91
+ ]
92
+ }
93
+ },
94
+ "grasp_49": {
95
+ "confidence": 0.9674988985061646,
96
+ "position": [
97
+ 0.13985361624509096,
98
+ -0.06954372764084837,
99
+ -0.0015736387285869569
100
+ ],
101
+ "orientation": {
102
+ "w": 0.1728878975275275,
103
+ "xyz": [
104
+ -0.6938425555268751,
105
+ 0.10586536483489961,
106
+ 0.6910027551007448
107
+ ]
108
+ }
109
+ },
110
+ "grasp_51": {
111
+ "confidence": 0.9610303640365601,
112
+ "position": [
113
+ -0.061134654097259045,
114
+ 0.15432448595311143,
115
+ 0.002571346965851262
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5993642688515511,
119
+ "xyz": [
120
+ 0.3699703266160267,
121
+ 0.6122724882901002,
122
+ -0.3591752089589769
123
+ ]
124
+ }
125
+ },
126
+ "grasp_53": {
127
+ "confidence": 0.9519338607788086,
128
+ "position": [
129
+ -0.08362206351011992,
130
+ -0.15341019720290205,
131
+ -0.0021037694241385907
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6041629243204546,
135
+ "xyz": [
136
+ -0.35886403328715416,
137
+ 0.6193217600855041,
138
+ 0.3502061164143568
139
+ ]
140
+ }
141
+ },
142
+ "grasp_54": {
143
+ "confidence": 0.9447544813156128,
144
+ "position": [
145
+ 0.13395306933671236,
146
+ -0.07936454654191039,
147
+ -0.0009977105946745723
148
+ ],
149
+ "orientation": {
150
+ "w": 0.20217046875110964,
151
+ "xyz": [
152
+ -0.6880884187998416,
153
+ 0.17777675789581715,
154
+ 0.6738374090465317
155
+ ]
156
+ }
157
+ },
158
+ "grasp_55": {
159
+ "confidence": 0.9445159435272217,
160
+ "position": [
161
+ -0.00799108762294054,
162
+ 0.15233066588189104,
163
+ 0.001563687139423564
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6056775915361235,
167
+ "xyz": [
168
+ 0.3536158640678178,
169
+ 0.6232047893092224,
170
+ -0.346014835480531
171
+ ]
172
+ }
173
+ },
174
+ "grasp_56": {
175
+ "confidence": 0.9168744087219238,
176
+ "position": [
177
+ 0.12970331776887178,
178
+ 0.09028500973727205,
179
+ 0.03822400330682285
180
+ ],
181
+ "orientation": {
182
+ "w": 0.517724290418181,
183
+ "xyz": [
184
+ 0.11582233791042829,
185
+ -0.8206554282581526,
186
+ 0.21230029020795377
187
+ ]
188
+ }
189
+ }
190
+ }
191
+ },
192
+ {
193
+ "part_name": "page block",
194
+ "mask_color": "Cyan",
195
+ "graspable": true,
196
+ "grasp_scenarios": [
197
+ {
198
+ "scenario": "grasp the page block from the side to lift the notebook",
199
+ "confidence": 0.72
200
+ },
201
+ {
202
+ "scenario": "pinch the page edges to separate or flip a section of pages",
203
+ "confidence": 0.62
204
+ },
205
+ {
206
+ "scenario": "hold the page block to stabilize the notebook during placement",
207
+ "confidence": 0.66
208
+ }
209
+ ],
210
+ "functional_labels": [
211
+ "provide writing pages",
212
+ "store written notes",
213
+ "offer page edges for flipping",
214
+ "form the main thickness of the notebook"
215
+ ],
216
+ "semantic_description": "Thick white stack of paper pages with a smooth matte finish and fine dry texture, visible along the side and bottom edges as the main interior bulk of the notebook.",
217
+ "id": 6,
218
+ "grasp_group": {}
219
+ },
220
+ {
221
+ "part_name": "spine binding",
222
+ "mask_color": "Green",
223
+ "graspable": true,
224
+ "grasp_scenarios": [
225
+ {
226
+ "scenario": "grasp the spine to pull the notebook from a shelf or bin",
227
+ "confidence": 0.74
228
+ },
229
+ {
230
+ "scenario": "hold the spine to carry or reorient the notebook",
231
+ "confidence": 0.69
232
+ },
233
+ {
234
+ "scenario": "stabilize the notebook by the spine while opening it",
235
+ "confidence": 0.71
236
+ }
237
+ ],
238
+ "functional_labels": [
239
+ "bind the pages",
240
+ "connect front and back covers",
241
+ "provide structural reinforcement",
242
+ "indicate notebook orientation"
243
+ ],
244
+ "semantic_description": "Narrow dark blue binding strip along one long edge, likely coated paper or cloth over board, with a smooth slightly matte surface and firm rectangular rounded profile.",
245
+ "id": 1,
246
+ "grasp_group": {
247
+ "grasp_0": {
248
+ "confidence": 0.9747194647789001,
249
+ "position": [
250
+ -0.04223104100674391,
251
+ 0.1569226673200319,
252
+ 0.00023809650156181306
253
+ ],
254
+ "orientation": {
255
+ "w": 0.48736574714111836,
256
+ "xyz": [
257
+ 0.5081803836527741,
258
+ 0.5066002407779412,
259
+ -0.49757765446996455
260
+ ]
261
+ }
262
+ },
263
+ "grasp_1": {
264
+ "confidence": 0.9743898510932922,
265
+ "position": [
266
+ -0.0422443775460124,
267
+ 0.16147091894890764,
268
+ -0.0014996214013081044
269
+ ],
270
+ "orientation": {
271
+ "w": 0.490220441172262,
272
+ "xyz": [
273
+ 0.5100456118537047,
274
+ 0.5018592724729931,
275
+ -0.49766923103456
276
+ ]
277
+ }
278
+ },
279
+ "grasp_3": {
280
+ "confidence": 0.9730640649795532,
281
+ "position": [
282
+ -0.04373937379568815,
283
+ 0.15582562893177965,
284
+ 0.0004930761315335985
285
+ ],
286
+ "orientation": {
287
+ "w": 0.4907539564336875,
288
+ "xyz": [
289
+ 0.5111340896601644,
290
+ 0.5011806050445036,
291
+ -0.49670967149752826
292
+ ]
293
+ }
294
+ },
295
+ "grasp_6": {
296
+ "confidence": 0.9722055196762085,
297
+ "position": [
298
+ -0.1344505799934268,
299
+ 0.01698267742540338,
300
+ -0.0021542573522310704
301
+ ],
302
+ "orientation": {
303
+ "w": 0.677839675306156,
304
+ "xyz": [
305
+ 0.18470089104807616,
306
+ 0.6874265536186108,
307
+ -0.18402089231098404
308
+ ]
309
+ }
310
+ },
311
+ "grasp_7": {
312
+ "confidence": 0.9716618061065674,
313
+ "position": [
314
+ -0.0446387929841876,
315
+ 0.15440818577553728,
316
+ 0.00016247047460637987
317
+ ],
318
+ "orientation": {
319
+ "w": 0.5036007274207274,
320
+ "xyz": [
321
+ 0.5097657089692074,
322
+ 0.496636015127111,
323
+ -0.4897733126448393
324
+ ]
325
+ }
326
+ },
327
+ "grasp_8": {
328
+ "confidence": 0.9715960621833801,
329
+ "position": [
330
+ -0.10117246489971876,
331
+ 0.14578486889149644,
332
+ 0.0034590231080073863
333
+ ],
334
+ "orientation": {
335
+ "w": 0.3501131177481872,
336
+ "xyz": [
337
+ 0.6075811421085602,
338
+ -0.3540255687906758,
339
+ 0.6188148811859167
340
+ ]
341
+ }
342
+ },
343
+ "grasp_10": {
344
+ "confidence": 0.9707306623458862,
345
+ "position": [
346
+ -0.10059825610369444,
347
+ 0.14406599014546373,
348
+ 0.0037690755270887166
349
+ ],
350
+ "orientation": {
351
+ "w": 0.6053684851110728,
352
+ "xyz": [
353
+ 0.3597965070253718,
354
+ 0.6202920075189677,
355
+ -0.3454175678432643
356
+ ]
357
+ }
358
+ },
359
+ "grasp_12": {
360
+ "confidence": 0.9704450964927673,
361
+ "position": [
362
+ -0.09728351514786482,
363
+ 0.14426907807137468,
364
+ -0.0001438592153135687
365
+ ],
366
+ "orientation": {
367
+ "w": 0.6169917508313072,
368
+ "xyz": [
369
+ 0.35406788216194685,
370
+ 0.6064906751176686,
371
+ -0.35514247172478036
372
+ ]
373
+ }
374
+ },
375
+ "grasp_13": {
376
+ "confidence": 0.9699403643608093,
377
+ "position": [
378
+ -0.047276693396270275,
379
+ 0.15324914365555742,
380
+ 0.0022477702295873314
381
+ ],
382
+ "orientation": {
383
+ "w": 0.49097237949253164,
384
+ "xyz": [
385
+ 0.5061147107087782,
386
+ -0.4931501055183213,
387
+ 0.5095066197871025
388
+ ]
389
+ }
390
+ },
391
+ "grasp_14": {
392
+ "confidence": 0.9698435068130493,
393
+ "position": [
394
+ -0.10004147421568632,
395
+ 0.14123138695504167,
396
+ 0.00057692636619322
397
+ ],
398
+ "orientation": {
399
+ "w": 0.6168993459162082,
400
+ "xyz": [
401
+ 0.35688779861808356,
402
+ 0.6076211594888627,
403
+ -0.350517934986361
404
+ ]
405
+ }
406
+ },
407
+ "grasp_15": {
408
+ "confidence": 0.9696337580680847,
409
+ "position": [
410
+ -0.09725802671164274,
411
+ 0.14402843921925523,
412
+ 0.000999103969661519
413
+ ],
414
+ "orientation": {
415
+ "w": 0.6133901950427462,
416
+ "xyz": [
417
+ 0.3578735597717815,
418
+ 0.6156501209780803,
419
+ -0.3415463546597594
420
+ ]
421
+ }
422
+ },
423
+ "grasp_16": {
424
+ "confidence": 0.969106137752533,
425
+ "position": [
426
+ -0.05478345509618521,
427
+ 0.1595111182286928,
428
+ 0.0005113937659189105
429
+ ],
430
+ "orientation": {
431
+ "w": 0.49982266436984407,
432
+ "xyz": [
433
+ 0.502704697662591,
434
+ 0.5129661172568762,
435
+ -0.48407752858049313
436
+ ]
437
+ }
438
+ },
439
+ "grasp_18": {
440
+ "confidence": 0.9689278602600098,
441
+ "position": [
442
+ -0.09750854503363371,
443
+ 0.1417031577184389,
444
+ 0.0016614084888715297
445
+ ],
446
+ "orientation": {
447
+ "w": 0.6052541398896307,
448
+ "xyz": [
449
+ 0.3497219750997906,
450
+ 0.6266510924714547,
451
+ -0.34448566673099357
452
+ ]
453
+ }
454
+ }
455
+ }
456
+ }
457
+ ],
458
+ "quality_check": {
459
+ "success": true,
460
+ "message": "YES"
461
+ }
462
+ }
dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cc2987725b6b7c60233697179405f52f252522c32bff25a4635101de631a217f
3
+ size 3806144
dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.urdf CHANGED
@@ -51,16 +51,17 @@
51
  </link>
52
  <custom_data>
53
  <affordance>
54
- <part_count>0</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
58
- <mesh filename="None" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>
 
51
  </link>
52
  <custom_data>
53
  <affordance>
54
+ <part_count>4</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
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>
65
  </quality>
66
  </custom_data>
67
  </robot>