xinjjj commited on
Commit
38c8472
·
verified ·
1 Parent(s): e5d2294

Add asset desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d

Browse files
.gitattributes CHANGED
@@ -6503,3 +6503,4 @@ dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affo
6503
  dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6504
  dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6505
  dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6503
  dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6504
  dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6505
  dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6506
+ dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,181 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "eraser body",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the eraser body to pick up and move the eraser",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the eraser body to rub and remove pencil marks",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the eraser body to stabilize and reorient it on a surface",
18
+ "confidence": 0.89
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "erase pencil marks",
23
+ "provide the main grasp surface",
24
+ "contact paper for rubbing",
25
+ "support reorientation during use"
26
+ ],
27
+ "semantic_description": "Rectangular dark gray rubber eraser body with a matte finish, slightly textured soft surface, rounded edges, medium size, and white printed brand text and stripe markings across the faces.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.9545857310295105,
32
+ "position": [
33
+ 0.08262113605451304,
34
+ 0.05233360672718845,
35
+ -0.006048669063602574
36
+ ],
37
+ "orientation": {
38
+ "w": 0.7001828898163504,
39
+ "xyz": [
40
+ 0.18660330707227782,
41
+ -0.6607944906846691,
42
+ 0.19563682597839988
43
+ ]
44
+ }
45
+ },
46
+ "grasp_4": {
47
+ "confidence": 0.9524866342544556,
48
+ "position": [
49
+ 0.08038151387881953,
50
+ 0.06231874818331562,
51
+ -0.009216492951964028
52
+ ],
53
+ "orientation": {
54
+ "w": 0.7070663209040349,
55
+ "xyz": [
56
+ 0.19962709476783114,
57
+ -0.6489213954495995,
58
+ 0.1977555647903035
59
+ ]
60
+ }
61
+ },
62
+ "grasp_6": {
63
+ "confidence": 0.9500870108604431,
64
+ "position": [
65
+ 0.08686931554984767,
66
+ 0.05165081316954456,
67
+ 0.00022530164278578013
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6806012390418339,
71
+ "xyz": [
72
+ 0.17611017731182366,
73
+ -0.6856120024319203,
74
+ 0.18895327724919553
75
+ ]
76
+ }
77
+ },
78
+ "grasp_8": {
79
+ "confidence": 0.9496333599090576,
80
+ "position": [
81
+ 0.08135557298373897,
82
+ 0.059748770989244804,
83
+ 0.006872622805531137
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6487478883075234,
87
+ "xyz": [
88
+ 0.18559493575112632,
89
+ -0.7071909811264628,
90
+ 0.21109621847265514
91
+ ]
92
+ }
93
+ },
94
+ "grasp_10": {
95
+ "confidence": 0.9487844109535217,
96
+ "position": [
97
+ 0.08627000574779231,
98
+ 0.052961176581447944,
99
+ 0.000504972631460987
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6756702338215865,
103
+ "xyz": [
104
+ 0.1827167531006552,
105
+ -0.6865927511081321,
106
+ 0.19665888586484745
107
+ ]
108
+ }
109
+ },
110
+ "grasp_12": {
111
+ "confidence": 0.9470632672309875,
112
+ "position": [
113
+ 0.08307356511068065,
114
+ 0.05323008293635212,
115
+ 0.009167790456558578
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6405439646428792,
119
+ "xyz": [
120
+ 0.17720619552071254,
121
+ -0.7188422489756607,
122
+ 0.20388039316293124
123
+ ]
124
+ }
125
+ },
126
+ "grasp_14": {
127
+ "confidence": 0.9465066194534302,
128
+ "position": [
129
+ 0.07838799928140361,
130
+ 0.060106190241640434,
131
+ -0.006819535934482701
132
+ ],
133
+ "orientation": {
134
+ "w": 0.19947681845165877,
135
+ "xyz": [
136
+ 0.655233235430841,
137
+ 0.21136709883784688,
138
+ -0.6972821205337966
139
+ ]
140
+ }
141
+ },
142
+ "grasp_15": {
143
+ "confidence": 0.9457048177719116,
144
+ "position": [
145
+ 0.08062768851232249,
146
+ 0.06271412069327198,
147
+ 0.009274239695514552
148
+ ],
149
+ "orientation": {
150
+ "w": 0.6385289783322698,
151
+ "xyz": [
152
+ 0.18654465352378657,
153
+ -0.7168886745670876,
154
+ 0.20869227189592507
155
+ ]
156
+ }
157
+ },
158
+ "grasp_19": {
159
+ "confidence": 0.945153534412384,
160
+ "position": [
161
+ 0.08328530316066463,
162
+ 0.05383131871349178,
163
+ -0.0013440104230539873
164
+ ],
165
+ "orientation": {
166
+ "w": 0.18761472067439658,
167
+ "xyz": [
168
+ 0.6793003102972005,
169
+ 0.19542970791314684,
170
+ -0.682025684473376
171
+ ]
172
+ }
173
+ }
174
+ }
175
+ }
176
+ ],
177
+ "quality_check": {
178
+ "success": true,
179
+ "message": "YES"
180
+ }
181
+ }
dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a032c3b8fb75239d1cec97b55930650c681a812fb8fd6290f0955ab97ffe246
3
+ size 3777524
dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/eraser_037.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>