xinjjj commited on
Commit
3e29d4c
·
verified ·
1 Parent(s): 26b59c6

Add asset desktop_supplies/office_tools/b7b0d75f5ae5504a9c2ff89e240c5273

Browse files
.gitattributes CHANGED
@@ -6634,4 +6634,4 @@ dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordanc
6634
  dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6635
  dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6636
  dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6637
- dataset/desktop_supplies/office_tools/b501c5f9ae3f5c1d9f0e6257652f4229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6634
  dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6635
  dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6636
  dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6637
+ dataset/desktop_supplies/office_tools/b7b0d75f5ae5504a9c2ff89e240c5273/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/b7b0d75f5ae5504a9c2ff89e240c5273/affordance/affordance_annot.json ADDED
@@ -0,0 +1,309 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sticky note pad",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the pad from the sides to pick it up and relocate it",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "pinch the pad near one edge to stabilize it while peeling or dispensing a note",
14
+ "confidence": 0.8
15
+ },
16
+ {
17
+ "scenario": "grasp the whole stack to place it in a drawer, organizer, or on a desk",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide writable note sheets",
23
+ "stack and dispense individual notes",
24
+ "support temporary attachment of notes",
25
+ "serve as the main grasp body"
26
+ ],
27
+ "semantic_description": "Compact rectangular stack of white paper sheets with a matte smooth finish and fine papery texture. A tan adhesive-bound strip is visible along one edge/top side in several views. The pad has straight layered sheet edges around the sides and slight curvature on the exposed top sheet, with no clearly visible printed markings.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9899377822875977,
32
+ "position": [
33
+ -0.003455627476796508,
34
+ -0.14521788526326418,
35
+ 0.005721144611015916
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5013853682152315,
39
+ "xyz": [
40
+ -0.5218863922390119,
41
+ 0.5027167113435582,
42
+ 0.47278241747271366
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9887963533401489,
48
+ "position": [
49
+ 0.0027275802567601204,
50
+ -0.14464444387704134,
51
+ -0.0013127047568559647
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5079511464665649,
55
+ "xyz": [
56
+ -0.5087506568633221,
57
+ 0.4968587641769703,
58
+ 0.48609646203708806
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9887279272079468,
64
+ "position": [
65
+ 0.0005061750925960951,
66
+ -0.14362261164933443,
67
+ -0.0021582705667242408
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5013356994350519,
71
+ "xyz": [
72
+ -0.47910938993969393,
73
+ -0.5165178817372799,
74
+ -0.5023206015974409
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.9881752729415894,
80
+ "position": [
81
+ -0.0025721611455082893,
82
+ -0.14198525715619326,
83
+ -0.005636337562464178
84
+ ],
85
+ "orientation": {
86
+ "w": 0.4898915251130004,
87
+ "xyz": [
88
+ -0.4925480477902587,
89
+ -0.48812378792801725,
90
+ -0.5283350091554291
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.9880308508872986,
96
+ "position": [
97
+ 0.0031783138401806355,
98
+ -0.14459288585931063,
99
+ -0.0022148200077936053
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5097279307084038,
103
+ "xyz": [
104
+ -0.4969918088470425,
105
+ 0.5092939019259756,
106
+ 0.4835248701521858
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.9877420663833618,
112
+ "position": [
113
+ -0.0067237496841698885,
114
+ -0.14605457056313753,
115
+ -0.00030375714413821697
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5081729185589781,
119
+ "xyz": [
120
+ -0.5097123310052415,
121
+ 0.5009265596630355,
122
+ 0.4806518555967598
123
+ ]
124
+ }
125
+ },
126
+ "grasp_8": {
127
+ "confidence": 0.9876441359519958,
128
+ "position": [
129
+ 0.004723314428701997,
130
+ -0.14348203409463167,
131
+ -0.0039061844145180658
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5114849268251853,
135
+ "xyz": [
136
+ -0.4990571956894218,
137
+ 0.5015688515930284,
138
+ 0.48760001248246054
139
+ ]
140
+ }
141
+ },
142
+ "grasp_9": {
143
+ "confidence": 0.9875866174697876,
144
+ "position": [
145
+ 0.010756084462627769,
146
+ -0.14351770747452974,
147
+ -0.002555282902903855
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5078738724898547,
151
+ "xyz": [
152
+ -0.5002397811101826,
153
+ 0.502332152488337,
154
+ 0.4893737831284276
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.987468957901001,
160
+ "position": [
161
+ -0.024685648502781987,
162
+ -0.1396766947582364,
163
+ -0.0020956587977707386
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4250435533247951,
167
+ "xyz": [
168
+ -0.5414944374717078,
169
+ -0.4388409531939451,
170
+ -0.5775295401657479
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.9873707294464111,
176
+ "position": [
177
+ -0.0018754878547042608,
178
+ -0.1448300974443555,
179
+ -0.0026365164667367935
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5073861237316425,
183
+ "xyz": [
184
+ -0.4991929479047816,
185
+ 0.5081329583096501,
186
+ 0.4849398095497997
187
+ ]
188
+ }
189
+ },
190
+ "grasp_12": {
191
+ "confidence": 0.9873296022415161,
192
+ "position": [
193
+ 0.013956571696326137,
194
+ -0.14297871757298708,
195
+ -0.0003157462924718857
196
+ ],
197
+ "orientation": {
198
+ "w": 0.45449356031458,
199
+ "xyz": [
200
+ -0.5475941956401346,
201
+ 0.4513865912654962,
202
+ 0.5383552226546399
203
+ ]
204
+ }
205
+ },
206
+ "grasp_13": {
207
+ "confidence": 0.987322986125946,
208
+ "position": [
209
+ 0.0001983333204407245,
210
+ -0.1413811044767499,
211
+ 0.00021381955593824387
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4839775053038343,
215
+ "xyz": [
216
+ -0.4954854114448749,
217
+ -0.5128087684462744,
218
+ -0.5072348059920532
219
+ ]
220
+ }
221
+ },
222
+ "grasp_14": {
223
+ "confidence": 0.9872052669525146,
224
+ "position": [
225
+ 0.008060890948399901,
226
+ -0.1424821214750409,
227
+ -0.0030356483184732497
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4961788344687961,
231
+ "xyz": [
232
+ -0.4868328015132781,
233
+ -0.5013481981834643,
234
+ -0.5152187610851472
235
+ ]
236
+ }
237
+ },
238
+ "grasp_16": {
239
+ "confidence": 0.9866153001785278,
240
+ "position": [
241
+ 0.013378266943618655,
242
+ -0.1434788005426526,
243
+ -0.003560503071639687
244
+ ],
245
+ "orientation": {
246
+ "w": 0.49731212382378404,
247
+ "xyz": [
248
+ -0.48806328242455926,
249
+ -0.49965279877020286,
250
+ -0.5146085546587281
251
+ ]
252
+ }
253
+ },
254
+ "grasp_17": {
255
+ "confidence": 0.9864648580551147,
256
+ "position": [
257
+ 0.008038433501496911,
258
+ -0.14212353993207216,
259
+ 0.004695491166785359
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4829006586948341,
263
+ "xyz": [
264
+ -0.498501576547976,
265
+ -0.5167201163095162,
266
+ -0.50130175883629
267
+ ]
268
+ }
269
+ },
270
+ "grasp_18": {
271
+ "confidence": 0.9863552451133728,
272
+ "position": [
273
+ 0.016911185113713145,
274
+ -0.14530347753316164,
275
+ -0.0014011554885655642
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5136856067103566,
279
+ "xyz": [
280
+ -0.5061228008749835,
281
+ 0.4974735434138069,
282
+ 0.48216893460320087
283
+ ]
284
+ }
285
+ },
286
+ "grasp_19": {
287
+ "confidence": 0.986129105091095,
288
+ "position": [
289
+ -0.0029802911449223757,
290
+ -0.14464119542390108,
291
+ -0.004917227430269122
292
+ ],
293
+ "orientation": {
294
+ "w": 0.49382141973480903,
295
+ "xyz": [
296
+ -0.4842996726530076,
297
+ -0.5123718041585744,
298
+ -0.5089885723496889
299
+ ]
300
+ }
301
+ }
302
+ }
303
+ }
304
+ ],
305
+ "quality_check": {
306
+ "success": false,
307
+ "message": "Object is a plain note pad, not clearly sticky; adhesive/temporary-attachment claims are unsupported by images."
308
+ }
309
+ }
dataset/desktop_supplies/office_tools/b7b0d75f5ae5504a9c2ff89e240c5273/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c8a86dc3a4debb912103c325e65a3923ef51ddd9ede7475af999e2080e2755e
3
+ size 3777012
dataset/desktop_supplies/office_tools/b7b0d75f5ae5504a9c2ff89e240c5273/sticky_notes_010.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>YES</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>YES</PartSegChecker>