xinjjj commited on
Commit
5e9f47d
·
verified ·
1 Parent(s): fd6ef2a

Add asset desktop_supplies/office_stationery/78f77e842f625b88856cfe2f3bb2f8c2

Browse files
.gitattributes CHANGED
@@ -6374,4 +6374,4 @@ dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/affo
6374
  dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6375
  dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6376
  dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6377
- dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6374
  dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6375
  dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6376
  dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6377
+ dataset/desktop_supplies/office_stationery/78f77e842f625b88856cfe2f3bb2f8c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/78f77e842f625b88856cfe2f3bb2f8c2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,293 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "eraser",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the eraser from the sides to pick it up from a desk",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the eraser while rubbing it against paper to erase pencil marks",
14
+ "confidence": 0.96
15
+ },
16
+ {
17
+ "scenario": "pinch one end of the eraser to reposition or orient it precisely",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "erase pencil marks",
23
+ "provide the main grasp surface",
24
+ "support rubbing against paper",
25
+ "stabilize the eraser during use"
26
+ ],
27
+ "semantic_description": "Small block-shaped eraser with a light pink paper sleeve, a teal central branding band, pale yellow curved end sections, smooth matte surfaces, rounded edges, and blue printed text/logos.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.9353808760643005,
32
+ "position": [
33
+ 0.09538949990383117,
34
+ 0.02875118108204333,
35
+ -0.002921597367276263
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6943859781959227,
39
+ "xyz": [
40
+ 0.08568739852173976,
41
+ -0.7041382110602002,
42
+ 0.12114108611205837
43
+ ]
44
+ }
45
+ },
46
+ "grasp_3": {
47
+ "confidence": 0.9344072937965393,
48
+ "position": [
49
+ 0.0867507603179547,
50
+ 0.05293098242691485,
51
+ 0.0016929522053032997
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6678663388345901,
55
+ "xyz": [
56
+ 0.18128276631240875,
57
+ -0.6916516293232161,
58
+ 0.20666188749825531
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.9342793822288513,
64
+ "position": [
65
+ 0.10287385398260085,
66
+ 0.00043529472168302163,
67
+ 1.546959265397163e-05
68
+ ],
69
+ "orientation": {
70
+ "w": 0.49442675574403283,
71
+ "xyz": [
72
+ -0.5003580675199867,
73
+ -0.5107401805936863,
74
+ 0.49429591885754526
75
+ ]
76
+ }
77
+ },
78
+ "grasp_6": {
79
+ "confidence": 0.9337987303733826,
80
+ "position": [
81
+ 0.10403548145404784,
82
+ -0.002745617304753978,
83
+ -0.002274978939567518
84
+ ],
85
+ "orientation": {
86
+ "w": 0.005371231482138306,
87
+ "xyz": [
88
+ 0.7081651861979109,
89
+ -0.02660881314886787,
90
+ -0.7055247621398217
91
+ ]
92
+ }
93
+ },
94
+ "grasp_7": {
95
+ "confidence": 0.9330320954322815,
96
+ "position": [
97
+ 0.08784276956430404,
98
+ 0.04876492323091952,
99
+ 0.0009259615571863833
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6778230455991788,
103
+ "xyz": [
104
+ 0.1698326606001057,
105
+ -0.6907041418350155,
106
+ 0.1861197858909622
107
+ ]
108
+ }
109
+ },
110
+ "grasp_8": {
111
+ "confidence": 0.9329511523246765,
112
+ "position": [
113
+ 0.035916678250941914,
114
+ 0.0906566322009894,
115
+ -0.006958298651625228
116
+ ],
117
+ "orientation": {
118
+ "w": 0.59582945972209,
119
+ "xyz": [
120
+ 0.3563802059974858,
121
+ -0.5896752056386424,
122
+ 0.41263004684038374
123
+ ]
124
+ }
125
+ },
126
+ "grasp_9": {
127
+ "confidence": 0.9328610301017761,
128
+ "position": [
129
+ 0.09477283024898497,
130
+ 0.0029354157086345367,
131
+ 0.03523374461929052
132
+ ],
133
+ "orientation": {
134
+ "w": 0.4025866164480472,
135
+ "xyz": [
136
+ 0.5770657891690539,
137
+ -0.6013415777924348,
138
+ -0.3785596360492165
139
+ ]
140
+ }
141
+ },
142
+ "grasp_10": {
143
+ "confidence": 0.9317910075187683,
144
+ "position": [
145
+ 0.10033129865041701,
146
+ -0.0029669703289982863,
147
+ -0.002904978381593537
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5094126091372561,
151
+ "xyz": [
152
+ -0.49915739485492805,
153
+ -0.50583683150346,
154
+ 0.48525229387211966
155
+ ]
156
+ }
157
+ },
158
+ "grasp_11": {
159
+ "confidence": 0.9316266775131226,
160
+ "position": [
161
+ 0.09858347439876525,
162
+ 0.004138684475037735,
163
+ 0.0009694847640275839
164
+ ],
165
+ "orientation": {
166
+ "w": 0.49238194839707783,
167
+ "xyz": [
168
+ -0.49388646544265374,
169
+ -0.5176087768799167,
170
+ 0.49569883018031885
171
+ ]
172
+ }
173
+ },
174
+ "grasp_12": {
175
+ "confidence": 0.9315590262413025,
176
+ "position": [
177
+ 0.08564422989002196,
178
+ 0.055565783397469204,
179
+ -0.0007127403850972769
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6769295210455015,
183
+ "xyz": [
184
+ 0.17849238440880333,
185
+ -0.6861772267218904,
186
+ 0.1976555230025796
187
+ ]
188
+ }
189
+ },
190
+ "grasp_14": {
191
+ "confidence": 0.9304633140563965,
192
+ "position": [
193
+ 0.1035589274179074,
194
+ -0.0052944117996958084,
195
+ 0.004896493827800441
196
+ ],
197
+ "orientation": {
198
+ "w": 0.016571435581601922,
199
+ "xyz": [
200
+ -0.7231122015967089,
201
+ 0.02521290971113377,
202
+ 0.6900713300874219
203
+ ]
204
+ }
205
+ },
206
+ "grasp_15": {
207
+ "confidence": 0.9301308393478394,
208
+ "position": [
209
+ 0.08855935895553557,
210
+ 0.0544938013117644,
211
+ -0.00941570362647326
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6882366388188821,
215
+ "xyz": [
216
+ 0.14262323146276737,
217
+ -0.6747266367257092,
218
+ 0.22523966907988882
219
+ ]
220
+ }
221
+ },
222
+ "grasp_16": {
223
+ "confidence": 0.9300569891929626,
224
+ "position": [
225
+ 0.10135119372716872,
226
+ 0.003717341103765648,
227
+ -0.01714786401589663
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4952433582119419,
231
+ "xyz": [
232
+ 0.5035626823962596,
233
+ -0.4316161071483602,
234
+ -0.5611293764319758
235
+ ]
236
+ }
237
+ },
238
+ "grasp_17": {
239
+ "confidence": 0.929191529750824,
240
+ "position": [
241
+ -0.042318433879700024,
242
+ 0.08691767753771273,
243
+ -0.012555806698401284
244
+ ],
245
+ "orientation": {
246
+ "w": 0.367015018853002,
247
+ "xyz": [
248
+ 0.5654810963260862,
249
+ -0.3587221589669567,
250
+ 0.6456388450986075
251
+ ]
252
+ }
253
+ },
254
+ "grasp_18": {
255
+ "confidence": 0.9288904666900635,
256
+ "position": [
257
+ -0.042159445940342266,
258
+ 0.0884155497114989,
259
+ -0.01054301186104567
260
+ ],
261
+ "orientation": {
262
+ "w": 0.37859800799503907,
263
+ "xyz": [
264
+ 0.5734837731544394,
265
+ -0.3575710017047278,
266
+ 0.6323945675056145
267
+ ]
268
+ }
269
+ },
270
+ "grasp_19": {
271
+ "confidence": 0.9278624057769775,
272
+ "position": [
273
+ 0.04799378255120246,
274
+ 0.08835974486282794,
275
+ 0.001748825739014137
276
+ ],
277
+ "orientation": {
278
+ "w": 0.57011889206708,
279
+ "xyz": [
280
+ 0.34581944210558824,
281
+ -0.6285914528792257,
282
+ 0.4003075664250795
283
+ ]
284
+ }
285
+ }
286
+ }
287
+ }
288
+ ],
289
+ "quality_check": {
290
+ "success": true,
291
+ "message": "YES"
292
+ }
293
+ }
dataset/desktop_supplies/office_stationery/78f77e842f625b88856cfe2f3bb2f8c2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dd36e9aad947a6422090d67527c5ad60af56eeac715f4fe6d191fd3b2d8e1a96
3
+ size 3771984
dataset/desktop_supplies/office_stationery/78f77e842f625b88856cfe2f3bb2f8c2/eraser_019.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
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>