Add asset desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/affordance/affordance_annot.json +290 -0
- dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6396,3 +6396,4 @@ dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affo
|
|
| 6396 |
dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6397 |
dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6398 |
dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6396 |
dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6397 |
dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6398 |
dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6399 |
+
dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,290 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser body with paper sleeve",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the rectangular eraser body from the sides to pick up and move it",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the eraser body while rubbing an exposed white end against paper to erase pencil marks",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the body to reposition or stabilize the eraser on a desk",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"erase pencil marks",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"provide structural body",
|
| 25 |
+
"paper sleeve improves grip and helps keep the eraser clean"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small rectangular white block eraser partly wrapped in an off-white paper sleeve. White eraser material is exposed at both ends. The sleeve has dark red bands, black barcode lines, and Japanese text on a matte surface, and the block has slightly chamfered edges.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9509291052818298,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.04920153133571148,
|
| 34 |
+
0.0865067298291251,
|
| 35 |
+
-0.003913284279406071
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.36533554480450775,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6043247802265798,
|
| 41 |
+
-0.34989727899736334,
|
| 42 |
+
0.6155431697750625
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9397574067115784,
|
| 48 |
+
"position": [
|
| 49 |
+
0.015278033912181854,
|
| 50 |
+
0.09251378278713673,
|
| 51 |
+
-0.02895568823441863
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6842983410850072,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.3867754634099005,
|
| 57 |
+
-0.44663537082221005,
|
| 58 |
+
0.427384331513067
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9286227822303772,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.0599632952362299,
|
| 66 |
+
0.08406516711693257,
|
| 67 |
+
-0.0020163608714938164
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.3600282093516433,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.6092839815756401,
|
| 73 |
+
-0.3426414190809669,
|
| 74 |
+
0.6178588643020066
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9263899326324463,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.04567868448793888,
|
| 82 |
+
0.0858569199917838,
|
| 83 |
+
0.0035051722079515457
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.3519596302712659,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.6189981011642204,
|
| 89 |
+
-0.3551343489625597,
|
| 90 |
+
0.6056776069835688
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9245628714561462,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.024525705724954605,
|
| 98 |
+
0.004083900596015155,
|
| 99 |
+
-0.09551250888034701
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7192886987448542,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.0794456311310437,
|
| 105 |
+
0.0649907857871328,
|
| 106 |
+
0.6870868630056145
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9229758381843567,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.05669078417122364,
|
| 114 |
+
0.08497296820860356,
|
| 115 |
+
-0.000638557830825448
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6038536963929222,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.3667865665215377,
|
| 121 |
+
0.6221891623985214,
|
| 122 |
+
-0.3372076128526342
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9209584593772888,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.010785624384880066,
|
| 130 |
+
-0.0012569293612614274,
|
| 131 |
+
-0.09807702107354999
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7210664338130858,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.0033027650137161368,
|
| 137 |
+
0.011120787574957047,
|
| 138 |
+
0.6927688054864017
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_9": {
|
| 143 |
+
"confidence": 0.9032413959503174,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.02457406185567379,
|
| 146 |
+
-0.0007428704993799329,
|
| 147 |
+
0.09689834760501981
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.04576045584541474,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.7137797909101943,
|
| 153 |
+
0.696057239666196,
|
| 154 |
+
0.0626794214818115
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_10": {
|
| 159 |
+
"confidence": 0.9027407169342041,
|
| 160 |
+
"position": [
|
| 161 |
+
0.09690617583692074,
|
| 162 |
+
-0.009158428874798119,
|
| 163 |
+
-0.00046624394599348307
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.7067944120917854,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.01565886399675346,
|
| 169 |
+
-0.707137429353356,
|
| 170 |
+
-0.01237396547941401
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_12": {
|
| 175 |
+
"confidence": 0.8978879451751709,
|
| 176 |
+
"position": [
|
| 177 |
+
0.025236191228032112,
|
| 178 |
+
0.08547991316299886,
|
| 179 |
+
-0.033716786187142134
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.7252615643613565,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.3408381377847899,
|
| 185 |
+
-0.4555818546541236,
|
| 186 |
+
0.38764700540752806
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_13": {
|
| 191 |
+
"confidence": 0.8943530917167664,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.09844199009239674,
|
| 194 |
+
-0.04920218337792903,
|
| 195 |
+
0.0009298829536419362
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.677094510892113,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.1869723751753687,
|
| 201 |
+
0.6913012708359674,
|
| 202 |
+
0.1693720968212531
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_15": {
|
| 207 |
+
"confidence": 0.8918044567108154,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.01905555184930563,
|
| 210 |
+
-0.002007275470532477,
|
| 211 |
+
0.10070134745910764
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.019706240415867618,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.7053493423724443,
|
| 217 |
+
0.7074255429787725,
|
| 218 |
+
0.040534805348262995
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_17": {
|
| 223 |
+
"confidence": 0.8871724605560303,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.016859271563589573,
|
| 226 |
+
-0.006809243117459118,
|
| 227 |
+
0.10062807099893689
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.051033449679117264,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.7231550915090015,
|
| 233 |
+
0.6887877393628826,
|
| 234 |
+
-0.003708199270069308
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_18": {
|
| 239 |
+
"confidence": 0.884870707988739,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.020036160945892334,
|
| 242 |
+
-0.012606569682247937,
|
| 243 |
+
0.0946398158557713
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.0637429792957099,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.7145506009476993,
|
| 249 |
+
0.6965341848204891,
|
| 250 |
+
0.01394276343645986
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_19": {
|
| 255 |
+
"confidence": 0.8847607970237732,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.02207178995013237,
|
| 258 |
+
0.0013656824303325266,
|
| 259 |
+
0.09964184509590268
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.05502335961925352,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.683306064287117,
|
| 265 |
+
0.7262498559442269,
|
| 266 |
+
-0.051248406274247864
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "printed sleeve markings",
|
| 274 |
+
"mask_color": "Magenta",
|
| 275 |
+
"graspable": false,
|
| 276 |
+
"grasp_scenarios": [],
|
| 277 |
+
"functional_labels": [
|
| 278 |
+
"display branding and product information",
|
| 279 |
+
"show barcode for identification"
|
| 280 |
+
],
|
| 281 |
+
"semantic_description": "Dark red and black printed markings on the paper sleeve, including stripes, barcode lines, and Japanese characters on the side and top faces. These are flat printed graphics on the sleeve surface, not a separate physical component.",
|
| 282 |
+
"id": 7,
|
| 283 |
+
"grasp_group": {}
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"quality_check": {
|
| 287 |
+
"success": false,
|
| 288 |
+
"message": "Main part description wrongly includes exposed eraser ends; yellow mask covers printed sleeve too, not separate sleeve/body split."
|
| 289 |
+
}
|
| 290 |
+
}
|
dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ad82df4f186c89be747f255075055ca4d67c36d706a5b7bacd8cb8f9f61587a4
|
| 3 |
+
size 3677664
|
dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.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>
|