xinjjj commited on
Commit
7621c42
·
verified ·
1 Parent(s): b1bfc51

Add asset desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409

Browse files
.gitattributes CHANGED
@@ -6500,3 +6500,4 @@ dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/affo
6500
  dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6501
  dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6502
  dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6500
  dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6501
  dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6502
  dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6503
+ dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/affordance/affordance_annot.json ADDED
@@ -0,0 +1,603 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "marker barrel",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the barrel to pick up and reposition the marker",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the barrel while removing or replacing the cap",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the barrel to orient the writing tip toward a surface",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house the ink reservoir",
24
+ "support writing control",
25
+ "connect cap and tip sections"
26
+ ],
27
+ "semantic_description": "Long cylindrical red plastic body with a smooth slightly glossy hard surface, medium thickness, centered along the marker, with white printed branding on the side.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9856579899787903,
32
+ "position": [
33
+ 0.07238632396001776,
34
+ 0.04715566791128367,
35
+ 0.04382123005234462
36
+ ],
37
+ "orientation": {
38
+ "w": 0.21235654198155884,
39
+ "xyz": [
40
+ 0.8359107315420998,
41
+ 0.15357158584821562,
42
+ -0.4822589719128612
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9847908616065979,
48
+ "position": [
49
+ 0.018658199833225808,
50
+ -0.05990287952590734,
51
+ -0.08190846118486661
52
+ ],
53
+ "orientation": {
54
+ "w": 0.03374798157104547,
55
+ "xyz": [
56
+ -0.08633099180748152,
57
+ 0.26666193159522333,
58
+ 0.9593223899353758
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9841538071632385,
64
+ "position": [
65
+ 0.00166679024368932,
66
+ -0.04246983223129064,
67
+ 0.08577365752898913
68
+ ],
69
+ "orientation": {
70
+ "w": 0.2458084402288329,
71
+ "xyz": [
72
+ -0.9693110681698284,
73
+ 0.003601115299254498,
74
+ 0.0011383340179514818
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9799918532371521,
80
+ "position": [
81
+ 0.0833376716091152,
82
+ 0.06016715324949473,
83
+ -0.008061296784944716
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7027382715321301,
87
+ "xyz": [
88
+ 0.19365632295288013,
89
+ -0.6573393495443673,
90
+ 0.19120964893276687
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9790580868721008,
96
+ "position": [
97
+ -0.0021168489274714375,
98
+ 0.05839069269131869,
99
+ 0.08201182213269931
100
+ ],
101
+ "orientation": {
102
+ "w": 0.27970109712547314,
103
+ "xyz": [
104
+ 0.9598445373806976,
105
+ 0.021223179279684423,
106
+ -0.003916246736780364
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.978213906288147,
112
+ "position": [
113
+ 0.08069021955270728,
114
+ 0.059933540294878185,
115
+ -0.003367351846463862
116
+ ],
117
+ "orientation": {
118
+ "w": 0.19768723728052834,
119
+ "xyz": [
120
+ 0.655159207567492,
121
+ 0.21818253025446144,
122
+ -0.6957604131076224
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9771537780761719,
128
+ "position": [
129
+ -0.0033122342811111594,
130
+ -0.05363463901448995,
131
+ 0.08373169180595141
132
+ ],
133
+ "orientation": {
134
+ "w": 0.03125094145489277,
135
+ "xyz": [
136
+ -0.004412636535759204,
137
+ 0.9633140360728027,
138
+ 0.26651449341848754
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.977027416229248,
144
+ "position": [
145
+ 0.004600239937644801,
146
+ 0.06461476988624781,
147
+ -0.08202103200710553
148
+ ],
149
+ "orientation": {
150
+ "w": 0.01400703588050238,
151
+ "xyz": [
152
+ -0.03857903955924718,
153
+ -0.28431889757297324,
154
+ 0.957850836579171
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9768511056900024,
160
+ "position": [
161
+ 0.0630103196217533,
162
+ 0.03203961707185954,
163
+ 0.056955392925374326
164
+ ],
165
+ "orientation": {
166
+ "w": 0.39971931150589773,
167
+ "xyz": [
168
+ 0.12051088842257424,
169
+ -0.8801232692332224,
170
+ 0.22601908931565481
171
+ ]
172
+ }
173
+ },
174
+ "grasp_10": {
175
+ "confidence": 0.9723652005195618,
176
+ "position": [
177
+ 0.03770172551412543,
178
+ -0.08284654014278203,
179
+ 0.07462471303188067
180
+ ],
181
+ "orientation": {
182
+ "w": 0.23041818658943633,
183
+ "xyz": [
184
+ -0.0606836718548001,
185
+ -0.9340307363914564,
186
+ -0.2661043681247792
187
+ ]
188
+ }
189
+ },
190
+ "grasp_11": {
191
+ "confidence": 0.9719043970108032,
192
+ "position": [
193
+ 0.002465406685587368,
194
+ -0.04459467076230794,
195
+ 0.08564396527253848
196
+ ],
197
+ "orientation": {
198
+ "w": 0.013040724729484435,
199
+ "xyz": [
200
+ -0.011362563206954049,
201
+ 0.9673095614341802,
202
+ 0.25300799199612733
203
+ ]
204
+ }
205
+ },
206
+ "grasp_12": {
207
+ "confidence": 0.9670765995979309,
208
+ "position": [
209
+ -0.08392356380682031,
210
+ 0.05999395705293864,
211
+ -0.0007881981564423768
212
+ ],
213
+ "orientation": {
214
+ "w": 0.1946535335607397,
215
+ "xyz": [
216
+ 0.6661709374086806,
217
+ -0.18082610446118363,
218
+ 0.6968702920700169
219
+ ]
220
+ }
221
+ },
222
+ "grasp_13": {
223
+ "confidence": 0.9658045172691345,
224
+ "position": [
225
+ -0.08161648407440225,
226
+ -0.04362510435748845,
227
+ 0.007840727908842382
228
+ ],
229
+ "orientation": {
230
+ "w": 0.6531078509802739,
231
+ "xyz": [
232
+ -0.20525545288396985,
233
+ 0.7017626534777359,
234
+ 0.19710279610703704
235
+ ]
236
+ }
237
+ },
238
+ "grasp_14": {
239
+ "confidence": 0.96418696641922,
240
+ "position": [
241
+ 0.05196006551523169,
242
+ -0.09378318779636174,
243
+ 0.06769081529819232
244
+ ],
245
+ "orientation": {
246
+ "w": 0.24448781669588593,
247
+ "xyz": [
248
+ -0.9174999729286384,
249
+ 0.06813968600723308,
250
+ 0.30622947335954215
251
+ ]
252
+ }
253
+ },
254
+ "grasp_15": {
255
+ "confidence": 0.9638428688049316,
256
+ "position": [
257
+ -0.0051724631139222765,
258
+ -0.07872533344198018,
259
+ 0.0865415292664693
260
+ ],
261
+ "orientation": {
262
+ "w": 0.02668476514423463,
263
+ "xyz": [
264
+ -0.0050844421007026274,
265
+ 0.9714340988544018,
266
+ 0.23574957760440865
267
+ ]
268
+ }
269
+ },
270
+ "grasp_16": {
271
+ "confidence": 0.9630935192108154,
272
+ "position": [
273
+ -0.07429800227146188,
274
+ -0.05704814859200269,
275
+ 0.03268377807580691
276
+ ],
277
+ "orientation": {
278
+ "w": 0.22878698103068995,
279
+ "xyz": [
280
+ -0.8044522384406987,
281
+ -0.17465912764070202,
282
+ -0.5196222690670604
283
+ ]
284
+ }
285
+ },
286
+ "grasp_18": {
287
+ "confidence": 0.9628886580467224,
288
+ "position": [
289
+ -0.005301718580085435,
290
+ -0.09423255466390401,
291
+ 0.08305907574140292
292
+ ],
293
+ "orientation": {
294
+ "w": 0.2708954879549222,
295
+ "xyz": [
296
+ -0.9620670194202967,
297
+ -0.0050053565942204115,
298
+ -0.03190033157783459
299
+ ]
300
+ }
301
+ },
302
+ "grasp_19": {
303
+ "confidence": 0.961944580078125,
304
+ "position": [
305
+ 0.03911773815889319,
306
+ -0.09905210428405553,
307
+ 0.0695315929933713
308
+ ],
309
+ "orientation": {
310
+ "w": 0.25249892643138455,
311
+ "xyz": [
312
+ -0.08632778100792755,
313
+ -0.9186942837623934,
314
+ -0.2911917226837816
315
+ ]
316
+ }
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "part_name": "marker cap",
322
+ "mask_color": "Magenta",
323
+ "graspable": true,
324
+ "grasp_scenarios": [
325
+ {
326
+ "scenario": "grasp the cap to pull it off the marker",
327
+ "confidence": 0.94
328
+ },
329
+ {
330
+ "scenario": "hold the cap while capping the marker",
331
+ "confidence": 0.88
332
+ },
333
+ {
334
+ "scenario": "grasp the capped end to move the whole marker briefly",
335
+ "confidence": 0.62
336
+ }
337
+ ],
338
+ "functional_labels": [
339
+ "cover the writing tip",
340
+ "prevent ink from drying",
341
+ "provide a pull-off grip",
342
+ "protect the tip during storage"
343
+ ],
344
+ "semantic_description": "Short black plastic cap with a hard matte-to-satin finish, smooth body, longitudinal vent slits, and a rounded cylindrical shape fitted over one end of the marker.",
345
+ "id": 7,
346
+ "grasp_group": {
347
+ "grasp_38": {
348
+ "confidence": 0.9780433177947998,
349
+ "position": [
350
+ 0.09875983700294455,
351
+ 0.0155597337288782,
352
+ -4.741967131849378e-06
353
+ ],
354
+ "orientation": {
355
+ "w": 0.7069517355577583,
356
+ "xyz": [
357
+ 0.013841707076524597,
358
+ -0.7069056785153274,
359
+ -0.017663873297391445
360
+ ]
361
+ }
362
+ },
363
+ "grasp_40": {
364
+ "confidence": 0.9837073683738708,
365
+ "position": [
366
+ 0.09665678396959265,
367
+ 0.016245889361016452,
368
+ 0.004164701314948616
369
+ ],
370
+ "orientation": {
371
+ "w": 0.6872613256455435,
372
+ "xyz": [
373
+ 0.012681319999795477,
374
+ -0.7261632852529912,
375
+ -0.014069027883101578
376
+ ]
377
+ }
378
+ },
379
+ "grasp_41": {
380
+ "confidence": 0.982546329498291,
381
+ "position": [
382
+ 0.09743336543579062,
383
+ 0.016304054181091487,
384
+ -0.0019711505283339648
385
+ ],
386
+ "orientation": {
387
+ "w": 0.7149437979695225,
388
+ "xyz": [
389
+ 0.013392951744331468,
390
+ -0.6989190494882691,
391
+ -0.01371702777217507
392
+ ]
393
+ }
394
+ },
395
+ "grasp_44": {
396
+ "confidence": 0.9825265407562256,
397
+ "position": [
398
+ 0.09863009259242972,
399
+ 0.023643129388801754,
400
+ -0.0019513280258252053
401
+ ],
402
+ "orientation": {
403
+ "w": 0.028992484596110545,
404
+ "xyz": [
405
+ 0.6959457941115325,
406
+ 0.02191248386079725,
407
+ -0.7171741284698319
408
+ ]
409
+ }
410
+ },
411
+ "grasp_45": {
412
+ "confidence": 0.9218942523002625,
413
+ "position": [
414
+ -0.055947509108591476,
415
+ 0.010069135460071266,
416
+ 0.08633409765207034
417
+ ],
418
+ "orientation": {
419
+ "w": 0.30998252100641577,
420
+ "xyz": [
421
+ -0.025867651218442034,
422
+ 0.9501026592795981,
423
+ 0.023380293428082684
424
+ ]
425
+ }
426
+ },
427
+ "grasp_46": {
428
+ "confidence": 0.925086259841919,
429
+ "position": [
430
+ -0.08291486695270578,
431
+ 0.016314794193021953,
432
+ 0.06261533823453647
433
+ ],
434
+ "orientation": {
435
+ "w": 0.4577261474354771,
436
+ "xyz": [
437
+ -0.004924267616269917,
438
+ 0.8890793631588922,
439
+ -0.0006415195226458898
440
+ ]
441
+ }
442
+ }
443
+ }
444
+ },
445
+ {
446
+ "part_name": "rear end plug",
447
+ "mask_color": "Yellow",
448
+ "graspable": true,
449
+ "grasp_scenarios": [
450
+ {
451
+ "scenario": "pinch the rear end plug lightly to stabilize the marker during reorientation",
452
+ "confidence": 0.42
453
+ },
454
+ {
455
+ "scenario": "use the rear end as a brief contact point for pushing or nudging the marker",
456
+ "confidence": 0.36
457
+ }
458
+ ],
459
+ "functional_labels": [
460
+ "close the barrel end",
461
+ "retain internal parts",
462
+ "provide end protection",
463
+ "indicate end boundary"
464
+ ],
465
+ "semantic_description": "Small red plastic end piece with a smooth slightly glossy finish and rounded cylindrical form, located at the back end and slightly raised from the barrel.",
466
+ "id": 3,
467
+ "grasp_group": {
468
+ "grasp_22": {
469
+ "confidence": 0.8942127227783203,
470
+ "position": [
471
+ -0.0979631473110203,
472
+ -0.06200670369435102,
473
+ -0.007325593860514346
474
+ ],
475
+ "orientation": {
476
+ "w": 0.7246495571564332,
477
+ "xyz": [
478
+ -0.005656666240271977,
479
+ 0.6886674576833716,
480
+ 0.024251889987227857
481
+ ]
482
+ }
483
+ },
484
+ "grasp_23": {
485
+ "confidence": 0.8311450481414795,
486
+ "position": [
487
+ -0.001985051416340866,
488
+ -0.0695455624954775,
489
+ 0.1006105947180913
490
+ ],
491
+ "orientation": {
492
+ "w": 0.054550800502418374,
493
+ "xyz": [
494
+ -0.998484786514634,
495
+ -0.007224057455945676,
496
+ -0.00039275595999703104
497
+ ]
498
+ }
499
+ },
500
+ "grasp_25": {
501
+ "confidence": 0.8800790309906006,
502
+ "position": [
503
+ -0.09700042798976938,
504
+ -0.07271633588243276,
505
+ -0.002768706543065491
506
+ ],
507
+ "orientation": {
508
+ "w": 0.7083031988509781,
509
+ "xyz": [
510
+ -0.0415721099936379,
511
+ 0.7022433325809786,
512
+ 0.05858873623580773
513
+ ]
514
+ }
515
+ },
516
+ "grasp_27": {
517
+ "confidence": 0.3914712965488434,
518
+ "position": [
519
+ 0.05157617062468489,
520
+ 0.10097569681238383,
521
+ 0.0772854792758153
522
+ ],
523
+ "orientation": {
524
+ "w": 0.34382980766986715,
525
+ "xyz": [
526
+ 0.13245453149862332,
527
+ -0.9041493834286213,
528
+ 0.2162192241425945
529
+ ]
530
+ }
531
+ },
532
+ "grasp_28": {
533
+ "confidence": 0.7985832691192627,
534
+ "position": [
535
+ 0.10446622923154791,
536
+ -0.05754990421701223,
537
+ -0.005203612161494675
538
+ ],
539
+ "orientation": {
540
+ "w": 0.00503390425395631,
541
+ "xyz": [
542
+ -0.6993868063621768,
543
+ -0.00812704284170429,
544
+ 0.7146794428757032
545
+ ]
546
+ }
547
+ },
548
+ "grasp_31": {
549
+ "confidence": 0.65775465965271,
550
+ "position": [
551
+ 0.08766370967168768,
552
+ 0.10890272713731974,
553
+ -0.007354812243647757
554
+ ],
555
+ "orientation": {
556
+ "w": 0.21293454784688914,
557
+ "xyz": [
558
+ 0.654293118032235,
559
+ 0.18767611890068292,
560
+ -0.7009543982480411
561
+ ]
562
+ }
563
+ },
564
+ "grasp_32": {
565
+ "confidence": 0.6290262937545776,
566
+ "position": [
567
+ 0.08831430927057227,
568
+ -0.11416919820476323,
569
+ -0.01242470789111394
570
+ ],
571
+ "orientation": {
572
+ "w": 0.2137738897827715,
573
+ "xyz": [
574
+ -0.6522954885309539,
575
+ 0.18786008480235117,
576
+ 0.7025097210910044
577
+ ]
578
+ }
579
+ },
580
+ "grasp_36": {
581
+ "confidence": 0.5258622169494629,
582
+ "position": [
583
+ -0.052328467814731994,
584
+ 0.1464079812867567,
585
+ 0.0020608093927876325
586
+ ],
587
+ "orientation": {
588
+ "w": 0.6133053386161406,
589
+ "xyz": [
590
+ 0.3611451920952843,
591
+ 0.6096077576241972,
592
+ -0.349011595360096
593
+ ]
594
+ }
595
+ }
596
+ }
597
+ }
598
+ ],
599
+ "quality_check": {
600
+ "success": true,
601
+ "message": "YES"
602
+ }
603
+ }
dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:44623e2e2198f04464840cbf4aa8f9b0616ed67c3123cec7df36fffc1f050a46
3
+ size 3785524
dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/marker_039.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>