xinjjj commited on
Commit
85032e8
·
verified ·
1 Parent(s): fba2e0c

Add asset desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a

Browse files
.gitattributes CHANGED
@@ -6534,3 +6534,4 @@ dataset/desktop_supplies/office_tools/2241bc322fac53e1b90d88d44e02e6b5/affordanc
6534
  dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6535
  dataset/desktop_supplies/office_tools/230e97eec7db5cc28dfc28df0f5cec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6536
  dataset/desktop_supplies/office_tools/22540a6b064859cc8572e6775ae386a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6534
  dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6535
  dataset/desktop_supplies/office_tools/230e97eec7db5cc28dfc28df0f5cec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6536
  dataset/desktop_supplies/office_tools/22540a6b064859cc8572e6775ae386a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6537
+ dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,276 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "apple-shaped wooden piece with attached leaf",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main apple-shaped portion from opposite sides to pick up and reposition the piece",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the piece against a table or in-hand while aligning or placing it",
14
+ "confidence": 0.84
15
+ },
16
+ {
17
+ "scenario": "use a light pinch near the attached leaf side to rotate or orient the piece",
18
+ "confidence": 0.68
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "serve as the main wooden puzzle or toy piece",
23
+ "provide the overall shape and contact surface for handling",
24
+ "include an attached leaf-shaped protrusion as part of the piece silhouette"
25
+ ],
26
+ "semantic_description": "Small apple-shaped wooden piece with an attached leaf-shaped protrusion, light natural wood sides with visible grain and a smooth matte finish. The top face is divided into pastel pink, blue, and yellow sections, with a few small decorative seed-like markings visible on one side. The outline is rounded with lobes and a shallow bite-like notch on one edge.",
27
+ "id": 1,
28
+ "grasp_group": {
29
+ "grasp_0": {
30
+ "confidence": 0.9850148558616638,
31
+ "position": [
32
+ -0.011287651082966477,
33
+ -0.11584106244845316,
34
+ -0.0007790821873641107
35
+ ],
36
+ "orientation": {
37
+ "w": 0.47945571948730725,
38
+ "xyz": [
39
+ -0.5308609022023757,
40
+ -0.462975644051111,
41
+ -0.523414241857486
42
+ ]
43
+ }
44
+ },
45
+ "grasp_2": {
46
+ "confidence": 0.9845090508460999,
47
+ "position": [
48
+ -0.01957963505992666,
49
+ -0.11290684499545023,
50
+ -0.0007633155946678016
51
+ ],
52
+ "orientation": {
53
+ "w": 0.5284325459363222,
54
+ "xyz": [
55
+ -0.45670180136290467,
56
+ 0.5492062141328647,
57
+ 0.45886277184467683
58
+ ]
59
+ }
60
+ },
61
+ "grasp_4": {
62
+ "confidence": 0.9843789935112,
63
+ "position": [
64
+ -0.03010485420236364,
65
+ -0.10962471523089334,
66
+ -0.013317366134288022
67
+ ],
68
+ "orientation": {
69
+ "w": 0.5887813164389001,
70
+ "xyz": [
71
+ -0.3956091077388185,
72
+ 0.538911524449889,
73
+ 0.4543174706102213
74
+ ]
75
+ }
76
+ },
77
+ "grasp_5": {
78
+ "confidence": 0.9843688011169434,
79
+ "position": [
80
+ 0.0024847741588018835,
81
+ -0.1163050250033848,
82
+ -0.0026104713360837195
83
+ ],
84
+ "orientation": {
85
+ "w": 0.5194241996760177,
86
+ "xyz": [
87
+ -0.48698655841096294,
88
+ -0.5115581298074294,
89
+ -0.48098947238572615
90
+ ]
91
+ }
92
+ },
93
+ "grasp_6": {
94
+ "confidence": 0.9843164682388306,
95
+ "position": [
96
+ -0.024385077005717903,
97
+ -0.11165101983351633,
98
+ -0.0019324044733366463
99
+ ],
100
+ "orientation": {
101
+ "w": 0.5533036264106186,
102
+ "xyz": [
103
+ -0.4322932879418741,
104
+ 0.5611498774131997,
105
+ 0.4382789354742185
106
+ ]
107
+ }
108
+ },
109
+ "grasp_7": {
110
+ "confidence": 0.9842207431793213,
111
+ "position": [
112
+ -0.028726724034640938,
113
+ -0.11217130132718012,
114
+ -0.005875495266081998
115
+ ],
116
+ "orientation": {
117
+ "w": 0.57331608562317,
118
+ "xyz": [
119
+ -0.41850123832216796,
120
+ 0.5565802759862667,
121
+ 0.43172187328370276
122
+ ]
123
+ }
124
+ },
125
+ "grasp_8": {
126
+ "confidence": 0.984184980392456,
127
+ "position": [
128
+ -0.004159960022661835,
129
+ -0.1163730711559765,
130
+ -0.0023182458280643914
131
+ ],
132
+ "orientation": {
133
+ "w": 0.4950449597281667,
134
+ "xyz": [
135
+ -0.4938185058343989,
136
+ 0.5108737124197513,
137
+ 0.500081814408083
138
+ ]
139
+ }
140
+ },
141
+ "grasp_9": {
142
+ "confidence": 0.9841516017913818,
143
+ "position": [
144
+ -0.02699278393993154,
145
+ -0.11110197909874842,
146
+ -0.003760148541914532
147
+ ],
148
+ "orientation": {
149
+ "w": 0.5523971997965184,
150
+ "xyz": [
151
+ -0.4358353019867765,
152
+ 0.554621223565572,
153
+ 0.44418489570187747
154
+ ]
155
+ }
156
+ },
157
+ "grasp_11": {
158
+ "confidence": 0.983979344367981,
159
+ "position": [
160
+ 0.01571318315109238,
161
+ -0.11450341501040384,
162
+ -0.002845878483640263
163
+ ],
164
+ "orientation": {
165
+ "w": 0.45658595867055946,
166
+ "xyz": [
167
+ -0.5355405797356051,
168
+ 0.4576772901006314,
169
+ 0.5433756048328637
170
+ ]
171
+ }
172
+ },
173
+ "grasp_12": {
174
+ "confidence": 0.9839538335800171,
175
+ "position": [
176
+ -0.01585828239331022,
177
+ -0.11064113833708689,
178
+ -0.0077630793712160084
179
+ ],
180
+ "orientation": {
181
+ "w": 0.5541482943476166,
182
+ "xyz": [
183
+ -0.4362450151784468,
184
+ 0.5314714337776841,
185
+ 0.46919939224372026
186
+ ]
187
+ }
188
+ },
189
+ "grasp_13": {
190
+ "confidence": 0.9839385151863098,
191
+ "position": [
192
+ 0.012065590301062912,
193
+ -0.11451729544205591,
194
+ -0.003180837727995822
195
+ ],
196
+ "orientation": {
197
+ "w": 0.5404818217137849,
198
+ "xyz": [
199
+ -0.4632566189940283,
200
+ -0.529239771314645,
201
+ -0.4617119987762853
202
+ ]
203
+ }
204
+ },
205
+ "grasp_15": {
206
+ "confidence": 0.983913004398346,
207
+ "position": [
208
+ -0.021673967188689858,
209
+ -0.11289449193282053,
210
+ -0.0012563958334794734
211
+ ],
212
+ "orientation": {
213
+ "w": 0.45025515706978175,
214
+ "xyz": [
215
+ -0.5565060816212315,
216
+ -0.44222206408223197,
217
+ -0.5403803481710813
218
+ ]
219
+ }
220
+ },
221
+ "grasp_16": {
222
+ "confidence": 0.9838994741439819,
223
+ "position": [
224
+ -0.029131648188922554,
225
+ -0.11059038498206064,
226
+ -0.0016281211319437716
227
+ ],
228
+ "orientation": {
229
+ "w": 0.4370501322984106,
230
+ "xyz": [
231
+ -0.5685771574750412,
232
+ -0.4209836472293532,
233
+ -0.5554097285977401
234
+ ]
235
+ }
236
+ },
237
+ "grasp_17": {
238
+ "confidence": 0.9838162064552307,
239
+ "position": [
240
+ 0.0186009825556539,
241
+ -0.11452463426394388,
242
+ -0.0031603663264831994
243
+ ],
244
+ "orientation": {
245
+ "w": 0.5508729075270398,
246
+ "xyz": [
247
+ -0.44521781648845016,
248
+ -0.5449598194739069,
249
+ -0.4487080685623212
250
+ ]
251
+ }
252
+ },
253
+ "grasp_18": {
254
+ "confidence": 0.9838042855262756,
255
+ "position": [
256
+ 0.015808437892701477,
257
+ -0.11569787719054148,
258
+ -0.002227843742730329
259
+ ],
260
+ "orientation": {
261
+ "w": 0.5343522939805218,
262
+ "xyz": [
263
+ -0.4620863481531181,
264
+ -0.5338340619411773,
265
+ -0.46472037515010295
266
+ ]
267
+ }
268
+ }
269
+ }
270
+ }
271
+ ],
272
+ "quality_check": {
273
+ "success": true,
274
+ "message": "YES"
275
+ }
276
+ }
dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4fad96128fbe6e7fa70631fc753935b478cbafe55fb94dcb5bddd3385df1b779
3
+ size 3776276
dataset/desktop_supplies/office_tools/237ef1505b2b5c02b631048a7889b72a/sticky_notes_021.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>