Add asset desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affordance/affordance_annot.json +307 -0
- dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/eraser_039.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6405,4 +6405,4 @@ dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/affo
|
|
| 6405 |
dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6406 |
dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6407 |
dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6408 |
-
dataset/desktop_supplies/office_stationery/
|
|
|
|
| 6405 |
dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6406 |
dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6407 |
dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6408 |
+
dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,307 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser body",
|
| 5 |
+
"mask_color": "Lime Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the eraser body from the sides to pick it up and move it",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the eraser body while rubbing a surface to erase marks",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the eraser body to reorient it for using a fresh edge",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"erase markings by rubbing",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support controlled handoff and repositioning",
|
| 25 |
+
"present broad faces and edges for contact"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tan rubber eraser body with a matte smooth slightly soft surface, rounded rectangular block shape, and stylized lion-face sculpting across one end plus a red printed side label.",
|
| 28 |
+
"id": 9,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9563589692115784,
|
| 32 |
+
"position": [
|
| 33 |
+
0.012110035168007016,
|
| 34 |
+
-0.09968173276865855,
|
| 35 |
+
0.01573116739746183
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5369923902753375,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5573524858358578,
|
| 41 |
+
-0.501258141321532,
|
| 42 |
+
-0.3869595005654372
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9560802578926086,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.04930559056811035,
|
| 50 |
+
-0.08358937274897471,
|
| 51 |
+
0.021800003363750875
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5750341480452484,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.41813090419749527,
|
| 57 |
+
0.6426373341981472,
|
| 58 |
+
0.2855162556345257
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9550625085830688,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.07059376570396125,
|
| 66 |
+
-0.06994580250466242,
|
| 67 |
+
0.00446220429148525
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6656601070045881,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.31021805842069866,
|
| 73 |
+
0.6442415722238716,
|
| 74 |
+
0.21357475223173353
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9526225924491882,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.06025948259048164,
|
| 82 |
+
-0.0774718351312913,
|
| 83 |
+
0.014809282845817506
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.609710066282171,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.33362562939581336,
|
| 89 |
+
0.6652037093819501,
|
| 90 |
+
0.2728582040344986
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9522299766540527,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.07703830930404365,
|
| 98 |
+
-0.06901836168253794,
|
| 99 |
+
0.004617757280357182
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.671539106771021,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.3065261778089932,
|
| 105 |
+
0.6470987902378772,
|
| 106 |
+
0.19063075845115862
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.9514160752296448,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.07592008891515434,
|
| 114 |
+
-0.06493769359076396,
|
| 115 |
+
0.02324008324649185
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6143539762854189,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.32528481546808047,
|
| 121 |
+
0.698409999708411,
|
| 122 |
+
0.17024233596696423
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.9503958225250244,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.07832352700643241,
|
| 130 |
+
-0.06333942484343424,
|
| 131 |
+
0.010639019659720361
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.6383635690741103,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.23744980450864198,
|
| 137 |
+
0.6909761392230225,
|
| 138 |
+
0.2422014018172015
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_8": {
|
| 143 |
+
"confidence": 0.9499610066413879,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.07654716703109443,
|
| 146 |
+
-0.06925280910218135,
|
| 147 |
+
0.00018633116269484162
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.6651795775325863,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.25645902103111473,
|
| 153 |
+
0.6593623176280453,
|
| 154 |
+
0.2387597835848941
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_11": {
|
| 159 |
+
"confidence": 0.9491612315177917,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.046417443780228496,
|
| 162 |
+
-0.08969281386816874,
|
| 163 |
+
0.010429329588077962
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.5813088505225844,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.3932653430212681,
|
| 169 |
+
0.6276228936588334,
|
| 170 |
+
0.336915261805974
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_12": {
|
| 175 |
+
"confidence": 0.9489671587944031,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.00667733303271234,
|
| 178 |
+
0.0917413480929099,
|
| 179 |
+
-0.03712846024427563
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.6709271907748998,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.44672317328988503,
|
| 185 |
+
-0.3095865652983093,
|
| 186 |
+
0.5044316303638305
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_14": {
|
| 191 |
+
"confidence": 0.9483765959739685,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.09296585503034294,
|
| 194 |
+
0.0038808949175290763,
|
| 195 |
+
0.04679523722734302
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.46505259719703823,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.4572554853952749,
|
| 201 |
+
0.7059738050073632,
|
| 202 |
+
0.2761240474128369
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_15": {
|
| 207 |
+
"confidence": 0.9466262459754944,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.08856983366422355,
|
| 210 |
+
-0.005861041194293648,
|
| 211 |
+
0.05272962467279285
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.3548848639748763,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.5642672745485425,
|
| 217 |
+
0.6525237062968261,
|
| 218 |
+
0.3603775643901086
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_16": {
|
| 223 |
+
"confidence": 0.9464387893676758,
|
| 224 |
+
"position": [
|
| 225 |
+
0.03462383826263249,
|
| 226 |
+
0.09029569703852758,
|
| 227 |
+
-0.030301541672088206
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.7135098371542384,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.37186854339929404,
|
| 233 |
+
-0.4522458254872388,
|
| 234 |
+
0.38482621018270746
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_17": {
|
| 239 |
+
"confidence": 0.9459526538848877,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.09742420050315559,
|
| 242 |
+
0.01473004132276401,
|
| 243 |
+
-0.005120187648572028
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.1734086049942021,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.6795540072538226,
|
| 249 |
+
0.04313339914227654,
|
| 250 |
+
0.7115302641614543
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_18": {
|
| 255 |
+
"confidence": 0.945905327796936,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.06680375966243446,
|
| 258 |
+
-0.07724330347264186,
|
| 259 |
+
0.0013344442122615874
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.2827903757176897,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.6473312875082737,
|
| 265 |
+
-0.27251907575029644,
|
| 266 |
+
-0.6532420385787585
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_19": {
|
| 271 |
+
"confidence": 0.9459012746810913,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.050651858327910304,
|
| 274 |
+
0.08013873774325475,
|
| 275 |
+
-0.021716755465604365
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.3361584561717394,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.5295454673929681,
|
| 281 |
+
-0.326876214577259,
|
| 282 |
+
0.7069165655517189
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"part_name": "side label",
|
| 290 |
+
"mask_color": "Cyan",
|
| 291 |
+
"graspable": false,
|
| 292 |
+
"grasp_scenarios": [],
|
| 293 |
+
"functional_labels": [
|
| 294 |
+
"display branding",
|
| 295 |
+
"identify product",
|
| 296 |
+
"indicate side orientation"
|
| 297 |
+
],
|
| 298 |
+
"semantic_description": "Small red rectangular printed label on the side of the eraser, with a smooth flat finish and white text, functioning as a thin surface marking rather than a separate structural piece.",
|
| 299 |
+
"id": 6,
|
| 300 |
+
"grasp_group": {}
|
| 301 |
+
}
|
| 302 |
+
],
|
| 303 |
+
"quality_check": {
|
| 304 |
+
"success": true,
|
| 305 |
+
"message": "YES"
|
| 306 |
+
}
|
| 307 |
+
}
|
dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6351cdf3718477b5a8309d01f47d2ba0d35fbfd8795b7b98150e481d6b0719b5
|
| 3 |
+
size 3778284
|
dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/eraser_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>
|