xinjjj commited on
Commit
969a9ec
·
verified ·
1 Parent(s): 3eecce3

Add asset desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50

Browse files
.gitattributes CHANGED
@@ -6622,3 +6622,4 @@ dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/affordanc
6622
  dataset/desktop_supplies/office_tools/a1e8baec13885edea3e8d0bf6f88f9b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6623
  dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6624
  dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6622
  dataset/desktop_supplies/office_tools/a1e8baec13885edea3e8d0bf6f88f9b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6623
  dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6624
  dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6625
+ dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/a467d91d11fe5b4485f1c452fbba4d50.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  </custom_data>
57
  </robot>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  </custom_data>
58
  </robot>
dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/affordance/affordance_annot.json ADDED
@@ -0,0 +1,569 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top rim",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the top rim to lift or reposition the pen holder",
10
+ "confidence": 0.74
11
+ },
12
+ {
13
+ "scenario": "hold the rim to stabilize the container while inserting or removing items",
14
+ "confidence": 0.7
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "reinforce the opening",
19
+ "provide a top edge for handling",
20
+ "define the container mouth",
21
+ "stabilize the upper structure"
22
+ ],
23
+ "semantic_description": "Circular light gray rim with a matte to satin finish, hard smooth feel, and thick rounded ring shape around the top opening of the small cylindrical holder.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_3": {
27
+ "confidence": 0.8233008980751038,
28
+ "position": [
29
+ -0.10373924989835359,
30
+ 0.017912438954226673,
31
+ 0.11948846932500601
32
+ ],
33
+ "orientation": {
34
+ "w": 0.16980901490192166,
35
+ "xyz": [
36
+ -0.2504391780845853,
37
+ 0.8715825392268303,
38
+ -0.38573176412277416
39
+ ]
40
+ }
41
+ },
42
+ "grasp_10": {
43
+ "confidence": 0.7287980318069458,
44
+ "position": [
45
+ 0.05011187549098395,
46
+ -0.10675566003192216,
47
+ 0.11100526060909033
48
+ ],
49
+ "orientation": {
50
+ "w": 0.43230553587802995,
51
+ "xyz": [
52
+ -0.7157718869632247,
53
+ -0.5149507657506911,
54
+ 0.18870145292257579
55
+ ]
56
+ }
57
+ },
58
+ "grasp_11": {
59
+ "confidence": 0.7169098258018494,
60
+ "position": [
61
+ 0.10630581210716628,
62
+ -0.0050494816387072206,
63
+ 0.11759378667920828
64
+ ],
65
+ "orientation": {
66
+ "w": 0.2077706852622802,
67
+ "xyz": [
68
+ 0.284823430818549,
69
+ -0.8559461793296296,
70
+ -0.37823682223364175
71
+ ]
72
+ }
73
+ },
74
+ "grasp_14": {
75
+ "confidence": 0.686402440071106,
76
+ "position": [
77
+ -0.02957543489173986,
78
+ 0.10049693181645125,
79
+ 0.11102215107530355
80
+ ],
81
+ "orientation": {
82
+ "w": 0.046146756952845945,
83
+ "xyz": [
84
+ 0.25125375688560825,
85
+ 0.835248385599169,
86
+ -0.48693137178414114
87
+ ]
88
+ }
89
+ },
90
+ "grasp_19": {
91
+ "confidence": 0.528709888458252,
92
+ "position": [
93
+ 0.09229878764017485,
94
+ -0.06303973600734025,
95
+ 0.10781804379075766
96
+ ],
97
+ "orientation": {
98
+ "w": 0.3686992627300574,
99
+ "xyz": [
100
+ -0.5657040533519864,
101
+ -0.6682263114180955,
102
+ 0.3122713153845737
103
+ ]
104
+ }
105
+ }
106
+ }
107
+ },
108
+ {
109
+ "part_name": "base",
110
+ "mask_color": "Blue",
111
+ "graspable": true,
112
+ "grasp_scenarios": [
113
+ {
114
+ "scenario": "grasp the base from the underside to pick up the empty pen holder",
115
+ "confidence": 0.78
116
+ },
117
+ {
118
+ "scenario": "hold the base to stabilize the holder during placement on a desk",
119
+ "confidence": 0.72
120
+ }
121
+ ],
122
+ "functional_labels": [
123
+ "support on a flat surface",
124
+ "close the bottom",
125
+ "bear the load of stored items",
126
+ "provide stability"
127
+ ],
128
+ "semantic_description": "Flat round light gray base with a matte smooth hard surface, broad disk shape, and full-width position at the bottom of the holder.",
129
+ "id": 2,
130
+ "grasp_group": {}
131
+ },
132
+ {
133
+ "part_name": "mesh side wall section",
134
+ "mask_color": "Green",
135
+ "graspable": true,
136
+ "grasp_scenarios": [
137
+ {
138
+ "scenario": "grasp the side wall to lift the pen holder when the rim is inaccessible",
139
+ "confidence": 0.48
140
+ },
141
+ {
142
+ "scenario": "hold the side wall to steady the container during object insertion",
143
+ "confidence": 0.44
144
+ }
145
+ ],
146
+ "functional_labels": [
147
+ "contain pens and tools",
148
+ "form the side enclosure",
149
+ "allow visibility through the holder",
150
+ "reduce weight with open mesh"
151
+ ],
152
+ "semantic_description": "Dark gray to black metal mesh panel with a matte finish and hard slightly rough lattice texture, forming a curved medium-sized section of the cylindrical side wall.",
153
+ "id": 1,
154
+ "grasp_group": {
155
+ "grasp_23": {
156
+ "confidence": 0.9326429963111877,
157
+ "position": [
158
+ 0.031861834781011567,
159
+ -0.09602415666449815,
160
+ 0.127308270893991
161
+ ],
162
+ "orientation": {
163
+ "w": 0.1178180887605946,
164
+ "xyz": [
165
+ -0.38711656651403353,
166
+ -0.8837733404758062,
167
+ -0.23495604813543194
168
+ ]
169
+ }
170
+ },
171
+ "grasp_24": {
172
+ "confidence": 0.9119711518287659,
173
+ "position": [
174
+ -0.009776338381925598,
175
+ 0.08180993690621108,
176
+ 0.1310817962512374
177
+ ],
178
+ "orientation": {
179
+ "w": 0.23829621329189715,
180
+ "xyz": [
181
+ 0.8266067583373365,
182
+ 0.49870869029840115,
183
+ 0.10595198923397212
184
+ ]
185
+ }
186
+ },
187
+ "grasp_27": {
188
+ "confidence": 0.7967841625213623,
189
+ "position": [
190
+ 0.026214708195766434,
191
+ 0.07100674405228347,
192
+ 0.12612930592149496
193
+ ],
194
+ "orientation": {
195
+ "w": 0.23487059139042898,
196
+ "xyz": [
197
+ 0.9143558503097879,
198
+ 0.3260186086210983,
199
+ 0.050010510264723744
200
+ ]
201
+ }
202
+ },
203
+ "grasp_28": {
204
+ "confidence": 0.7876859307289124,
205
+ "position": [
206
+ 0.038515303836902604,
207
+ 0.07251888408791274,
208
+ 0.12544480618089437
209
+ ],
210
+ "orientation": {
211
+ "w": 0.11119919069199376,
212
+ "xyz": [
213
+ 0.4115796602424712,
214
+ -0.8954514183369038,
215
+ 0.1280768545154252
216
+ ]
217
+ }
218
+ },
219
+ "grasp_36": {
220
+ "confidence": 0.9644080996513367,
221
+ "position": [
222
+ 0.06653445641859435,
223
+ 0.006195721565745771,
224
+ 0.13965774234384298
225
+ ],
226
+ "orientation": {
227
+ "w": 0.10396430891594725,
228
+ "xyz": [
229
+ 0.9919402040855472,
230
+ -0.06324409896850045,
231
+ -0.03530209534879027
232
+ ]
233
+ }
234
+ },
235
+ "grasp_37": {
236
+ "confidence": 0.963537871837616,
237
+ "position": [
238
+ 0.06509147267206572,
239
+ -0.017053757910616696,
240
+ 0.14118120726197958
241
+ ],
242
+ "orientation": {
243
+ "w": 0.05461115333881229,
244
+ "xyz": [
245
+ 0.985824698979329,
246
+ -0.15347986608807415,
247
+ -0.040139949164229714
248
+ ]
249
+ }
250
+ },
251
+ "grasp_38": {
252
+ "confidence": 0.961239218711853,
253
+ "position": [
254
+ 0.08293369840248488,
255
+ -0.0022994893370196223,
256
+ 0.13596608396619558
257
+ ],
258
+ "orientation": {
259
+ "w": 0.17378015740034186,
260
+ "xyz": [
261
+ -0.1706830269522138,
262
+ -0.9578636220585715,
263
+ 0.15220066603394494
264
+ ]
265
+ }
266
+ },
267
+ "grasp_39": {
268
+ "confidence": 0.9584745764732361,
269
+ "position": [
270
+ 0.06696088294847868,
271
+ -0.008074343320913613,
272
+ 0.14535880740731955
273
+ ],
274
+ "orientation": {
275
+ "w": 0.05099558721560106,
276
+ "xyz": [
277
+ -0.9973202753637846,
278
+ -0.019745140531494135,
279
+ 0.04859884626441523
280
+ ]
281
+ }
282
+ }
283
+ }
284
+ },
285
+ {
286
+ "part_name": "mesh side wall section",
287
+ "mask_color": "Yellow",
288
+ "graspable": true,
289
+ "grasp_scenarios": [
290
+ {
291
+ "scenario": "grasp the side wall to lift the pen holder when the rim is inaccessible",
292
+ "confidence": 0.46
293
+ },
294
+ {
295
+ "scenario": "hold the side wall to steady the container during object insertion",
296
+ "confidence": 0.42
297
+ }
298
+ ],
299
+ "functional_labels": [
300
+ "contain pens and tools",
301
+ "form the side enclosure",
302
+ "allow visibility through the holder",
303
+ "reduce weight with open mesh"
304
+ ],
305
+ "semantic_description": "Dark gray to black metal mesh panel with a matte finish and hard slightly rough lattice texture, forming another curved medium-sized section of the cylindrical side wall.",
306
+ "id": 3,
307
+ "grasp_group": {
308
+ "grasp_60": {
309
+ "confidence": 0.9591144919395447,
310
+ "position": [
311
+ -0.08015542049543001,
312
+ -0.017386649851687253,
313
+ 0.1360774850472808
314
+ ],
315
+ "orientation": {
316
+ "w": 0.14544987919382626,
317
+ "xyz": [
318
+ -0.08193113344941587,
319
+ 0.9858900004373982,
320
+ 0.012350265249903679
321
+ ]
322
+ }
323
+ },
324
+ "grasp_61": {
325
+ "confidence": 0.8897775411605835,
326
+ "position": [
327
+ -0.029050647659460083,
328
+ 0.07322512462269515,
329
+ 0.12643713410943747
330
+ ],
331
+ "orientation": {
332
+ "w": 0.26210019771021775,
333
+ "xyz": [
334
+ 0.9211953829843844,
335
+ -0.2826340020510282,
336
+ -0.05310907279493368
337
+ ]
338
+ }
339
+ },
340
+ "grasp_62": {
341
+ "confidence": 0.8503965139389038,
342
+ "position": [
343
+ -0.0349264549149666,
344
+ -0.09053949371445924,
345
+ 0.12317729648202658
346
+ ],
347
+ "orientation": {
348
+ "w": 0.2882319877240946,
349
+ "xyz": [
350
+ -0.8961144569447843,
351
+ -0.33741567324649085,
352
+ -0.007201718877395137
353
+ ]
354
+ }
355
+ },
356
+ "grasp_63": {
357
+ "confidence": 0.8269166350364685,
358
+ "position": [
359
+ -0.07407435346976854,
360
+ 0.04739133163820952,
361
+ 0.12529913242906332
362
+ ],
363
+ "orientation": {
364
+ "w": 0.22607164397284318,
365
+ "xyz": [
366
+ -0.7872147674412129,
367
+ 0.5459886494418071,
368
+ -0.17629780598352585
369
+ ]
370
+ }
371
+ },
372
+ "grasp_69": {
373
+ "confidence": 0.972970724105835,
374
+ "position": [
375
+ -0.0698967011703644,
376
+ 0.04255456745158881,
377
+ 0.1400082027539611
378
+ ],
379
+ "orientation": {
380
+ "w": 0.07854334009655006,
381
+ "xyz": [
382
+ 0.19142901316364472,
383
+ 0.977163033928663,
384
+ -0.04835578320119731
385
+ ]
386
+ }
387
+ },
388
+ "grasp_70": {
389
+ "confidence": 0.9639237523078918,
390
+ "position": [
391
+ -0.023110370530048385,
392
+ -0.07979652390349656,
393
+ 0.13331604655832052
394
+ ],
395
+ "orientation": {
396
+ "w": 0.023486677238488404,
397
+ "xyz": [
398
+ -0.5335378616592619,
399
+ 0.8281044259428182,
400
+ 0.1703783610153385
401
+ ]
402
+ }
403
+ },
404
+ "grasp_71": {
405
+ "confidence": 0.9615368247032166,
406
+ "position": [
407
+ -0.061786990059772506,
408
+ -0.046169565175659955,
409
+ 0.13959533628076315
410
+ ],
411
+ "orientation": {
412
+ "w": 0.0582099510139187,
413
+ "xyz": [
414
+ -0.2911394562847598,
415
+ 0.9540786663422287,
416
+ 0.039790916398168494
417
+ ]
418
+ }
419
+ },
420
+ "grasp_72": {
421
+ "confidence": 0.9579135775566101,
422
+ "position": [
423
+ -0.07074629087583162,
424
+ 0.021031155134551227,
425
+ 0.13830123003572226
426
+ ],
427
+ "orientation": {
428
+ "w": 0.027301098141175362,
429
+ "xyz": [
430
+ 0.17372079409032268,
431
+ 0.9844157693072118,
432
+ 0.0011527706638924213
433
+ ]
434
+ }
435
+ },
436
+ "grasp_73": {
437
+ "confidence": 0.9577150344848633,
438
+ "position": [
439
+ -0.06997651178971864,
440
+ -0.013602915336377919,
441
+ 0.1358953481540084
442
+ ],
443
+ "orientation": {
444
+ "w": 0.045608387955910455,
445
+ "xyz": [
446
+ -0.10364339333350903,
447
+ 0.9935051357618526,
448
+ -0.011201213380801841
449
+ ]
450
+ }
451
+ },
452
+ "grasp_74": {
453
+ "confidence": 0.9541066884994507,
454
+ "position": [
455
+ -0.08150200863019563,
456
+ -0.0041101021924987435,
457
+ 0.13135879393666983
458
+ ],
459
+ "orientation": {
460
+ "w": 0.09910841384566794,
461
+ "xyz": [
462
+ 0.14642791214705578,
463
+ 0.9721184686562573,
464
+ 0.15401971220159816
465
+ ]
466
+ }
467
+ },
468
+ "grasp_75": {
469
+ "confidence": 0.9525372385978699,
470
+ "position": [
471
+ -0.06490156371728517,
472
+ 0.011150217498652637,
473
+ 0.135964117012918
474
+ ],
475
+ "orientation": {
476
+ "w": 0.02047399959791372,
477
+ "xyz": [
478
+ 0.15750151710370516,
479
+ 0.9869257832121986,
480
+ 0.027415066687597685
481
+ ]
482
+ }
483
+ },
484
+ "grasp_76": {
485
+ "confidence": 0.9370185732841492,
486
+ "position": [
487
+ -0.06140666772262193,
488
+ -0.05159971222747117,
489
+ 0.12897033151239157
490
+ ],
491
+ "orientation": {
492
+ "w": 0.175393548650897,
493
+ "xyz": [
494
+ 0.7864443151259826,
495
+ 0.5617228351404211,
496
+ 0.18764300887450286
497
+ ]
498
+ }
499
+ },
500
+ "grasp_77": {
501
+ "confidence": 0.9352403283119202,
502
+ "position": [
503
+ -0.05786035899654962,
504
+ -0.040156514500267804,
505
+ 0.13660775776952505
506
+ ],
507
+ "orientation": {
508
+ "w": 0.04421659492146794,
509
+ "xyz": [
510
+ -0.2631219632572827,
511
+ 0.9634736158122421,
512
+ 0.023028608704576205
513
+ ]
514
+ }
515
+ },
516
+ "grasp_78": {
517
+ "confidence": 0.931046187877655,
518
+ "position": [
519
+ -0.07204523254767992,
520
+ -0.02286873117554933,
521
+ 0.1307806884869933
522
+ ],
523
+ "orientation": {
524
+ "w": 0.08258803596215382,
525
+ "xyz": [
526
+ -0.2434423880803657,
527
+ 0.9652694441752625,
528
+ -0.046582401647213716
529
+ ]
530
+ }
531
+ }
532
+ }
533
+ },
534
+ {
535
+ "part_name": "vertical support rib",
536
+ "mask_color": "Orange",
537
+ "graspable": false,
538
+ "grasp_scenarios": [],
539
+ "functional_labels": [
540
+ "reinforce the side wall",
541
+ "connect rim to base",
542
+ "maintain cylindrical shape",
543
+ "add structural rigidity"
544
+ ],
545
+ "semantic_description": "Thin light gray metal strip with a matte smooth hard surface, running vertically along the outer side wall as a narrow reinforcing rib.",
546
+ "id": 4,
547
+ "grasp_group": {}
548
+ },
549
+ {
550
+ "part_name": "vertical support rib",
551
+ "mask_color": "Purple",
552
+ "graspable": false,
553
+ "grasp_scenarios": [],
554
+ "functional_labels": [
555
+ "reinforce the side wall",
556
+ "connect rim to base",
557
+ "maintain cylindrical shape",
558
+ "add structural rigidity"
559
+ ],
560
+ "semantic_description": "Thin light gray metal strip with a matte smooth hard surface, running vertically along the outer side wall as a narrow reinforcing rib.",
561
+ "id": 5,
562
+ "grasp_group": {}
563
+ }
564
+ ],
565
+ "quality_check": {
566
+ "success": true,
567
+ "message": "YES"
568
+ }
569
+ }
dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e422c12e698141b2740f21b35705fbbcc3cfd546db2d81061cfc1e0cc8a606e
3
+ size 3046028