xinjjj commited on
Commit
9e07c02
·
verified ·
1 Parent(s): fb4ac19

Add asset desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4

Browse files
.gitattributes CHANGED
@@ -6558,3 +6558,4 @@ dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/affordanc
6558
  dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6559
  dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6560
  dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6558
  dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6559
  dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6560
  dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6561
+ dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,316 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "knife handle",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle body to pick up and carry the utility knife",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle while extending or retracting the blade with another manipulator",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize the knife during cutting motions",
18
+ "confidence": 0.93
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "house internal blade track",
24
+ "support cutting manipulation",
25
+ "protect hand from blade mechanism"
26
+ ],
27
+ "semantic_description": "Elongated pink plastic handle with a mostly matte smooth hard surface, rounded contours, a larger rear end with a lanyard hole, and the main body of the knife.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_23": {
31
+ "confidence": 0.9303823113441467,
32
+ "position": [
33
+ -0.07553855242440477,
34
+ 0.09157319460064173,
35
+ -0.011398906266549602
36
+ ],
37
+ "orientation": {
38
+ "w": 0.7069341565414619,
39
+ "xyz": [
40
+ 0.2322476110036712,
41
+ 0.6388715653725894,
42
+ -0.19531581722040967
43
+ ]
44
+ }
45
+ },
46
+ "grasp_26": {
47
+ "confidence": 0.9252580404281616,
48
+ "position": [
49
+ 0.05719625292113051,
50
+ 0.11256018374115229,
51
+ -0.0023692633549217135
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6350696507722481,
55
+ "xyz": [
56
+ 0.3212021859780408,
57
+ -0.6248374490170937,
58
+ 0.3210823207477395
59
+ ]
60
+ }
61
+ },
62
+ "grasp_33": {
63
+ "confidence": 0.9084471464157104,
64
+ "position": [
65
+ 0.010506577731575817,
66
+ 0.129915707744658,
67
+ 0.0024306025297846645
68
+ ],
69
+ "orientation": {
70
+ "w": 0.466881264642652,
71
+ "xyz": [
72
+ 0.5355667440190365,
73
+ 0.4729347909204119,
74
+ -0.5210785266767302
75
+ ]
76
+ }
77
+ },
78
+ "grasp_35": {
79
+ "confidence": 0.9052184820175171,
80
+ "position": [
81
+ -0.0018507341737858951,
82
+ 0.12386337760835886,
83
+ 8.112756768241525e-05
84
+ ],
85
+ "orientation": {
86
+ "w": 0.4881318079435076,
87
+ "xyz": [
88
+ 0.4937662311598594,
89
+ 0.5099043655993081,
90
+ -0.5078580362490666
91
+ ]
92
+ }
93
+ },
94
+ "grasp_39": {
95
+ "confidence": 0.9002290368080139,
96
+ "position": [
97
+ 0.009018403419759125,
98
+ 0.13168028835207224,
99
+ -0.0025773454981390387
100
+ ],
101
+ "orientation": {
102
+ "w": 0.47780729287140467,
103
+ "xyz": [
104
+ 0.5258426519044301,
105
+ 0.4694186994370285,
106
+ -0.5242478239686507
107
+ ]
108
+ }
109
+ }
110
+ }
111
+ },
112
+ {
113
+ "part_name": "knife blade",
114
+ "mask_color": "Purple",
115
+ "graspable": false,
116
+ "grasp_scenarios": [],
117
+ "functional_labels": [
118
+ "cut material",
119
+ "score surfaces",
120
+ "pierce thin material",
121
+ "provide sharp working edge"
122
+ ],
123
+ "semantic_description": "Small exposed silver-gray metal blade with a reflective hard finish, sharp angled tip, and segmented utility-knife form protruding from the front of the handle.",
124
+ "id": 5,
125
+ "grasp_group": {}
126
+ },
127
+ {
128
+ "part_name": "blade slider",
129
+ "mask_color": "Blue",
130
+ "graspable": true,
131
+ "grasp_scenarios": [
132
+ {
133
+ "scenario": "pinch the slider to extend or retract the blade",
134
+ "confidence": 0.88
135
+ },
136
+ {
137
+ "scenario": "push the slider along the slot to adjust blade length",
138
+ "confidence": 0.82
139
+ }
140
+ ],
141
+ "functional_labels": [
142
+ "extend blade",
143
+ "retract blade",
144
+ "adjust blade length",
145
+ "control blade position"
146
+ ],
147
+ "semantic_description": "Small dark gray plastic thumb slider with ribbed texture and a matte finish, raised along the top slot near the center for tactile actuation.",
148
+ "id": 2,
149
+ "grasp_group": {
150
+ "grasp_2": {
151
+ "confidence": 0.9276542067527771,
152
+ "position": [
153
+ -0.01485501608112827,
154
+ -0.10401967819780111,
155
+ -0.0007844058272894472
156
+ ],
157
+ "orientation": {
158
+ "w": 0.5250121845442687,
159
+ "xyz": [
160
+ -0.4770343037118845,
161
+ 0.5315005112725962,
162
+ 0.4629337810952457
163
+ ]
164
+ }
165
+ },
166
+ "grasp_5": {
167
+ "confidence": 0.8417708277702332,
168
+ "position": [
169
+ -0.014208608365152031,
170
+ -0.09894537087529898,
171
+ -0.018212656868854538
172
+ ],
173
+ "orientation": {
174
+ "w": 0.40754049384322555,
175
+ "xyz": [
176
+ -0.4148132852440125,
177
+ -0.48561364850399746,
178
+ -0.6527021285775965
179
+ ]
180
+ }
181
+ },
182
+ "grasp_6": {
183
+ "confidence": 0.7999466061592102,
184
+ "position": [
185
+ -0.05903615342685953,
186
+ -0.08409287687391043,
187
+ -0.0011526936723385006
188
+ ],
189
+ "orientation": {
190
+ "w": 0.6372656145402086,
191
+ "xyz": [
192
+ -0.33593084813702173,
193
+ 0.6261134714557841,
194
+ 0.2983704453464162
195
+ ]
196
+ }
197
+ },
198
+ "grasp_8": {
199
+ "confidence": 0.931526780128479,
200
+ "position": [
201
+ 0.0423078173189424,
202
+ -0.09737054165452719,
203
+ 0.0006411015929188579
204
+ ],
205
+ "orientation": {
206
+ "w": 0.3770443587534544,
207
+ "xyz": [
208
+ -0.6138881846758814,
209
+ 0.36849364148935815,
210
+ 0.5875298157791309
211
+ ]
212
+ }
213
+ },
214
+ "grasp_9": {
215
+ "confidence": 0.9312368631362915,
216
+ "position": [
217
+ -0.013294486387167126,
218
+ -0.10581982787698507,
219
+ 0.002429322892567143
220
+ ],
221
+ "orientation": {
222
+ "w": 0.5172075398165616,
223
+ "xyz": [
224
+ -0.47183546270017696,
225
+ 0.5388688639490361,
226
+ 0.46849546888063465
227
+ ]
228
+ }
229
+ },
230
+ "grasp_11": {
231
+ "confidence": 0.9165897369384766,
232
+ "position": [
233
+ -0.015857971331570297,
234
+ -0.10465044435113668,
235
+ -0.0018782140978146344
236
+ ],
237
+ "orientation": {
238
+ "w": 0.5781498268569286,
239
+ "xyz": [
240
+ -0.5046660393503443,
241
+ 0.4941771442761024,
242
+ 0.408465318609618
243
+ ]
244
+ }
245
+ },
246
+ "grasp_12": {
247
+ "confidence": 0.9095947742462158,
248
+ "position": [
249
+ 0.044152875372674316,
250
+ -0.09207416977733374,
251
+ -0.0016186975699383765
252
+ ],
253
+ "orientation": {
254
+ "w": 0.38052935002593397,
255
+ "xyz": [
256
+ -0.6107489093491083,
257
+ 0.3627729842904922,
258
+ 0.5920970742764108
259
+ ]
260
+ }
261
+ },
262
+ "grasp_13": {
263
+ "confidence": 0.9083975553512573,
264
+ "position": [
265
+ 0.04475523246219382,
266
+ -0.09176113363355398,
267
+ -0.001098110427847132
268
+ ],
269
+ "orientation": {
270
+ "w": 0.6045292547962556,
271
+ "xyz": [
272
+ -0.33564853579085924,
273
+ -0.6112950862179285,
274
+ -0.38497111330949396
275
+ ]
276
+ }
277
+ },
278
+ "grasp_19": {
279
+ "confidence": 0.937215268611908,
280
+ "position": [
281
+ 0.04250982863595709,
282
+ -0.09875357802957296,
283
+ -0.0024843124265316874
284
+ ],
285
+ "orientation": {
286
+ "w": 0.3774164551880923,
287
+ "xyz": [
288
+ -0.6056110734986003,
289
+ 0.3673899833607154,
290
+ 0.5965036857684454
291
+ ]
292
+ }
293
+ }
294
+ }
295
+ },
296
+ {
297
+ "part_name": "blade track",
298
+ "mask_color": "Pink",
299
+ "graspable": false,
300
+ "grasp_scenarios": [],
301
+ "functional_labels": [
302
+ "guide slider motion",
303
+ "expose blade position path",
304
+ "house blade channel",
305
+ "constrain blade movement"
306
+ ],
307
+ "semantic_description": "Narrow light gray inset strip running lengthwise along the handle, with a smooth slightly matte surface that marks the slider channel and blade path.",
308
+ "id": 8,
309
+ "grasp_group": {}
310
+ }
311
+ ],
312
+ "quality_check": {
313
+ "success": true,
314
+ "message": "YES"
315
+ }
316
+ }
dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:41fab84a893713a3b50091b2d4e98a0dd018f2de7d5624eabd2d8eee60100da2
3
+ size 3784316
dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/cutter_knife_022.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>