xinjjj commited on
Commit
ae61d76
·
verified ·
1 Parent(s): 9493bd9

Add asset desktop_supplies/office_tools/78f1fcc2ea845de180548cfc9988ec92

Browse files
.gitattributes CHANGED
@@ -6586,3 +6586,4 @@ dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/affordanc
6586
  dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6587
  dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6588
  dataset/desktop_supplies/office_tools/77beffbb723359f0899f889206043939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6586
  dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6587
  dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6588
  dataset/desktop_supplies/office_tools/77beffbb723359f0899f889206043939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6589
+ dataset/desktop_supplies/office_tools/78f1fcc2ea845de180548cfc9988ec92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/78f1fcc2ea845de180548cfc9988ec92/affordance/affordance_annot.json ADDED
@@ -0,0 +1,310 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sticky note pad",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the pad from the sides to pick it up and relocate it",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "pinch the pad near an edge to stabilize it while dispensing a sheet",
14
+ "confidence": 0.76
15
+ },
16
+ {
17
+ "scenario": "hold the pad body to place it onto a surface",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide writable note sheets",
23
+ "dispense individual notes",
24
+ "offer adhesive-backed reminders",
25
+ "serve as the main grasp surface",
26
+ "stack and store sheets"
27
+ ],
28
+ "semantic_description": "Small rounded novelty sticky note pad shaped like a wrapped candy, with light beige paper sheets, orange border accents, a matte smooth paper surface, and printed orange text on the top face.",
29
+ "id": 5,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9804962277412415,
33
+ "position": [
34
+ -0.12168727745302022,
35
+ -0.004558861837722361,
36
+ 0.00038624640001216903
37
+ ],
38
+ "orientation": {
39
+ "w": 0.020911081718933716,
40
+ "xyz": [
41
+ -0.7000652771851431,
42
+ 0.002701985216060465,
43
+ -0.7137674926871671
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9800507426261902,
49
+ "position": [
50
+ -0.11787951667793095,
51
+ 0.024309516767971218,
52
+ 0.0027834266147692688
53
+ ],
54
+ "orientation": {
55
+ "w": 0.09588929440322987,
56
+ "xyz": [
57
+ 0.7071091023197669,
58
+ -0.09438030413489107,
59
+ 0.6941860837173199
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9799636006355286,
65
+ "position": [
66
+ -0.03417276521213353,
67
+ 0.11109833687078208,
68
+ 0.0029199566415627487
69
+ ],
70
+ "orientation": {
71
+ "w": 0.533693311598888,
72
+ "xyz": [
73
+ 0.4498807701047486,
74
+ 0.5595662092346305,
75
+ -0.44683822500694376
76
+ ]
77
+ }
78
+ },
79
+ "grasp_5": {
80
+ "confidence": 0.9795876741409302,
81
+ "position": [
82
+ -0.12084679235704243,
83
+ 0.0016165970591828227,
84
+ 0.001927345474541653
85
+ ],
86
+ "orientation": {
87
+ "w": 0.033028751196842544,
88
+ "xyz": [
89
+ 0.7110854967523907,
90
+ -0.032645585970429436,
91
+ 0.70157022714724
92
+ ]
93
+ }
94
+ },
95
+ "grasp_6": {
96
+ "confidence": 0.9795771837234497,
97
+ "position": [
98
+ -0.07522109081037343,
99
+ 0.08920445560943335,
100
+ -0.007176542123488616
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6397721724481986,
104
+ "xyz": [
105
+ 0.30864855635536737,
106
+ 0.6242957656188778,
107
+ -0.3250883465321374
108
+ ]
109
+ }
110
+ },
111
+ "grasp_8": {
112
+ "confidence": 0.9793745875358582,
113
+ "position": [
114
+ -0.09122975100763142,
115
+ 0.07582179724704474,
116
+ -0.0022867547158966772
117
+ ],
118
+ "orientation": {
119
+ "w": 0.27240059625032786,
120
+ "xyz": [
121
+ 0.6469959781483966,
122
+ -0.2445541548589787,
123
+ 0.6688702301369647
124
+ ]
125
+ }
126
+ },
127
+ "grasp_9": {
128
+ "confidence": 0.9793484210968018,
129
+ "position": [
130
+ -0.12172476877458394,
131
+ -0.015420219977386296,
132
+ 0.006861254172690678
133
+ ],
134
+ "orientation": {
135
+ "w": 0.06076126967203394,
136
+ "xyz": [
137
+ -0.7257160331114894,
138
+ -0.0494511643380372,
139
+ -0.6835194874605832
140
+ ]
141
+ }
142
+ },
143
+ "grasp_10": {
144
+ "confidence": 0.9793447852134705,
145
+ "position": [
146
+ -0.11675360728986561,
147
+ -0.02969415031839162,
148
+ 0.000794466417573858
149
+ ],
150
+ "orientation": {
151
+ "w": 0.6966034064816429,
152
+ "xyz": [
153
+ -0.09277454279986085,
154
+ 0.7052520748459775,
155
+ 0.09357397721531155
156
+ ]
157
+ }
158
+ },
159
+ "grasp_11": {
160
+ "confidence": 0.9792044758796692,
161
+ "position": [
162
+ -0.11613814462907612,
163
+ 0.021384107763879,
164
+ -0.007704489333264064
165
+ ],
166
+ "orientation": {
167
+ "w": 0.09586011745119273,
168
+ "xyz": [
169
+ 0.6836430540371846,
170
+ -0.08239360999683909,
171
+ 0.7187866899022569
172
+ ]
173
+ }
174
+ },
175
+ "grasp_12": {
176
+ "confidence": 0.9791891574859619,
177
+ "position": [
178
+ -0.03848620061762631,
179
+ 0.1092480820370838,
180
+ 0.0024765053021837957
181
+ ],
182
+ "orientation": {
183
+ "w": 0.4407962948226666,
184
+ "xyz": [
185
+ 0.5625434554242638,
186
+ -0.43165676984729284,
187
+ 0.5503779794604239
188
+ ]
189
+ }
190
+ },
191
+ "grasp_13": {
192
+ "confidence": 0.9791557192802429,
193
+ "position": [
194
+ -0.121409259038046,
195
+ 0.012877375702373683,
196
+ -0.0015633027578587644
197
+ ],
198
+ "orientation": {
199
+ "w": 0.059921550219021,
200
+ "xyz": [
201
+ 0.7038254471339666,
202
+ -0.0553855799659807,
203
+ 0.7056710177680907
204
+ ]
205
+ }
206
+ },
207
+ "grasp_14": {
208
+ "confidence": 0.9790877103805542,
209
+ "position": [
210
+ -0.018526646541431546,
211
+ 0.11319227039348334,
212
+ 0.0005776240795967169
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5108964416983506,
216
+ "xyz": [
217
+ 0.49364202741252317,
218
+ 0.5131952116513944,
219
+ -0.481594278797098
220
+ ]
221
+ }
222
+ },
223
+ "grasp_15": {
224
+ "confidence": 0.9790557026863098,
225
+ "position": [
226
+ -0.12043593009002507,
227
+ -0.009961853851564229,
228
+ 0.008825531760521699
229
+ ],
230
+ "orientation": {
231
+ "w": 0.024552218704268425,
232
+ "xyz": [
233
+ 0.7259063512807551,
234
+ 0.01881478428047967,
235
+ 0.6870976361620216
236
+ ]
237
+ }
238
+ },
239
+ "grasp_16": {
240
+ "confidence": 0.9790189266204834,
241
+ "position": [
242
+ -0.08733602543361485,
243
+ 0.07996384322177619,
244
+ 0.0020655217304010876
245
+ ],
246
+ "orientation": {
247
+ "w": 0.6348290577093008,
248
+ "xyz": [
249
+ 0.27179306134957776,
250
+ 0.6712128686193795,
251
+ -0.2694325227026055
252
+ ]
253
+ }
254
+ },
255
+ "grasp_17": {
256
+ "confidence": 0.9789841771125793,
257
+ "position": [
258
+ -0.08012174745090306,
259
+ 0.08560987829696387,
260
+ 0.004380686274089385
261
+ ],
262
+ "orientation": {
263
+ "w": 0.31220453613418897,
264
+ "xyz": [
265
+ 0.6464199386326074,
266
+ -0.2935036542566236,
267
+ 0.631288520007659
268
+ ]
269
+ }
270
+ },
271
+ "grasp_18": {
272
+ "confidence": 0.9789770841598511,
273
+ "position": [
274
+ -0.08475126256234944,
275
+ -0.08277745277155191,
276
+ -0.0004285254908609204
277
+ ],
278
+ "orientation": {
279
+ "w": 0.6368379057756798,
280
+ "xyz": [
281
+ -0.3063257905539121,
282
+ 0.6394950811027048,
283
+ 0.30273426144758064
284
+ ]
285
+ }
286
+ },
287
+ "grasp_19": {
288
+ "confidence": 0.9789559841156006,
289
+ "position": [
290
+ -0.1137115575838834,
291
+ 0.030590857262723148,
292
+ 0.0017200310903717764
293
+ ],
294
+ "orientation": {
295
+ "w": 0.10258198913895278,
296
+ "xyz": [
297
+ 0.7007022217188074,
298
+ -0.11234775626840032,
299
+ 0.697044699889526
300
+ ]
301
+ }
302
+ }
303
+ }
304
+ }
305
+ ],
306
+ "quality_check": {
307
+ "success": true,
308
+ "message": "YES"
309
+ }
310
+ }
dataset/desktop_supplies/office_tools/78f1fcc2ea845de180548cfc9988ec92/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9c7a67a06d99d556e89c664a65c3b3f77728fd649428829214e1a52a0e3a57e
3
+ size 3777012
dataset/desktop_supplies/office_tools/78f1fcc2ea845de180548cfc9988ec92/sticky_notes_046.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>