xinjjj commited on
Commit
b75e774
·
verified ·
1 Parent(s): a847bba

Add asset desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6

Browse files
.gitattributes CHANGED
@@ -6597,3 +6597,4 @@ dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/affordanc
6597
  dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6598
  dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6599
  dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6597
  dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6598
  dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6599
  dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6600
+ dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,308 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sticky note stack",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the stack from the sides to pick up and relocate it",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "pinch the stack at an edge to stabilize it while peeling or dispensing a note",
14
+ "confidence": 0.82
15
+ },
16
+ {
17
+ "scenario": "hold the stack flat against a surface for placement or alignment",
18
+ "confidence": 0.72
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide writable note sheets",
23
+ "stack and store notes",
24
+ "dispense individual sheets",
25
+ "main grasp surface",
26
+ "support adhesion-backed pages"
27
+ ],
28
+ "semantic_description": "A thick pale yellow paper note stack with a matte smooth paper surface, layered edges, and a scalloped shell-like outline. The top face has embossed radial grooves and orange printed branding text.",
29
+ "id": 4,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9737730622291565,
33
+ "position": [
34
+ 0.00943123988690786,
35
+ -0.1027725269086659,
36
+ -0.00032436271430924535
37
+ ],
38
+ "orientation": {
39
+ "w": 0.47748093037038025,
40
+ "xyz": [
41
+ -0.5089669186352769,
42
+ 0.4930378587808254,
43
+ 0.5194981296177752
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9734087586402893,
49
+ "position": [
50
+ 0.10775452453526668,
51
+ 0.020393069367855787,
52
+ -0.0031543399236397818
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7154353032187677,
56
+ "xyz": [
57
+ 0.0686822813980237,
58
+ -0.692352421435071,
59
+ 0.06389988781857875
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9733143448829651,
65
+ "position": [
66
+ 0.018514387047616765,
67
+ -0.10150276171043515,
68
+ -0.0008073278149822727
69
+ ],
70
+ "orientation": {
71
+ "w": 0.4546961649005099,
72
+ "xyz": [
73
+ -0.5289861171354121,
74
+ 0.4703745539856071,
75
+ 0.5405301698014741
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.9727702140808105,
81
+ "position": [
82
+ -0.031797278934391215,
83
+ 0.11063141329213977,
84
+ -0.007349170002271421
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5704738969695589,
88
+ "xyz": [
89
+ 0.3877418920844582,
90
+ 0.5737851253223143,
91
+ -0.4415726304448518
92
+ ]
93
+ }
94
+ },
95
+ "grasp_6": {
96
+ "confidence": 0.9725492596626282,
97
+ "position": [
98
+ 0.029567897057859227,
99
+ -0.0996001367457211,
100
+ -0.002591576616396196
101
+ ],
102
+ "orientation": {
103
+ "w": 0.42372145297900143,
104
+ "xyz": [
105
+ -0.5544594102767323,
106
+ 0.4380444236769605,
107
+ 0.5667027223566704
108
+ ]
109
+ }
110
+ },
111
+ "grasp_7": {
112
+ "confidence": 0.9725379943847656,
113
+ "position": [
114
+ 0.10871217001113109,
115
+ -0.010391403455287218,
116
+ -0.0058781725383596495
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7131420381303313,
120
+ "xyz": [
121
+ -0.03849514960900344,
122
+ -0.6984728043143488,
123
+ -0.04563220947036039
124
+ ]
125
+ }
126
+ },
127
+ "grasp_8": {
128
+ "confidence": 0.9723688960075378,
129
+ "position": [
130
+ 0.053892835712758824,
131
+ -0.09091928647831082,
132
+ 0.0033419426035834476
133
+ ],
134
+ "orientation": {
135
+ "w": 0.34405520687235197,
136
+ "xyz": [
137
+ -0.6121520440169237,
138
+ 0.3773817348846097,
139
+ 0.6037208923048858
140
+ ]
141
+ }
142
+ },
143
+ "grasp_9": {
144
+ "confidence": 0.9723666310310364,
145
+ "position": [
146
+ -0.018651057296665385,
147
+ -0.10217148112133145,
148
+ -0.007073656379361637
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5500337976089785,
152
+ "xyz": [
153
+ -0.446065008252135,
154
+ 0.5315506157333281,
155
+ 0.46469643081735373
156
+ ]
157
+ }
158
+ },
159
+ "grasp_10": {
160
+ "confidence": 0.9723401665687561,
161
+ "position": [
162
+ 0.11104254025849514,
163
+ -0.008312767837196589,
164
+ -0.004105797692318447
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7143304540016814,
168
+ "xyz": [
169
+ -0.03189391164699714,
170
+ -0.6979935820368851,
171
+ -0.03898384692309232
172
+ ]
173
+ }
174
+ },
175
+ "grasp_11": {
176
+ "confidence": 0.9722331166267395,
177
+ "position": [
178
+ -0.026869060733588412,
179
+ -0.10172931151464581,
180
+ -0.0011308996035950258
181
+ ],
182
+ "orientation": {
183
+ "w": 0.566373376758833,
184
+ "xyz": [
185
+ -0.41494217800412536,
186
+ 0.572088948941213,
187
+ 0.42397927014339787
188
+ ]
189
+ }
190
+ },
191
+ "grasp_13": {
192
+ "confidence": 0.9718862771987915,
193
+ "position": [
194
+ -0.011651570239337161,
195
+ -0.10463509010151029,
196
+ -0.004551258127321489
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5424802577393752,
200
+ "xyz": [
201
+ -0.43991275217328346,
202
+ 0.5407827028960204,
203
+ 0.46877074214035896
204
+ ]
205
+ }
206
+ },
207
+ "grasp_14": {
208
+ "confidence": 0.9711933732032776,
209
+ "position": [
210
+ 0.11281914610299282,
211
+ 0.01609086012467742,
212
+ -0.0034911636757897213
213
+ ],
214
+ "orientation": {
215
+ "w": 0.7123138614361982,
216
+ "xyz": [
217
+ 0.05962986384195189,
218
+ -0.6989644409986354,
219
+ 0.02240429341686485
220
+ ]
221
+ }
222
+ },
223
+ "grasp_15": {
224
+ "confidence": 0.970993161201477,
225
+ "position": [
226
+ 0.1032463719311636,
227
+ 0.02147742873057723,
228
+ 0.019430292115430348
229
+ ],
230
+ "orientation": {
231
+ "w": 0.6448332253033299,
232
+ "xyz": [
233
+ 0.08770174036887259,
234
+ -0.7572845681604254,
235
+ 0.054941779250892116
236
+ ]
237
+ }
238
+ },
239
+ "grasp_16": {
240
+ "confidence": 0.9708222150802612,
241
+ "position": [
242
+ 0.10806291151675396,
243
+ 0.008506933692842722,
244
+ -0.0025072716671274975
245
+ ],
246
+ "orientation": {
247
+ "w": 0.722778787548204,
248
+ "xyz": [
249
+ 0.03283106728595531,
250
+ -0.6900548548043415,
251
+ 0.01836416761447577
252
+ ]
253
+ }
254
+ },
255
+ "grasp_17": {
256
+ "confidence": 0.9707732796669006,
257
+ "position": [
258
+ 0.06909939247998409,
259
+ -0.0825367053039372,
260
+ -0.004188202510704286
261
+ ],
262
+ "orientation": {
263
+ "w": 0.3003141195471711,
264
+ "xyz": [
265
+ -0.6362884279802867,
266
+ 0.2985457211949879,
267
+ 0.6448402270137523
268
+ ]
269
+ }
270
+ },
271
+ "grasp_18": {
272
+ "confidence": 0.9706136584281921,
273
+ "position": [
274
+ 0.09964251864585094,
275
+ -0.047014996875077486,
276
+ -0.004807062636245973
277
+ ],
278
+ "orientation": {
279
+ "w": 0.16733794244319505,
280
+ "xyz": [
281
+ -0.6824102640596841,
282
+ 0.148373400175429,
283
+ 0.6959163589435533
284
+ ]
285
+ }
286
+ }
287
+ }
288
+ },
289
+ {
290
+ "part_name": "top rectangular writable strip",
291
+ "mask_color": "Red",
292
+ "graspable": false,
293
+ "grasp_scenarios": [],
294
+ "functional_labels": [
295
+ "writable label area",
296
+ "index/tab marking area",
297
+ "top-surface note identification area"
298
+ ],
299
+ "semantic_description": "A narrow white to off-white rectangular strip on the top face, with a smooth matte paper appearance, positioned near one side of the pale yellow note stack.",
300
+ "id": 0,
301
+ "grasp_group": {}
302
+ }
303
+ ],
304
+ "quality_check": {
305
+ "success": false,
306
+ "message": "Top strip function is misidentified; it is a decorative/branding label, not a writable tab area."
307
+ }
308
+ }
dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:061ba03309e09dc67e8d4b9da15f77436624e87c02051c9253e9d7e18074dda9
3
+ size 3782980
dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/sticky_notes_041.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>