xinjjj commited on
Commit
e8a01ee
·
verified ·
1 Parent(s): 3a3ef6f

Add asset desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12

Browse files
.gitattributes CHANGED
@@ -6554,4 +6554,5 @@ dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordanc
6554
  dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6555
  dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6556
  dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6557
- dataset/desktop_supplies/office_tools/3aff0ad466c45b3492645a9eff73bea1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6554
  dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6555
  dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6556
  dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6557
+ dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/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
dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/affordance_annot.json ADDED
@@ -0,0 +1,291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "blade of knife",
5
+ "mask_color": "Cyan",
6
+ "graspable": false,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "contact the blade spine or sides only with a specialized fixture to stabilize the knife during inspection or maintenance, not for normal grasping",
10
+ "confidence": 0.12
11
+ }
12
+ ],
13
+ "functional_labels": [
14
+ "cut material",
15
+ "score surfaces",
16
+ "pierce material",
17
+ "provide the sharp working edge"
18
+ ],
19
+ "semantic_description": "Small exposed dark gray metal blade with a smooth slightly reflective finish, wedge-shaped and sharp, protruding from the front end of the knife body.",
20
+ "id": 6,
21
+ "grasp_group": {}
22
+ },
23
+ {
24
+ "part_name": "slider button",
25
+ "mask_color": "Blue",
26
+ "graspable": true,
27
+ "grasp_scenarios": [
28
+ {
29
+ "scenario": "pinch or press the ribbed slider to extend or retract the blade",
30
+ "confidence": 0.76
31
+ },
32
+ {
33
+ "scenario": "hold the slider lightly to make a short blade adjustment while the handle is supported",
34
+ "confidence": 0.42
35
+ }
36
+ ],
37
+ "functional_labels": [
38
+ "extend blade",
39
+ "retract blade",
40
+ "lock blade position",
41
+ "provide thumb actuation surface"
42
+ ],
43
+ "semantic_description": "Small bright blue plastic slider with a matte finish and ribbed texture, mounted on top of the handle near the center as a short rectangular control tab.",
44
+ "id": 2,
45
+ "grasp_group": {
46
+ "grasp_0": {
47
+ "confidence": 0.9569927453994751,
48
+ "position": [
49
+ -0.024742827506997855,
50
+ 0.041971747902152856,
51
+ 0.08777901392022613
52
+ ],
53
+ "orientation": {
54
+ "w": 0.27425964460645424,
55
+ "xyz": [
56
+ 0.9520351573899226,
57
+ -0.019629275378604594,
58
+ 0.13425869797520662
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9446921944618225,
64
+ "position": [
65
+ -0.026576033549645217,
66
+ 0.05380855607700141,
67
+ 0.08692056547442917
68
+ ],
69
+ "orientation": {
70
+ "w": 0.12479840072441041,
71
+ "xyz": [
72
+ 0.05560203491837496,
73
+ 0.9527814306555694,
74
+ -0.2711850259278555
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9246602058410645,
80
+ "position": [
81
+ -0.03440801868055132,
82
+ 0.05441296207618507,
83
+ 0.08829554777184967
84
+ ],
85
+ "orientation": {
86
+ "w": 0.26042250915117293,
87
+ "xyz": [
88
+ 0.9448813286916301,
89
+ -0.026893685758410113,
90
+ 0.19661159956542365
91
+ ]
92
+ }
93
+ }
94
+ }
95
+ },
96
+ {
97
+ "part_name": "knife handle",
98
+ "mask_color": "Orange",
99
+ "graspable": true,
100
+ "grasp_scenarios": [
101
+ {
102
+ "scenario": "grasp the handle body to pick up and hold the cutter knife for transport",
103
+ "confidence": 0.96
104
+ },
105
+ {
106
+ "scenario": "hold the handle firmly while cutting with the extended blade",
107
+ "confidence": 0.94
108
+ },
109
+ {
110
+ "scenario": "grasp the rear rounded handle to stabilize the knife while actuating the slider",
111
+ "confidence": 0.85
112
+ }
113
+ ],
114
+ "functional_labels": [
115
+ "main grip",
116
+ "house blade mechanism",
117
+ "support cutting force",
118
+ "protect the user's hand",
119
+ "provide overall structure"
120
+ ],
121
+ "semantic_description": "Large white plastic handle with blue end cap accents, a mostly matte smooth hard surface, and an elongated slightly tapered shape forming the main body of the utility knife.",
122
+ "id": 4,
123
+ "grasp_group": {
124
+ "grasp_4": {
125
+ "confidence": 0.9883117079734802,
126
+ "position": [
127
+ 0.0961459011414263,
128
+ 0.011790290613589605,
129
+ 0.013110367130138911
130
+ ],
131
+ "orientation": {
132
+ "w": 0.6550786059177731,
133
+ "xyz": [
134
+ -0.004312375208613453,
135
+ -0.7555463291620156,
136
+ -0.0017798816506589576
137
+ ]
138
+ }
139
+ },
140
+ "grasp_8": {
141
+ "confidence": 0.9876984357833862,
142
+ "position": [
143
+ 0.09285190260197851,
144
+ 0.014097634841618856,
145
+ 0.02879150259832386
146
+ ],
147
+ "orientation": {
148
+ "w": 0.5974013479737652,
149
+ "xyz": [
150
+ -0.030706236655974613,
151
+ -0.8012866483113886,
152
+ 0.010414591084484047
153
+ ]
154
+ }
155
+ },
156
+ "grasp_10": {
157
+ "confidence": 0.9865292310714722,
158
+ "position": [
159
+ 0.0985638082602236,
160
+ 0.009639828604576905,
161
+ -0.0017535043734824285
162
+ ],
163
+ "orientation": {
164
+ "w": 0.7094712242194878,
165
+ "xyz": [
166
+ -0.008669892680588587,
167
+ -0.7046777709240533,
168
+ -0.0021573434859552434
169
+ ]
170
+ }
171
+ },
172
+ "grasp_12": {
173
+ "confidence": 0.9859012961387634,
174
+ "position": [
175
+ 0.09593639826562139,
176
+ 0.019110887450096925,
177
+ 0.005106931101181544
178
+ ],
179
+ "orientation": {
180
+ "w": 0.6879290877175323,
181
+ "xyz": [
182
+ -0.0014536828038161484,
183
+ -0.7257572136393903,
184
+ 0.005284309682301972
185
+ ]
186
+ }
187
+ },
188
+ "grasp_13": {
189
+ "confidence": 0.9858507513999939,
190
+ "position": [
191
+ 0.09650311177756521,
192
+ 0.02512237536620887,
193
+ 0.006423984203138389
194
+ ],
195
+ "orientation": {
196
+ "w": 0.6781391987413566,
197
+ "xyz": [
198
+ 0.052771113173398436,
199
+ -0.7308860771713896,
200
+ 0.05610685289595109
201
+ ]
202
+ }
203
+ },
204
+ "grasp_14": {
205
+ "confidence": 0.9855589866638184,
206
+ "position": [
207
+ -0.09726427936766413,
208
+ -0.002793610190110485,
209
+ -0.0016742988809710369
210
+ ],
211
+ "orientation": {
212
+ "w": 0.027990931479189886,
213
+ "xyz": [
214
+ -0.6908877921813847,
215
+ -0.02852828867847379,
216
+ -0.7218564283254232
217
+ ]
218
+ }
219
+ },
220
+ "grasp_15": {
221
+ "confidence": 0.9854798913002014,
222
+ "position": [
223
+ 0.09221916949536535,
224
+ 0.013547783856211026,
225
+ 0.03750981252233032
226
+ ],
227
+ "orientation": {
228
+ "w": 0.5562976294532105,
229
+ "xyz": [
230
+ -0.004145726774978065,
231
+ -0.8309121932758218,
232
+ -0.010034315114101728
233
+ ]
234
+ }
235
+ },
236
+ "grasp_16": {
237
+ "confidence": 0.9853352308273315,
238
+ "position": [
239
+ 0.09442895209576818,
240
+ -0.00671173059481589,
241
+ -0.003983352784416638
242
+ ],
243
+ "orientation": {
244
+ "w": 0.10038612262823214,
245
+ "xyz": [
246
+ -0.6922673235842214,
247
+ 0.1069955900851014,
248
+ 0.7065695456100193
249
+ ]
250
+ }
251
+ },
252
+ "grasp_17": {
253
+ "confidence": 0.9850270748138428,
254
+ "position": [
255
+ -0.09389673614714411,
256
+ -0.004032328586163203,
257
+ -0.005574840106419288
258
+ ],
259
+ "orientation": {
260
+ "w": 0.06649407382233417,
261
+ "xyz": [
262
+ -0.6752455548434277,
263
+ -0.06694784087212291,
264
+ -0.7315326140461981
265
+ ]
266
+ }
267
+ },
268
+ "grasp_20": {
269
+ "confidence": 0.9847642779350281,
270
+ "position": [
271
+ 0.09701109981324407,
272
+ 0.028079693344352563,
273
+ 0.017076548669137992
274
+ ],
275
+ "orientation": {
276
+ "w": 0.6507492360005587,
277
+ "xyz": [
278
+ 0.00046984534545664857,
279
+ -0.7592877239924312,
280
+ -0.002713537254874189
281
+ ]
282
+ }
283
+ }
284
+ }
285
+ }
286
+ ],
287
+ "quality_check": {
288
+ "success": true,
289
+ "message": "YES"
290
+ }
291
+ }
dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1fcc3fcc98eb335f6a4bf194712c73f43c6267fc63756d65738883bf9b8b33b9
3
+ size 3777428
dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/cutter_knife_011.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>