xinjjj commited on
Commit
cbdebaa
·
verified ·
1 Parent(s): dd89231

Add asset desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45

Browse files
.gitattributes CHANGED
@@ -8238,3 +8238,4 @@ dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/affordanc
8238
  dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8239
  dataset/desktop_supplies/office_tools/08f5a04a67195da19b14f051928fad51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8240
  dataset/desktop_supplies/office_tools/096194dff5e75dcb837f6f930c3fe22f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8238
  dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8239
  dataset/desktop_supplies/office_tools/08f5a04a67195da19b14f051928fad51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8240
  dataset/desktop_supplies/office_tools/096194dff5e75dcb837f6f930c3fe22f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8241
+ dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/affordance_annot.json ADDED
@@ -0,0 +1,458 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "stamp housing",
5
+ "mask_color": "Cyan",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer housing to pick up and reposition the stamp",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the housing while pressing the stamp onto a surface",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "grasp the housing to stabilize the stamp during alignment",
18
+ "confidence": 0.87
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enclose internal mechanism",
24
+ "support pressing action",
25
+ "protect internal parts"
26
+ ],
27
+ "semantic_description": "Large black plastic outer housing with a matte finish and smooth surfaces, forming a tall rounded-rectangular shell around the upper portion of the stamp, with white side trim visible along the edges.",
28
+ "id": 6,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9856435060501099,
32
+ "position": [
33
+ -0.06481606757733971,
34
+ 0.000276717561064288,
35
+ 0.1136390557512641
36
+ ],
37
+ "orientation": {
38
+ "w": 0.17891549160951717,
39
+ "xyz": [
40
+ -0.6980218284381722,
41
+ 0.6677049933432437,
42
+ -0.1868818229535827
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9854770302772522,
48
+ "position": [
49
+ -0.023051635012961924,
50
+ -0.0015935004485072568,
51
+ 0.12153827305883169
52
+ ],
53
+ "orientation": {
54
+ "w": 0.07617974075079563,
55
+ "xyz": [
56
+ -0.6978844962343909,
57
+ 0.7113249117395744,
58
+ -0.03421617970345404
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9851765632629395,
64
+ "position": [
65
+ -0.0652816022047773,
66
+ 0.006804739750805311,
67
+ 0.11176746245473623
68
+ ],
69
+ "orientation": {
70
+ "w": 0.1874635503985581,
71
+ "xyz": [
72
+ 0.6833519563804542,
73
+ 0.6842526274516743,
74
+ 0.17229585836129027
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9846488833427429,
80
+ "position": [
81
+ -0.06636807566974312,
82
+ 0.002588368413853459,
83
+ 0.11112204845994711
84
+ ],
85
+ "orientation": {
86
+ "w": 0.1807021344536073,
87
+ "xyz": [
88
+ -0.6888677333997112,
89
+ 0.6758290402156547,
90
+ -0.1899028511788122
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9845103621482849,
96
+ "position": [
97
+ -0.06172044819686562,
98
+ 0.012304455201956443,
99
+ 0.1103017246350646
100
+ ],
101
+ "orientation": {
102
+ "w": 0.20128836337737185,
103
+ "xyz": [
104
+ 0.6809762699610625,
105
+ 0.6862454330840034,
106
+ 0.1575484690186684
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9840002655982971,
112
+ "position": [
113
+ -0.011063927435316145,
114
+ -0.0021292905585141852,
115
+ 0.126490599475801
116
+ ],
117
+ "orientation": {
118
+ "w": 0.0012411310335493698,
119
+ "xyz": [
120
+ -0.7087728660909599,
121
+ -0.705386532205983,
122
+ -0.008326107696969563
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.983994722366333,
128
+ "position": [
129
+ 0.10732310020830482,
130
+ 0.0026131625490961596,
131
+ 0.07785174902528524
132
+ ],
133
+ "orientation": {
134
+ "w": 0.35292146843199906,
135
+ "xyz": [
136
+ -0.613206261722229,
137
+ -0.6141589951892187,
138
+ 0.3496187156498068
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9839847683906555,
144
+ "position": [
145
+ -0.06383197254035622,
146
+ 0.0020028233266202733,
147
+ 0.11111270543187857
148
+ ],
149
+ "orientation": {
150
+ "w": 0.1723585688319795,
151
+ "xyz": [
152
+ -0.6930647266094727,
153
+ 0.673770884157622,
154
+ -0.1897013551385044
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9839128851890564,
160
+ "position": [
161
+ -0.06316073483321816,
162
+ 0.0017785490927053615,
163
+ 0.11611812468618155
164
+ ],
165
+ "orientation": {
166
+ "w": 0.16534208460372324,
167
+ "xyz": [
168
+ 0.6724678050812903,
169
+ 0.6993767923823447,
170
+ 0.17697781913287758
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9838378429412842,
176
+ "position": [
177
+ -0.0128961835289374,
178
+ -0.007548438225057907,
179
+ 0.12391129788011312
180
+ ],
181
+ "orientation": {
182
+ "w": 0.022845267294964583,
183
+ "xyz": [
184
+ -0.7138119502806307,
185
+ 0.6999491680214327,
186
+ 0.004664288250993917
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9835360050201416,
192
+ "position": [
193
+ -0.10711281991098076,
194
+ -5.017960211262107e-05,
195
+ 0.07316570635885
196
+ ],
197
+ "orientation": {
198
+ "w": 0.35769328561373503,
199
+ "xyz": [
200
+ 0.5994801750282024,
201
+ 0.6184320757101645,
202
+ 0.36086119340797024
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9835267663002014,
208
+ "position": [
209
+ -0.06554557627532631,
210
+ 0.018063848998281173,
211
+ 0.11420715507119894
212
+ ],
213
+ "orientation": {
214
+ "w": 0.22293959112504835,
215
+ "xyz": [
216
+ 0.6789180812854992,
217
+ 0.6862415650487973,
218
+ 0.13579650957219022
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9827708005905151,
224
+ "position": [
225
+ -0.06588800495956093,
226
+ 0.014643508169683628,
227
+ 0.11581712123006582
228
+ ],
229
+ "orientation": {
230
+ "w": 0.20506387109655436,
231
+ "xyz": [
232
+ 0.684723373062219,
233
+ 0.6838715015326466,
234
+ 0.1463642051345751
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9827497005462646,
240
+ "position": [
241
+ -0.05399339518044144,
242
+ 0.0011050859902752563,
243
+ 0.11741297598928213
244
+ ],
245
+ "orientation": {
246
+ "w": 0.1658498391322253,
247
+ "xyz": [
248
+ 0.6873485652068914,
249
+ 0.6853429171288746,
250
+ 0.17421500138945165
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.98260098695755,
256
+ "position": [
257
+ -0.10741266107652336,
258
+ 0.0001546732510178117,
259
+ 0.07420602347701788
260
+ ],
261
+ "orientation": {
262
+ "w": 0.3658722120694832,
263
+ "xyz": [
264
+ 0.5976574827444002,
265
+ 0.6181600628305323,
266
+ 0.3561196350615364
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9825181365013123,
272
+ "position": [
273
+ 0.09616081917192787,
274
+ -0.008481651384499855,
275
+ 0.0944967558607459
276
+ ],
277
+ "orientation": {
278
+ "w": 0.28547188128045387,
279
+ "xyz": [
280
+ -0.6562280882326312,
281
+ -0.6545969944428046,
282
+ 0.2436663211836858
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.982446551322937,
288
+ "position": [
289
+ -0.054220395744778216,
290
+ -0.00022698506654705852,
291
+ 0.11762296315282583
292
+ ],
293
+ "orientation": {
294
+ "w": 0.15914207240330036,
295
+ "xyz": [
296
+ 0.6794974286472321,
297
+ 0.6936130643010168,
298
+ 0.1784879891867688
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9823927879333496,
304
+ "position": [
305
+ -0.00945829099509865,
306
+ 0.000701544908224605,
307
+ 0.12268403824418783
308
+ ],
309
+ "orientation": {
310
+ "w": 0.010426495948937471,
311
+ "xyz": [
312
+ -0.710136129836077,
313
+ -0.7039746770620946,
314
+ -0.004197539634697252
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9822472929954529,
320
+ "position": [
321
+ -0.10626253730151802,
322
+ 0.0010508008272154257,
323
+ 0.07550295349210501
324
+ ],
325
+ "orientation": {
326
+ "w": 0.3409219078133323,
327
+ "xyz": [
328
+ -0.6295098467693935,
329
+ 0.5941786194368273,
330
+ -0.36666247939684016
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9817523956298828,
336
+ "position": [
337
+ -0.10499625897500664,
338
+ 0.0028191729652462527,
339
+ 0.07163633313030005
340
+ ],
341
+ "orientation": {
342
+ "w": 0.34611087183474376,
343
+ "xyz": [
344
+ -0.6288282661475839,
345
+ 0.5932424447671478,
346
+ -0.3644800101765728
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "stamp base frame",
354
+ "mask_color": "Lime Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the lower base frame to lift or reorient the stamp from below",
359
+ "confidence": 0.64
360
+ },
361
+ {
362
+ "scenario": "hold the base frame to stabilize the stamp during inspection or handling",
363
+ "confidence": 0.59
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "support the stamp",
368
+ "frame the lower structure",
369
+ "guide pressing motion",
370
+ "protect the stamp face perimeter"
371
+ ],
372
+ "semantic_description": "Light peach or beige plastic base frame with a smooth semi-gloss finish, wrapping around the lower perimeter and support area beneath the housing.",
373
+ "id": 9,
374
+ "grasp_group": {
375
+ "grasp_33": {
376
+ "confidence": 0.214852973818779,
377
+ "position": [
378
+ -0.00651600316632539,
379
+ 0.09356129185471218,
380
+ -0.09127275738865137
381
+ ],
382
+ "orientation": {
383
+ "w": 0.8546602494605542,
384
+ "xyz": [
385
+ 0.5171274475243615,
386
+ 0.030554867735029245,
387
+ 0.03466209841681962
388
+ ]
389
+ }
390
+ },
391
+ "grasp_37": {
392
+ "confidence": 0.20321980118751526,
393
+ "position": [
394
+ 0.0003346045850776136,
395
+ 0.09712111965927761,
396
+ -0.08955315593630075
397
+ ],
398
+ "orientation": {
399
+ "w": 0.012223967134728638,
400
+ "xyz": [
401
+ -0.02720540400906687,
402
+ 0.521688134365801,
403
+ -0.8526147612386988
404
+ ]
405
+ }
406
+ }
407
+ }
408
+ },
409
+ {
410
+ "part_name": "inked stamp face",
411
+ "mask_color": "Red",
412
+ "graspable": false,
413
+ "grasp_scenarios": [],
414
+ "functional_labels": [
415
+ "transfer ink impression",
416
+ "mark paper",
417
+ "provide stamping surface",
418
+ "create printed text or pattern"
419
+ ],
420
+ "semantic_description": "Flat rectangular stamp face recessed inside the lower opening, appearing red in the visible views and positioned where it contacts paper.",
421
+ "id": 0,
422
+ "grasp_group": {}
423
+ },
424
+ {
425
+ "part_name": "front/side push button",
426
+ "mask_color": "Yellow",
427
+ "graspable": false,
428
+ "grasp_scenarios": [],
429
+ "functional_labels": [
430
+ "press to actuate or release",
431
+ "control mechanism",
432
+ "provide control input"
433
+ ],
434
+ "semantic_description": "Small oval red push button set into the housing, visible on the front in some views and on the side in others, with a smooth slightly glossy plastic finish.",
435
+ "id": 3,
436
+ "grasp_group": {}
437
+ },
438
+ {
439
+ "part_name": "internal guide struts",
440
+ "mask_color": "Purple",
441
+ "graspable": false,
442
+ "grasp_scenarios": [],
443
+ "functional_labels": [
444
+ "connect upper housing to base",
445
+ "guide vertical motion",
446
+ "support internal mechanism",
447
+ "stabilize structure"
448
+ ],
449
+ "semantic_description": "Narrow internal side struts visible beneath the housing near the opening, appearing dark in the RGB image and helping connect the housing to the lower base.",
450
+ "id": 5,
451
+ "grasp_group": {}
452
+ }
453
+ ],
454
+ "quality_check": {
455
+ "success": false,
456
+ "message": "Yellow part is a side lock/button, not front; red part describes stamp face color/shape incorrectly."
457
+ }
458
+ }
dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c29688b4290f0a677bd5d7fdd412b629be6bf4f2b8eb23678b7c3451a651f5e
3
+ size 3788748
dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/stamp_011.urdf CHANGED
@@ -50,16 +50,17 @@
50
  </link>
51
  <custom_data>
52
  <affordance>
53
- <part_count>0</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
57
- <mesh filename="None" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
63
  </quality>
64
  </custom_data>
65
  </robot>
 
50
  </link>
51
  <custom_data>
52
  <affordance>
53
+ <part_count>6</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
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>NO: {"summary":"Segmentation splits single functional parts into multiple colors and misses clear separations.","merge_groups":[{"colors":["Red","Lime Green"],"target_part":"base/frame","reason":"same supporting body and bottom surface"},{"colors":["Purple","Violet"],"target_part":"side button/axle feature","reason":"same small side feature fragments"},{"colors":["Cyan","Crimson"],"target_part":"upper housing and stamp face","reason":"single stamp head split inconsistently"}]}</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>