xinjjj commited on
Commit
7899df1
·
verified ·
1 Parent(s): 87c47e5

Add asset desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f

Browse files
.gitattributes CHANGED
@@ -6300,3 +6300,4 @@ dataset/desktop_supplies/office_stationery/337ab234af0259b98488c1e3a73b9a11/affo
6300
  dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6301
  dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6302
  dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6300
  dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6301
  dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6302
  dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6303
+ dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,814 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top handle",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the top handle to pick up and reposition the stapler",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the top handle while aligning the stapler over paper",
14
+ "confidence": 0.87
15
+ },
16
+ {
17
+ "scenario": "press down on the top handle to drive a staple",
18
+ "confidence": 0.97
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main handhold",
23
+ "press to staple",
24
+ "cover internal mechanism",
25
+ "provide top leverage"
26
+ ],
27
+ "semantic_description": "Large elongated black plastic upper shell with a matte smooth hard surface and rounded edges, forming the stapler's top lever above the base.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9844975471496582,
32
+ "position": [
33
+ 0.0018898623748100363,
34
+ 0.06917396816425025,
35
+ 0.1081122977193445
36
+ ],
37
+ "orientation": {
38
+ "w": 0.2896724472234321,
39
+ "xyz": [
40
+ 0.9570590736041298,
41
+ 0.009020801444010018,
42
+ 0.006813816324242485
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9834322333335876,
48
+ "position": [
49
+ 0.00813894593011355,
50
+ 0.06646884861402214,
51
+ 0.10760230547748506
52
+ ],
53
+ "orientation": {
54
+ "w": 0.280896797082724,
55
+ "xyz": [
56
+ 0.9595984474101567,
57
+ 0.014013327169519862,
58
+ -0.008451968902191525
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9825775027275085,
64
+ "position": [
65
+ 0.00103669010422891,
66
+ 0.06699825706891716,
67
+ 0.10582698858343065
68
+ ],
69
+ "orientation": {
70
+ "w": 0.25034454421520647,
71
+ "xyz": [
72
+ 0.9681214885518219,
73
+ 0.006046484394332585,
74
+ 0.005642039733492713
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9818575382232666,
80
+ "position": [
81
+ -0.0054544437225558795,
82
+ 0.06049755844287574,
83
+ 0.11045206314884126
84
+ ],
85
+ "orientation": {
86
+ "w": 0.28334744081061136,
87
+ "xyz": [
88
+ 0.9585505839815454,
89
+ 0.015189496935197444,
90
+ 0.02577372533357881
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9812490940093994,
96
+ "position": [
97
+ -0.005149709388206247,
98
+ 0.06416526320390403,
99
+ 0.10685494518838823
100
+ ],
101
+ "orientation": {
102
+ "w": 0.29201779188913934,
103
+ "xyz": [
104
+ 0.9560107861480666,
105
+ 0.009826472018930443,
106
+ 0.02593118655996225
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9803475141525269,
112
+ "position": [
113
+ 0.0001373424966004677,
114
+ 0.06103871646337211,
115
+ 0.11058720923028886
116
+ ],
117
+ "orientation": {
118
+ "w": 0.19967374892982773,
119
+ "xyz": [
120
+ 0.9797385604011005,
121
+ -0.009029893633953928,
122
+ 0.012696781972096538
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9802155494689941,
128
+ "position": [
129
+ 0.004738929354061838,
130
+ 0.06384380417875946,
131
+ 0.11283048964105546
132
+ ],
133
+ "orientation": {
134
+ "w": 0.2281006358189436,
135
+ "xyz": [
136
+ 0.9736254825015264,
137
+ 0.0045019051693912515,
138
+ -0.0018035000719954237
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9801770448684692,
144
+ "position": [
145
+ -0.007497959166357759,
146
+ 0.07759698363952339,
147
+ 0.10553430742584169
148
+ ],
149
+ "orientation": {
150
+ "w": 0.2819974366591769,
151
+ "xyz": [
152
+ 0.9591071155637564,
153
+ 0.00434895256470097,
154
+ 0.023918051848230586
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.9791914820671082,
160
+ "position": [
161
+ -0.0015517533538513817,
162
+ 0.07452551159076393,
163
+ 0.10669106966815889
164
+ ],
165
+ "orientation": {
166
+ "w": 0.02225890293348153,
167
+ "xyz": [
168
+ 0.016063270442033383,
169
+ 0.9639439773456641,
170
+ -0.2646857025264614
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.9791136384010315,
176
+ "position": [
177
+ 0.003296755392511841,
178
+ -0.029266395838931203,
179
+ 0.12489675707183778
180
+ ],
181
+ "orientation": {
182
+ "w": 0.05182895655348917,
183
+ "xyz": [
184
+ 0.9984975092932005,
185
+ 0.014977531128337926,
186
+ -0.00959983120430727
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.9786964654922485,
192
+ "position": [
193
+ -0.006799508679250721,
194
+ 0.0802863601129502,
195
+ 0.10232657915912569
196
+ ],
197
+ "orientation": {
198
+ "w": 0.2909731037806753,
199
+ "xyz": [
200
+ 0.9563557931841903,
201
+ 0.002048004046219909,
202
+ 0.026721815033889904
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.9786821007728577,
208
+ "position": [
209
+ -0.006295347448030952,
210
+ -0.043968693586066365,
211
+ 0.12323147780261934
212
+ ],
213
+ "orientation": {
214
+ "w": 0.0386606147420782,
215
+ "xyz": [
216
+ 0.012544241261046377,
217
+ 0.9985508454570465,
218
+ -0.035273331512174606
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.9783429503440857,
224
+ "position": [
225
+ -0.019111451088974718,
226
+ 0.0733218255918473,
227
+ 0.10319975740276277
228
+ ],
229
+ "orientation": {
230
+ "w": 0.2985681510580883,
231
+ "xyz": [
232
+ 0.9498987194726571,
233
+ 0.005078482722359723,
234
+ 0.09232383728593446
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.9782019257545471,
240
+ "position": [
241
+ 0.007129215773602482,
242
+ 0.08850049856118858,
243
+ 0.10095383203588426
244
+ ],
245
+ "orientation": {
246
+ "w": 0.28064485160949065,
247
+ "xyz": [
248
+ 0.9596865156097578,
249
+ 0.015420303595158558,
250
+ -0.0015726598241728082
251
+ ]
252
+ }
253
+ },
254
+ "grasp_34": {
255
+ "confidence": 0.9780656695365906,
256
+ "position": [
257
+ -0.006493894245068077,
258
+ 0.060293762711808085,
259
+ 0.1063856182154268
260
+ ],
261
+ "orientation": {
262
+ "w": 0.29006905430079244,
263
+ "xyz": [
264
+ 0.9565577906038608,
265
+ 0.0041931241624778015,
266
+ 0.02897507000616796
267
+ ]
268
+ }
269
+ },
270
+ "grasp_35": {
271
+ "confidence": 0.9772904515266418,
272
+ "position": [
273
+ -0.0035242648809798993,
274
+ 0.07028138521127403,
275
+ 0.10256039327941835
276
+ ],
277
+ "orientation": {
278
+ "w": 0.0243968163309228,
279
+ "xyz": [
280
+ 0.011871606827257726,
281
+ 0.9582040929457202,
282
+ -0.28479602624742456
283
+ ]
284
+ }
285
+ },
286
+ "grasp_36": {
287
+ "confidence": 0.9770587086677551,
288
+ "position": [
289
+ -0.0001351191967842169,
290
+ 0.0938701021950692,
291
+ 0.09952394641004503
292
+ ],
293
+ "orientation": {
294
+ "w": 0.2983398717331733,
295
+ "xyz": [
296
+ 0.9543250730557746,
297
+ 0.014713176921365145,
298
+ 0.006363827166502127
299
+ ]
300
+ }
301
+ },
302
+ "grasp_37": {
303
+ "confidence": 0.9768948554992676,
304
+ "position": [
305
+ 0.0025987850021920167,
306
+ -0.029978760750964284,
307
+ 0.1264039275702089
308
+ ],
309
+ "orientation": {
310
+ "w": 0.047428404819784685,
311
+ "xyz": [
312
+ 0.9987919576393375,
313
+ 0.012766750282094626,
314
+ -0.0014771115276224348
315
+ ]
316
+ }
317
+ },
318
+ "grasp_38": {
319
+ "confidence": 0.9765864610671997,
320
+ "position": [
321
+ 0.0015205397721729241,
322
+ -0.02089630183763802,
323
+ 0.12092825747095048
324
+ ],
325
+ "orientation": {
326
+ "w": 0.05382791281978392,
327
+ "xyz": [
328
+ 0.9985477068918047,
329
+ -0.002178679750200148,
330
+ 0.0005349926449781604
331
+ ]
332
+ }
333
+ },
334
+ "grasp_39": {
335
+ "confidence": 0.9765268564224243,
336
+ "position": [
337
+ -0.004373182870040182,
338
+ -0.03493259591050446,
339
+ 0.1255552989896387
340
+ ],
341
+ "orientation": {
342
+ "w": 0.033293722956389334,
343
+ "xyz": [
344
+ 0.0058773213763316165,
345
+ 0.9988137671459303,
346
+ -0.0350434539521685
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "base",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the base from the sides to lift the stapler",
359
+ "confidence": 0.76
360
+ },
361
+ {
362
+ "scenario": "hold the base to stabilize the stapler while opening or servicing it",
363
+ "confidence": 0.81
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "support on desk",
368
+ "stabilize during stapling",
369
+ "house lower mechanism",
370
+ "provide contact surface"
371
+ ],
372
+ "semantic_description": "Long rounded rectangular base in off-white to light gray plastic with a mostly matte smooth hard finish, broad and heavier-looking, positioned beneath the upper handle as the support platform.",
373
+ "id": 1,
374
+ "grasp_group": {
375
+ "grasp_2": {
376
+ "confidence": 0.9233927726745605,
377
+ "position": [
378
+ 0.02016058717708802,
379
+ 0.019249097211286426,
380
+ -0.12077862792648375
381
+ ],
382
+ "orientation": {
383
+ "w": 0.997793927669538,
384
+ "xyz": [
385
+ -0.01220593311482514,
386
+ -0.06503195816714047,
387
+ -0.005397918074643863
388
+ ]
389
+ }
390
+ },
391
+ "grasp_3": {
392
+ "confidence": 0.9056642055511475,
393
+ "position": [
394
+ -0.0009319449673057534,
395
+ 0.148366718320176,
396
+ -0.08438206487335265
397
+ ],
398
+ "orientation": {
399
+ "w": 0.8930213318377662,
400
+ "xyz": [
401
+ 0.4489536138830504,
402
+ 0.010789891482002822,
403
+ 0.02893322840365082
404
+ ]
405
+ }
406
+ },
407
+ "grasp_4": {
408
+ "confidence": 0.8993943333625793,
409
+ "position": [
410
+ -0.0204071610714891,
411
+ -0.030874976189807057,
412
+ -0.11823800229467452
413
+ ],
414
+ "orientation": {
415
+ "w": 0.9929297900840318,
416
+ "xyz": [
417
+ -0.06369175171180262,
418
+ 0.09687749002589696,
419
+ -0.02546653988756005
420
+ ]
421
+ }
422
+ },
423
+ "grasp_5": {
424
+ "confidence": 0.8837004899978638,
425
+ "position": [
426
+ 0.012058836080541369,
427
+ 0.13488580170087516,
428
+ -0.0887321608606726
429
+ ],
430
+ "orientation": {
431
+ "w": 0.9035392912761129,
432
+ "xyz": [
433
+ 0.42795461842067695,
434
+ -0.019873110880968214,
435
+ -0.008755178843746006
436
+ ]
437
+ }
438
+ },
439
+ "grasp_6": {
440
+ "confidence": 0.8787708878517151,
441
+ "position": [
442
+ -0.030251032068917993,
443
+ -0.010086525464430451,
444
+ -0.11578373634256423
445
+ ],
446
+ "orientation": {
447
+ "w": 0.988896969954121,
448
+ "xyz": [
449
+ 0.06865219007589418,
450
+ 0.13072565310487794,
451
+ -0.01674703656304787
452
+ ]
453
+ }
454
+ },
455
+ "grasp_7": {
456
+ "confidence": 0.8655871748924255,
457
+ "position": [
458
+ -0.015198142595181707,
459
+ 0.07347816112451255,
460
+ -0.12439208501018584
461
+ ],
462
+ "orientation": {
463
+ "w": 0.996790775642844,
464
+ "xyz": [
465
+ 0.0016604458930799888,
466
+ 0.07523812873592217,
467
+ 0.02728766199386564
468
+ ]
469
+ }
470
+ },
471
+ "grasp_9": {
472
+ "confidence": 0.8616287112236023,
473
+ "position": [
474
+ 0.021116248935868498,
475
+ 0.006424949504435062,
476
+ -0.11834087991155684
477
+ ],
478
+ "orientation": {
479
+ "w": 0.9853869457300533,
480
+ "xyz": [
481
+ 0.14934182689690398,
482
+ -0.08130097492797683,
483
+ 0.009986861351458532
484
+ ]
485
+ }
486
+ },
487
+ "grasp_11": {
488
+ "confidence": 0.8574241995811462,
489
+ "position": [
490
+ 0.03189061921875691,
491
+ -0.03308894974179566,
492
+ -0.11481592827476561
493
+ ],
494
+ "orientation": {
495
+ "w": 0.9920363137683571,
496
+ "xyz": [
497
+ -0.02802243504660634,
498
+ -0.12167119671811522,
499
+ 0.016577550727725786
500
+ ]
501
+ }
502
+ },
503
+ "grasp_12": {
504
+ "confidence": 0.8529074192047119,
505
+ "position": [
506
+ 0.02251685564260697,
507
+ 0.006211639614775777,
508
+ -0.12120543443597853
509
+ ],
510
+ "orientation": {
511
+ "w": 0.9983243686570592,
512
+ "xyz": [
513
+ -0.009360730264800648,
514
+ -0.05710048775770615,
515
+ -0.0006049563831112754
516
+ ]
517
+ }
518
+ }
519
+ }
520
+ },
521
+ {
522
+ "part_name": "staple magazine",
523
+ "mask_color": "Lime Green",
524
+ "graspable": true,
525
+ "grasp_scenarios": [
526
+ {
527
+ "scenario": "pull or hold the magazine while reloading staples",
528
+ "confidence": 0.62
529
+ },
530
+ {
531
+ "scenario": "grasp the exposed magazine section to open or service the stapler",
532
+ "confidence": 0.48
533
+ }
534
+ ],
535
+ "functional_labels": [
536
+ "store staple strip",
537
+ "guide staples forward",
538
+ "enable reloading",
539
+ "support feeding mechanism"
540
+ ],
541
+ "semantic_description": "Slim light-gray metal internal channel with a smooth slightly reflective hard surface, running lengthwise between the top handle and base and partially exposed along the side and rear.",
542
+ "id": 9,
543
+ "grasp_group": {
544
+ "grasp_40": {
545
+ "confidence": 0.8896067142486572,
546
+ "position": [
547
+ -0.005228057831118349,
548
+ -0.1493600767571479,
549
+ 0.005232730181887746
550
+ ],
551
+ "orientation": {
552
+ "w": 0.6967091758846989,
553
+ "xyz": [
554
+ -0.7168933814802039,
555
+ -0.0004062984276373971,
556
+ -0.025691219307961425
557
+ ]
558
+ }
559
+ },
560
+ "grasp_41": {
561
+ "confidence": 0.8882672786712646,
562
+ "position": [
563
+ -0.0010730657741078176,
564
+ -0.1490575533825904,
565
+ 0.006274787010625005
566
+ ],
567
+ "orientation": {
568
+ "w": 0.6948777847072117,
569
+ "xyz": [
570
+ -0.7188602026798873,
571
+ -0.0031864394614512515,
572
+ -0.019357683926237948
573
+ ]
574
+ }
575
+ },
576
+ "grasp_42": {
577
+ "confidence": 0.8824173808097839,
578
+ "position": [
579
+ -0.0033068043194361962,
580
+ -0.1491404187399894,
581
+ -0.0026857571210712194
582
+ ],
583
+ "orientation": {
584
+ "w": 0.7182493813562281,
585
+ "xyz": [
586
+ -0.6954729623069421,
587
+ -0.00041282893146554756,
588
+ -0.0208570001120882
589
+ ]
590
+ }
591
+ },
592
+ "grasp_43": {
593
+ "confidence": 0.8650868535041809,
594
+ "position": [
595
+ -0.005247912231425289,
596
+ -0.14800115046091378,
597
+ 0.0037379800342023373
598
+ ],
599
+ "orientation": {
600
+ "w": 0.028463649015011878,
601
+ "xyz": [
602
+ -0.039420641137202436,
603
+ -0.6849697289492945,
604
+ -0.7269472499158459
605
+ ]
606
+ }
607
+ },
608
+ "grasp_44": {
609
+ "confidence": 0.8610711097717285,
610
+ "position": [
611
+ 0.013069465428998228,
612
+ -0.1477778118569404,
613
+ 0.004734565736725926
614
+ ],
615
+ "orientation": {
616
+ "w": 0.05212132875059461,
617
+ "xyz": [
618
+ 0.014004887696392729,
619
+ -0.6763119538424741,
620
+ -0.7346355363713759
621
+ ]
622
+ }
623
+ },
624
+ "grasp_46": {
625
+ "confidence": 0.8581069111824036,
626
+ "position": [
627
+ 0.008555284373869654,
628
+ -0.14619204518385231,
629
+ 0.011450326768681407
630
+ ],
631
+ "orientation": {
632
+ "w": 0.7163371954886556,
633
+ "xyz": [
634
+ -0.6973640934916321,
635
+ -0.020397065212245824,
636
+ -0.011327100192421563
637
+ ]
638
+ }
639
+ },
640
+ "grasp_47": {
641
+ "confidence": 0.8372007012367249,
642
+ "position": [
643
+ 0.009214432582666632,
644
+ -0.1489839267451316,
645
+ -0.004474031971767545
646
+ ],
647
+ "orientation": {
648
+ "w": 0.7242954406181682,
649
+ "xyz": [
650
+ -0.6889305714439415,
651
+ -0.02759200142601459,
652
+ -0.0030763431155257353
653
+ ]
654
+ }
655
+ },
656
+ "grasp_48": {
657
+ "confidence": 0.831703245639801,
658
+ "position": [
659
+ -0.012734406955132727,
660
+ -0.14603744563646615,
661
+ -0.006387546891346574
662
+ ],
663
+ "orientation": {
664
+ "w": 0.7187332014403485,
665
+ "xyz": [
666
+ -0.6935405603799333,
667
+ 0.0038801029717615565,
668
+ -0.04908177926811452
669
+ ]
670
+ }
671
+ },
672
+ "grasp_50": {
673
+ "confidence": 0.7920222878456116,
674
+ "position": [
675
+ -0.003729135358298663,
676
+ -0.14163322863169014,
677
+ 0.045308772241696715
678
+ ],
679
+ "orientation": {
680
+ "w": 0.056020913558244734,
681
+ "xyz": [
682
+ 0.02088440583945421,
683
+ 0.8293754329596287,
684
+ 0.5554834741374952
685
+ ]
686
+ }
687
+ },
688
+ "grasp_51": {
689
+ "confidence": 0.7919830083847046,
690
+ "position": [
691
+ 0.011510428645124193,
692
+ -0.14737877366133034,
693
+ -0.003441581269726157
694
+ ],
695
+ "orientation": {
696
+ "w": 0.7223921063116425,
697
+ "xyz": [
698
+ -0.6909839218520281,
699
+ -0.001359803072842447,
700
+ 0.026249103150806315
701
+ ]
702
+ }
703
+ },
704
+ "grasp_52": {
705
+ "confidence": 0.791259229183197,
706
+ "position": [
707
+ 0.0038843947913846932,
708
+ -0.14487467822618783,
709
+ -0.004356195917353034
710
+ ],
711
+ "orientation": {
712
+ "w": 0.7131471000434925,
713
+ "xyz": [
714
+ -0.7009652203957972,
715
+ 0.0034208633141833422,
716
+ -0.0075677730683350805
717
+ ]
718
+ }
719
+ },
720
+ "grasp_53": {
721
+ "confidence": 0.627434253692627,
722
+ "position": [
723
+ 0.0030254979137680493,
724
+ -0.14355829474516213,
725
+ 0.01732490281574428
726
+ ],
727
+ "orientation": {
728
+ "w": 0.10374318941935841,
729
+ "xyz": [
730
+ -0.06994186373758217,
731
+ 0.7207912784376167,
732
+ 0.6817663964102946
733
+ ]
734
+ }
735
+ },
736
+ "grasp_55": {
737
+ "confidence": 0.8980976343154907,
738
+ "position": [
739
+ 0.0021184486322454177,
740
+ -0.14842011150904,
741
+ 0.013657554751262069
742
+ ],
743
+ "orientation": {
744
+ "w": 0.6975365238295621,
745
+ "xyz": [
746
+ -0.7164467220081704,
747
+ 0.005868407639129436,
748
+ -0.010604444318267958
749
+ ]
750
+ }
751
+ },
752
+ "grasp_57": {
753
+ "confidence": 0.8327672481536865,
754
+ "position": [
755
+ 0.0004955016411258839,
756
+ -0.14445285615511239,
757
+ -0.01140434411354363
758
+ ],
759
+ "orientation": {
760
+ "w": 0.778088484183542,
761
+ "xyz": [
762
+ -0.6277654901463041,
763
+ -0.006989518344545753,
764
+ -0.020974908715883728
765
+ ]
766
+ }
767
+ },
768
+ "grasp_58": {
769
+ "confidence": 0.8017550706863403,
770
+ "position": [
771
+ 0.026737011641671415,
772
+ -0.14655351755209267,
773
+ 0.012214370770379901
774
+ ],
775
+ "orientation": {
776
+ "w": 0.6971102833182878,
777
+ "xyz": [
778
+ -0.711429678126071,
779
+ -0.06206521957855016,
780
+ 0.06366297583366544
781
+ ]
782
+ }
783
+ }
784
+ }
785
+ },
786
+ {
787
+ "part_name": "rear magazine release / pusher tab",
788
+ "mask_color": "Yellow",
789
+ "graspable": true,
790
+ "grasp_scenarios": [
791
+ {
792
+ "scenario": "pinch or pull the rear tab to release or extend the staple magazine for reloading",
793
+ "confidence": 0.77
794
+ },
795
+ {
796
+ "scenario": "hold the small rear tab while servicing the staple feed mechanism",
797
+ "confidence": 0.58
798
+ }
799
+ ],
800
+ "functional_labels": [
801
+ "release magazine",
802
+ "assist reloading",
803
+ "provide access to feed mechanism"
804
+ ],
805
+ "semantic_description": "Small light-gray to off-white rectangular tab near the rear of the stapler, partially recessed under the top handle and visible as a compact plastic piece at the back end of the internal mechanism.",
806
+ "id": 3,
807
+ "grasp_group": {}
808
+ }
809
+ ],
810
+ "quality_check": {
811
+ "success": false,
812
+ "message": "Mask colors/parts mismatch: yellow marks magazine, lime-green release tab absent; magazine graspability overstated."
813
+ }
814
+ }
dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a935f542d2a812c33a24cfddbc40f7e1671ddc68c88d6f6437b90e2c73742995
3
+ size 3788712
dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/stapler_001.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  <quality>
57
  <PartSegChecker>YES</PartSegChecker>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  <quality>
58
  <PartSegChecker>YES</PartSegChecker>