xinjjj commited on
Commit
9c44aff
·
verified ·
1 Parent(s): a975f71

Add asset desktop_supplies/office_stationery/ac4d98c52f1a59248e88bc3eca24253a

Browse files
.gitattributes CHANGED
@@ -6456,4 +6456,4 @@ dataset/desktop_supplies/office_stationery/aa09b94522e2576a9c2d08dfdc9667c5/affo
6456
  dataset/desktop_supplies/office_stationery/aa3b60f04bbc5f628117a21c078e7b2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6457
  dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6458
  dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6459
- dataset/desktop_supplies/office_stationery/ac09bfe50f4c52ee8c5734e048fb4568/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6456
  dataset/desktop_supplies/office_stationery/aa3b60f04bbc5f628117a21c078e7b2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6457
  dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6458
  dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6459
+ dataset/desktop_supplies/office_stationery/ac4d98c52f1a59248e88bc3eca24253a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/ac4d98c52f1a59248e88bc3eca24253a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,744 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to remove it from the glue stick",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "grasp the cap to place it back on and close the glue stick",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "hold the capped top to pick up and reposition the glue stick",
18
+ "confidence": 0.62
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the glue stick",
23
+ "protect the glue from drying",
24
+ "enable opening and closing",
25
+ "provide a grip for uncapping"
26
+ ],
27
+ "semantic_description": "A medium-sized purple plastic cap with a glossy smooth hard surface and a rounded cylindrical shape that covers the top of the glue stick, with a side cutout/opening visible in some views.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9848597645759583,
32
+ "position": [
33
+ 0.03563720834790729,
34
+ 0.08528961792762857,
35
+ -0.005428883247077465
36
+ ],
37
+ "orientation": {
38
+ "w": 0.16812475810295044,
39
+ "xyz": [
40
+ -0.12203788849759759,
41
+ -0.5929483759050754,
42
+ 0.7779801044984413
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.983911395072937,
48
+ "position": [
49
+ 0.09038975191651843,
50
+ -0.04085616588417906,
51
+ 0.027237417176365852
52
+ ],
53
+ "orientation": {
54
+ "w": 0.590619629845229,
55
+ "xyz": [
56
+ -0.6048121027025203,
57
+ -0.38364228455877303,
58
+ 0.37173830951970377
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9816386699676514,
64
+ "position": [
65
+ 0.06532825631438754,
66
+ -0.0756192375702085,
67
+ 0.02115495875477791
68
+ ],
69
+ "orientation": {
70
+ "w": 0.2417791426036466,
71
+ "xyz": [
72
+ 0.24790335226092766,
73
+ -0.6672333790032233,
74
+ -0.6594591663504124
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9807854294776917,
80
+ "position": [
81
+ 0.09331303191720508,
82
+ -0.030291896386188455,
83
+ 0.03145352378487587
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5440935311685916,
87
+ "xyz": [
88
+ -0.6037653115690674,
89
+ -0.4362027625217314,
90
+ 0.3862082700497355
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.980000913143158,
96
+ "position": [
97
+ 0.09576688808738254,
98
+ -0.028866775406640954,
99
+ 0.01842658407986164
100
+ ],
101
+ "orientation": {
102
+ "w": 0.566868898903064,
103
+ "xyz": [
104
+ -0.568182433982805,
105
+ -0.4225367484727286,
106
+ 0.4210594605989718
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.97917640209198,
112
+ "position": [
113
+ 0.09741480750381015,
114
+ 0.00910898756410461,
115
+ 0.02200340386480093
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4743961897948543,
119
+ "xyz": [
120
+ -0.4841353806193155,
121
+ -0.5122853914212074,
122
+ 0.5273754507721568
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9791210889816284,
128
+ "position": [
129
+ 0.0887082303815987,
130
+ 0.03939393341715913,
131
+ 0.04736689291894436
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5308397767077345,
135
+ "xyz": [
136
+ 0.6521634626408666,
137
+ -0.42489291674724095,
138
+ -0.3351983871667335
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9785460829734802,
144
+ "position": [
145
+ 0.03180978921591304,
146
+ 0.09391552016313653,
147
+ 0.04036490432918072
148
+ ],
149
+ "orientation": {
150
+ "w": 0.12588293497549546,
151
+ "xyz": [
152
+ -0.11225537416014439,
153
+ -0.7179911133236455,
154
+ 0.6753080621778429
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.976966917514801,
160
+ "position": [
161
+ 0.08339268816052936,
162
+ 0.04860847249801736,
163
+ 0.019270108081400394
164
+ ],
165
+ "orientation": {
166
+ "w": 0.35970542317700055,
167
+ "xyz": [
168
+ -0.3359153735621651,
169
+ -0.6110983631635297,
170
+ 0.6199448853571584
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9763494729995728,
176
+ "position": [
177
+ 0.06505193663178943,
178
+ 0.06822373524482828,
179
+ -0.006556482054293156
180
+ ],
181
+ "orientation": {
182
+ "w": 0.3072801285036539,
183
+ "xyz": [
184
+ -0.2150612335142563,
185
+ -0.5426153214285324,
186
+ 0.7515957699569065
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9761024713516235,
192
+ "position": [
193
+ 0.08520169658004306,
194
+ -0.049094868896645494,
195
+ 0.04879900626838207
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5574646534317028,
199
+ "xyz": [
200
+ -0.6626080308335753,
201
+ -0.3745678027778586,
202
+ 0.3314856237776994
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9760184288024902,
208
+ "position": [
209
+ 0.06712833148776554,
210
+ 0.07164409563119989,
211
+ 0.017573360353708267
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6562029885770254,
215
+ "xyz": [
216
+ 0.6623532383668409,
217
+ -0.23741998844421752,
218
+ -0.2726124987866239
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.975202739238739,
224
+ "position": [
225
+ 0.07968505573808216,
226
+ 0.05723068297083955,
227
+ 0.03173234686255455
228
+ ],
229
+ "orientation": {
230
+ "w": 0.6130638259442147,
231
+ "xyz": [
232
+ 0.6459648011706194,
233
+ -0.3394224084280094,
234
+ -0.30277821854316633
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9745317101478577,
240
+ "position": [
241
+ 0.06646023792563938,
242
+ 0.06981512710626703,
243
+ 0.024434114806354046
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6596874919291712,
247
+ "xyz": [
248
+ 0.65572518098824,
249
+ -0.24853621709194207,
250
+ -0.2703084327278126
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9739267230033875,
256
+ "position": [
257
+ -0.09271404790342785,
258
+ -0.02549016296688933,
259
+ 0.03307562880218029
260
+ ],
261
+ "orientation": {
262
+ "w": 0.539635612777765,
263
+ "xyz": [
264
+ -0.5739909271691475,
265
+ 0.4602036784622996,
266
+ -0.40931698630674623
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9730571508407593,
272
+ "position": [
273
+ 0.01669267294346355,
274
+ 0.08279967859562021,
275
+ -0.020563485100865364
276
+ ],
277
+ "orientation": {
278
+ "w": 0.08399384799831104,
279
+ "xyz": [
280
+ -0.053250456088408275,
281
+ -0.5143024511196945,
282
+ 0.8518229928788534
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9720734357833862,
288
+ "position": [
289
+ 0.02149560404359363,
290
+ 0.09430388912733179,
291
+ 0.04078047163784504
292
+ ],
293
+ "orientation": {
294
+ "w": 0.6662539456457804,
295
+ "xyz": [
296
+ 0.738997501304118,
297
+ -0.07230177859955134,
298
+ -0.06899873759019706
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9700072407722473,
304
+ "position": [
305
+ -0.09442300247610547,
306
+ 0.014428789654630236,
307
+ 0.02493131533265114
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5291531298171689,
311
+ "xyz": [
312
+ 0.5504189139252843,
313
+ 0.47019733565614386,
314
+ 0.4426629077976468
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9696603417396545,
320
+ "position": [
321
+ 0.025531970983138308,
322
+ 0.08184838101442438,
323
+ -0.01594643108546734
324
+ ],
325
+ "orientation": {
326
+ "w": 0.12990712097141768,
327
+ "xyz": [
328
+ -0.08555098317553468,
329
+ -0.4961817894688966,
330
+ 0.8541714119531634
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9694008827209473,
336
+ "position": [
337
+ -0.05131852152408101,
338
+ 0.08029546395118814,
339
+ 0.04561411775648594
340
+ ],
341
+ "orientation": {
342
+ "w": 0.18704595628163725,
343
+ "xyz": [
344
+ -0.2275574410917219,
345
+ 0.7413046403526027,
346
+ -0.6030744990746782
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "barrel",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the barrel to pick up and carry the glue stick",
359
+ "confidence": 0.96
360
+ },
361
+ {
362
+ "scenario": "hold the barrel while removing or attaching the cap",
363
+ "confidence": 0.91
364
+ },
365
+ {
366
+ "scenario": "grasp the barrel to stabilize the glue stick during application",
367
+ "confidence": 0.87
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "main grasp surface",
372
+ "house the glue mechanism",
373
+ "support dispensing",
374
+ "carry product label information"
375
+ ],
376
+ "semantic_description": "A large white plastic cylindrical barrel with a glossy smooth hard surface, forming the main lower body and bearing printed red, black, and yellow product graphics and text.",
377
+ "id": 1,
378
+ "grasp_group": {
379
+ "grasp_20": {
380
+ "confidence": 0.9883416295051575,
381
+ "position": [
382
+ 0.029457123106112704,
383
+ 0.09321594044740777,
384
+ -0.00451591145247221
385
+ ],
386
+ "orientation": {
387
+ "w": 0.10531003317208584,
388
+ "xyz": [
389
+ -0.10304791862382966,
390
+ -0.6934225055094603,
391
+ 0.7053057154408813
392
+ ]
393
+ }
394
+ },
395
+ "grasp_21": {
396
+ "confidence": 0.9879530072212219,
397
+ "position": [
398
+ 0.022518294950714335,
399
+ 0.09528539881284814,
400
+ -0.004696574993431568
401
+ ],
402
+ "orientation": {
403
+ "w": 0.08534344121059823,
404
+ "xyz": [
405
+ -0.07940039553932736,
406
+ -0.7015280376833256,
407
+ 0.7030437302008417
408
+ ]
409
+ }
410
+ },
411
+ "grasp_22": {
412
+ "confidence": 0.9873003363609314,
413
+ "position": [
414
+ 0.031366554176202044,
415
+ 0.09128094271000009,
416
+ -0.0033994782716035843
417
+ ],
418
+ "orientation": {
419
+ "w": 0.7324788371841842,
420
+ "xyz": [
421
+ 0.659657307282201,
422
+ -0.12276248593696526,
423
+ -0.11513627609523265
424
+ ]
425
+ }
426
+ },
427
+ "grasp_23": {
428
+ "confidence": 0.9872599840164185,
429
+ "position": [
430
+ 0.034584076231112704,
431
+ 0.09280091330583673,
432
+ -0.004927073605358601
433
+ ],
434
+ "orientation": {
435
+ "w": 0.1358627041575524,
436
+ "xyz": [
437
+ -0.12279499737591362,
438
+ -0.6925255335180701,
439
+ 0.697761491961228
440
+ ]
441
+ }
442
+ },
443
+ "grasp_24": {
444
+ "confidence": 0.986717939376831,
445
+ "position": [
446
+ 0.016169772570719942,
447
+ 0.09535231992776971,
448
+ -0.007315522059798241
449
+ ],
450
+ "orientation": {
451
+ "w": 0.05892493421038601,
452
+ "xyz": [
453
+ -0.05373073926333294,
454
+ -0.6748074658343927,
455
+ 0.7336727770884531
456
+ ]
457
+ }
458
+ },
459
+ "grasp_25": {
460
+ "confidence": 0.9867158532142639,
461
+ "position": [
462
+ 0.029207657178631052,
463
+ 0.09541504636581521,
464
+ 0.007633171626366675
465
+ ],
466
+ "orientation": {
467
+ "w": 0.09915146860394344,
468
+ "xyz": [
469
+ -0.10741695840589473,
470
+ -0.6953913431335274,
471
+ 0.7036060426228988
472
+ ]
473
+ }
474
+ },
475
+ "grasp_26": {
476
+ "confidence": 0.9866353869438171,
477
+ "position": [
478
+ -0.017222155729541555,
479
+ -0.0970457215589704,
480
+ -0.0008592559024691582
481
+ ],
482
+ "orientation": {
483
+ "w": 0.6859893703398213,
484
+ "xyz": [
485
+ -0.7208473057461249,
486
+ 0.06367109511438429,
487
+ -0.07578744768273885
488
+ ]
489
+ }
490
+ },
491
+ "grasp_27": {
492
+ "confidence": 0.9865007996559143,
493
+ "position": [
494
+ 0.02802561697899364,
495
+ 0.09567049697216135,
496
+ -0.0008434541523456573
497
+ ],
498
+ "orientation": {
499
+ "w": 0.0964029724791307,
500
+ "xyz": [
501
+ -0.10045715881807897,
502
+ -0.6999350510757553,
503
+ 0.7005039260525009
504
+ ]
505
+ }
506
+ },
507
+ "grasp_28": {
508
+ "confidence": 0.9864730834960938,
509
+ "position": [
510
+ 0.03400708091794513,
511
+ 0.09155931130226236,
512
+ 0.0320635549724102
513
+ ],
514
+ "orientation": {
515
+ "w": 0.1254344714410908,
516
+ "xyz": [
517
+ -0.1380770505201534,
518
+ -0.7548244958660167,
519
+ 0.6288409194180689
520
+ ]
521
+ }
522
+ },
523
+ "grasp_29": {
524
+ "confidence": 0.9863155484199524,
525
+ "position": [
526
+ -0.023908779869088903,
527
+ -0.09525919154111762,
528
+ -0.0018402878195047379
529
+ ],
530
+ "orientation": {
531
+ "w": 0.6818464812289147,
532
+ "xyz": [
533
+ -0.7182022636369441,
534
+ 0.09253493622374698,
535
+ -0.10348028856059542
536
+ ]
537
+ }
538
+ },
539
+ "grasp_30": {
540
+ "confidence": 0.9862884283065796,
541
+ "position": [
542
+ 0.043709048157325014,
543
+ 0.08812165066774469,
544
+ -0.007075952365994453
545
+ ],
546
+ "orientation": {
547
+ "w": 0.7166905526787871,
548
+ "xyz": [
549
+ 0.660815592996112,
550
+ -0.17312249982770156,
551
+ -0.1403780745258279
552
+ ]
553
+ }
554
+ },
555
+ "grasp_31": {
556
+ "confidence": 0.9858223795890808,
557
+ "position": [
558
+ 0.05771950361668132,
559
+ 0.0745376552658854,
560
+ 0.020448372699320316
561
+ ],
562
+ "orientation": {
563
+ "w": 0.565179014905524,
564
+ "xyz": [
565
+ 0.7605938857757929,
566
+ -0.2424301914967003,
567
+ -0.2080798507347
568
+ ]
569
+ }
570
+ },
571
+ "grasp_32": {
572
+ "confidence": 0.9856062531471252,
573
+ "position": [
574
+ 0.029331998055567965,
575
+ 0.09497543230827432,
576
+ -0.009380277246236801
577
+ ],
578
+ "orientation": {
579
+ "w": 0.7139119608506413,
580
+ "xyz": [
581
+ 0.6865512197917956,
582
+ -0.10145358220547662,
583
+ -0.09318962074430039
584
+ ]
585
+ }
586
+ },
587
+ "grasp_33": {
588
+ "confidence": 0.9852859377861023,
589
+ "position": [
590
+ 0.0877774367982056,
591
+ -0.04521050497714896,
592
+ -0.0005225585773587227
593
+ ],
594
+ "orientation": {
595
+ "w": 0.5948223648648748,
596
+ "xyz": [
597
+ -0.6174938974595399,
598
+ -0.36499774009887453,
599
+ 0.3628557434842391
600
+ ]
601
+ }
602
+ },
603
+ "grasp_34": {
604
+ "confidence": 0.9852678775787354,
605
+ "position": [
606
+ 0.06681745601235889,
607
+ 0.07416367337282281,
608
+ -0.0023822197690606117
609
+ ],
610
+ "orientation": {
611
+ "w": 0.27402563230794624,
612
+ "xyz": [
613
+ -0.23338623998104344,
614
+ -0.6553278070896275,
615
+ 0.6640679792617924
616
+ ]
617
+ }
618
+ },
619
+ "grasp_35": {
620
+ "confidence": 0.985236644744873,
621
+ "position": [
622
+ 0.026787976821651682,
623
+ 0.09555554196413141,
624
+ 0.005625896388664842
625
+ ],
626
+ "orientation": {
627
+ "w": 0.6958032745833949,
628
+ "xyz": [
629
+ 0.7056967107113131,
630
+ -0.11059749312128397,
631
+ -0.07495431999255138
632
+ ]
633
+ }
634
+ },
635
+ "grasp_36": {
636
+ "confidence": 0.9850153923034668,
637
+ "position": [
638
+ 0.08989980173646472,
639
+ 0.03976586640055757,
640
+ -0.0067937374114990234
641
+ ],
642
+ "orientation": {
643
+ "w": 0.5893886242413807,
644
+ "xyz": [
645
+ 0.5957721330044818,
646
+ -0.3911847869232381,
647
+ -0.38033022182041043
648
+ ]
649
+ }
650
+ },
651
+ "grasp_37": {
652
+ "confidence": 0.9847424030303955,
653
+ "position": [
654
+ 0.03054113601683639,
655
+ 0.09249382272537332,
656
+ 0.00671041919849813
657
+ ],
658
+ "orientation": {
659
+ "w": 0.723841123975246,
660
+ "xyz": [
661
+ 0.6726997199348956,
662
+ -0.12272838885935733,
663
+ -0.09201552374329233
664
+ ]
665
+ }
666
+ },
667
+ "grasp_38": {
668
+ "confidence": 0.9846746921539307,
669
+ "position": [
670
+ 0.0284751235449221,
671
+ 0.09490456238563638,
672
+ 0.005651810904964805
673
+ ],
674
+ "orientation": {
675
+ "w": 0.7000231485243709,
676
+ "xyz": [
677
+ 0.6999317153525156,
678
+ -0.11828279170249212,
679
+ -0.07792539098892332
680
+ ]
681
+ }
682
+ },
683
+ "grasp_39": {
684
+ "confidence": 0.9844255447387695,
685
+ "position": [
686
+ 0.016919965943088755,
687
+ 0.09756249740894418,
688
+ 0.0013693622313439846
689
+ ],
690
+ "orientation": {
691
+ "w": 0.705268256636139,
692
+ "xyz": [
693
+ 0.7049707279294878,
694
+ -0.05825341887630875,
695
+ -0.047111549891829904
696
+ ]
697
+ }
698
+ }
699
+ }
700
+ },
701
+ {
702
+ "part_name": "bottom twist base",
703
+ "mask_color": "Blue",
704
+ "graspable": true,
705
+ "grasp_scenarios": [
706
+ {
707
+ "scenario": "grasp the bottom base to rotate it and advance or retract the glue stick",
708
+ "confidence": 0.83
709
+ },
710
+ {
711
+ "scenario": "pinch the bottom to stabilize the glue stick upright during handling",
712
+ "confidence": 0.46
713
+ }
714
+ ],
715
+ "functional_labels": [
716
+ "twist to advance glue",
717
+ "twist to retract glue",
718
+ "close the bottom of the container",
719
+ "support standing upright"
720
+ ],
721
+ "semantic_description": "A small blue plastic bottom end piece with a smooth hard slightly glossy surface and a rounded polygonal profile at the base of the glue stick.",
722
+ "id": 2,
723
+ "grasp_group": {}
724
+ },
725
+ {
726
+ "part_name": "cap side cutout",
727
+ "mask_color": "Yellow",
728
+ "graspable": false,
729
+ "grasp_scenarios": [],
730
+ "functional_labels": [
731
+ "opening in cap wall",
732
+ "expose a portion of the inner cap/body profile",
733
+ "distinguish cap orientation"
734
+ ],
735
+ "semantic_description": "A small rounded rectangular side opening/cutout on the purple cap, visible as an inset exposed area on one side near the upper portion of the glue stick.",
736
+ "id": 3,
737
+ "grasp_group": {}
738
+ }
739
+ ],
740
+ "quality_check": {
741
+ "success": true,
742
+ "message": "YES"
743
+ }
744
+ }
dataset/desktop_supplies/office_stationery/ac4d98c52f1a59248e88bc3eca24253a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1d60a731bf11501951752c82cef5eab4594d0c96666d35b59b229608451746a6
3
+ size 3784368
dataset/desktop_supplies/office_stationery/ac4d98c52f1a59248e88bc3eca24253a/glue_stick_017.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>