xinjjj commited on
Commit
b119688
·
verified ·
1 Parent(s): 12bec69

Add asset desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24

Browse files
.gitattributes CHANGED
@@ -8159,3 +8159,4 @@ dataset/desktop_supplies/office_stationery/0017d520d50856389f512d1d237d9a29/affo
8159
  dataset/desktop_supplies/office_stationery/006f0a6a196e5cf0b6ba542e4c8ee97f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8160
  dataset/desktop_supplies/office_stationery/0088c59d02775ddf944da4413584185d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8161
  dataset/desktop_supplies/office_stationery/024d2abe4a7556e1bc0275e38d9d3750/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8159
  dataset/desktop_supplies/office_stationery/006f0a6a196e5cf0b6ba542e4c8ee97f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8160
  dataset/desktop_supplies/office_stationery/0088c59d02775ddf944da4413584185d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8161
  dataset/desktop_supplies/office_stationery/024d2abe4a7556e1bc0275e38d9d3750/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8162
+ dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/affordance/affordance_annot.json ADDED
@@ -0,0 +1,931 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the stapler around the top body to pick it up and reposition it",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "press down on the top handle to actuate stapling",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "hold the upper body while opening or inspecting the stapler",
18
+ "confidence": 0.77
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide the main hand press surface",
23
+ "cover the upper stapling mechanism",
24
+ "enable downward actuation",
25
+ "serve as the primary grasp surface"
26
+ ],
27
+ "semantic_description": "Large white plastic upper shell with a smooth semi-gloss finish and black PLUS branding on the side, forming the elongated curved top of the stapler.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9814413785934448,
32
+ "position": [
33
+ 0.0053007656169938855,
34
+ 0.029233834240585566,
35
+ 0.10611212509684265
36
+ ],
37
+ "orientation": {
38
+ "w": 0.040452476297128795,
39
+ "xyz": [
40
+ 0.9990150551208985,
41
+ 0.015953369356822768,
42
+ -0.008832146363305905
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9794737696647644,
48
+ "position": [
49
+ 0.005272827336739283,
50
+ 0.021796850953251123,
51
+ 0.10656137275509536
52
+ ],
53
+ "orientation": {
54
+ "w": 0.0002938946052934574,
55
+ "xyz": [
56
+ 0.0009466560798353548,
57
+ -0.9994806600476003,
58
+ 0.03220912384776147
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9794228672981262,
64
+ "position": [
65
+ 0.005381707327615004,
66
+ 0.032976910937577486,
67
+ 0.10665808129124343
68
+ ],
69
+ "orientation": {
70
+ "w": 0.05164918990089174,
71
+ "xyz": [
72
+ 0.9984953524728918,
73
+ 0.007246923255858011,
74
+ -0.016937366263404655
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9769881963729858,
80
+ "position": [
81
+ 0.001968938850041013,
82
+ 0.03806766727939248,
83
+ 0.105877774534747
84
+ ],
85
+ "orientation": {
86
+ "w": 0.055501251920706325,
87
+ "xyz": [
88
+ 0.9984569660551565,
89
+ -0.00032626357628070396,
90
+ 0.001786483485853965
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9765045642852783,
96
+ "position": [
97
+ -0.021665521671820898,
98
+ 0.03383689234033227,
99
+ 0.1003647695761174
100
+ ],
101
+ "orientation": {
102
+ "w": 0.1164008475632267,
103
+ "xyz": [
104
+ -0.0745055810792167,
105
+ 0.9888966754454009,
106
+ -0.05461800406133522
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9761838912963867,
112
+ "position": [
113
+ -0.0017726033765939064,
114
+ 0.01753700478002429,
115
+ 0.10942150163464248
116
+ ],
117
+ "orientation": {
118
+ "w": 0.05623562253452926,
119
+ "xyz": [
120
+ 0.9981987123380214,
121
+ 0.01629636136199883,
122
+ 0.013088699371180871
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9751940965652466,
128
+ "position": [
129
+ 0.010748664142738562,
130
+ 0.019942522514611483,
131
+ 0.10908878850750625
132
+ ],
133
+ "orientation": {
134
+ "w": 0.04962082074624187,
135
+ "xyz": [
136
+ 0.010994134791177437,
137
+ -0.9975524251427234,
138
+ 0.048021476867481615
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9749091863632202,
144
+ "position": [
145
+ -0.00421906426345231,
146
+ -0.013142883311957121,
147
+ 0.10796928661875427
148
+ ],
149
+ "orientation": {
150
+ "w": 0.09866914097065288,
151
+ "xyz": [
152
+ -0.9948849707749587,
153
+ -0.008187006854221482,
154
+ -0.020031686523905728
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9748099446296692,
160
+ "position": [
161
+ -0.007755654638458509,
162
+ 0.018200332764536142,
163
+ 0.10819254326634109
164
+ ],
165
+ "orientation": {
166
+ "w": 0.048215949931214384,
167
+ "xyz": [
168
+ 0.998402323626801,
169
+ 0.005800381647758535,
170
+ 0.028885600592259614
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9746944308280945,
176
+ "position": [
177
+ -0.00854133326356532,
178
+ -0.007365183439105749,
179
+ 0.10675874608568847
180
+ ],
181
+ "orientation": {
182
+ "w": 0.08675308695045073,
183
+ "xyz": [
184
+ -0.995389518784238,
185
+ -0.014198468753506138,
186
+ -0.038366799242398164
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9746399521827698,
192
+ "position": [
193
+ 0.004807579556654673,
194
+ -0.0016714846715331078,
195
+ 0.1061848874669522
196
+ ],
197
+ "orientation": {
198
+ "w": 0.10054563663076808,
199
+ "xyz": [
200
+ -0.9949320454138699,
201
+ 0.00020050587264178188,
202
+ 0.0008716424046978272
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9738262891769409,
208
+ "position": [
209
+ -0.002434662550513167,
210
+ -0.006249735597521067,
211
+ 0.11101634311489761
212
+ ],
213
+ "orientation": {
214
+ "w": 0.04539319064450379,
215
+ "xyz": [
216
+ -0.9987648531687905,
217
+ -0.004704824781222562,
218
+ -0.019649196971226475
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9735244512557983,
224
+ "position": [
225
+ 0.00019263849389972165,
226
+ 0.050271252635866404,
227
+ 0.1009656589012593
228
+ ],
229
+ "orientation": {
230
+ "w": 0.2538650738592078,
231
+ "xyz": [
232
+ 0.967147290287921,
233
+ 0.01032187559104164,
234
+ 0.008491292450141663
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9729723930358887,
240
+ "position": [
241
+ -0.00399801764433505,
242
+ 0.053496739361435175,
243
+ 0.09523460525088012
244
+ ],
245
+ "orientation": {
246
+ "w": 0.29193866419737935,
247
+ "xyz": [
248
+ 0.9562649337589483,
249
+ 0.0010874690916112817,
250
+ 0.018111052443712385
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9729140400886536,
256
+ "position": [
257
+ -0.005074213033367414,
258
+ 0.04578040027990937,
259
+ 0.10346711683087051
260
+ ],
261
+ "orientation": {
262
+ "w": 0.03304650088583126,
263
+ "xyz": [
264
+ 0.010353389357524646,
265
+ 0.9890811252529285,
266
+ -0.14324546686166142
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.972734808921814,
272
+ "position": [
273
+ 0.0023471803797292523,
274
+ 0.011836718302220106,
275
+ 0.1048728774767369
276
+ ],
277
+ "orientation": {
278
+ "w": 0.07661939471775327,
279
+ "xyz": [
280
+ -0.996952345582917,
281
+ -0.013666626151150163,
282
+ -0.0053583877659023876
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9723532199859619,
288
+ "position": [
289
+ 0.008336414808582049,
290
+ -0.003418902400881052,
291
+ 0.1106741379480809
292
+ ],
293
+ "orientation": {
294
+ "w": 0.02760270291309783,
295
+ "xyz": [
296
+ -0.9995039844547395,
297
+ 0.006326529406339786,
298
+ 0.013778638418286946
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.972046434879303,
304
+ "position": [
305
+ 0.0016822618126752786,
306
+ 0.03374136844649911,
307
+ 0.1069364573340863
308
+ ],
309
+ "orientation": {
310
+ "w": 0.002437394684454747,
311
+ "xyz": [
312
+ 0.024240453544437136,
313
+ 0.9984478092860487,
314
+ -0.05008424553690948
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9718416929244995,
320
+ "position": [
321
+ -0.011119677459646482,
322
+ 0.04862990090623498,
323
+ 0.10208073514513671
324
+ ],
325
+ "orientation": {
326
+ "w": 0.17323999567187182,
327
+ "xyz": [
328
+ 0.982859341134381,
329
+ 0.023689384188001567,
330
+ 0.05843143435937119
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.971782922744751,
336
+ "position": [
337
+ -0.007947789279569406,
338
+ 0.04930404433980584,
339
+ 0.09804206597618759
340
+ ],
341
+ "orientation": {
342
+ "w": 0.04934662049326175,
343
+ "xyz": [
344
+ 0.014668257843436557,
345
+ 0.9673388652805842,
346
+ -0.24820409540417412
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "base pad",
354
+ "mask_color": "Orange",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the base from the sides to lift or move the stapler",
359
+ "confidence": 0.83
360
+ },
361
+ {
362
+ "scenario": "hold the base to stabilize the stapler while opening the top arm",
363
+ "confidence": 0.88
364
+ },
365
+ {
366
+ "scenario": "clamp the base for fixture-style handling during paper insertion",
367
+ "confidence": 0.72
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "support the stapler on a desk",
372
+ "stabilize during stapling",
373
+ "provide the lower contact surface",
374
+ "serve as a secondary grasp surface"
375
+ ],
376
+ "semantic_description": "Broad gray rubber-like bottom pad with rounded rectangular shape, smooth matte appearance, and a larger footprint than the upper body.",
377
+ "id": 4,
378
+ "grasp_group": {
379
+ "grasp_39": {
380
+ "confidence": 0.9370219111442566,
381
+ "position": [
382
+ -0.005186873262573499,
383
+ 0.1002168976701796,
384
+ -0.08114254963584244
385
+ ],
386
+ "orientation": {
387
+ "w": 0.024616573306524468,
388
+ "xyz": [
389
+ 0.032560814387103294,
390
+ -0.44089049230710375,
391
+ 0.8966322498540266
392
+ ]
393
+ }
394
+ },
395
+ "grasp_41": {
396
+ "confidence": 0.5912355780601501,
397
+ "position": [
398
+ 0.0042253176143276505,
399
+ -0.14138936018571258,
400
+ -0.02875176933594048
401
+ ],
402
+ "orientation": {
403
+ "w": 0.7356873645784155,
404
+ "xyz": [
405
+ -0.676767434178459,
406
+ -0.02676111057081665,
407
+ -0.005812451822322143
408
+ ]
409
+ }
410
+ },
411
+ "grasp_45": {
412
+ "confidence": 0.9306856989860535,
413
+ "position": [
414
+ 0.010943864697765093,
415
+ 0.0981976562179625,
416
+ -0.08683786285109818
417
+ ],
418
+ "orientation": {
419
+ "w": 0.04269179658802103,
420
+ "xyz": [
421
+ -0.012551164566393092,
422
+ -0.4120340493155199,
423
+ 0.9100812166926475
424
+ ]
425
+ }
426
+ },
427
+ "grasp_46": {
428
+ "confidence": 0.9282601475715637,
429
+ "position": [
430
+ 0.01208513159508584,
431
+ 0.10950505966320634,
432
+ -0.07679914426989853
433
+ ],
434
+ "orientation": {
435
+ "w": 0.8930192718065723,
436
+ "xyz": [
437
+ 0.449668875655051,
438
+ -0.017359390191513002,
439
+ 0.0036240890387529813
440
+ ]
441
+ }
442
+ },
443
+ "grasp_55": {
444
+ "confidence": 0.9245907068252563,
445
+ "position": [
446
+ 0.05290407244319795,
447
+ 0.02844656305387616,
448
+ -0.10524462652392685
449
+ ],
450
+ "orientation": {
451
+ "w": 0.9723473129512831,
452
+ "xyz": [
453
+ 0.0674194394070099,
454
+ -0.22350327872382336,
455
+ 0.00645031674922903
456
+ ]
457
+ }
458
+ },
459
+ "grasp_56": {
460
+ "confidence": 0.9203934669494629,
461
+ "position": [
462
+ -0.0019788856225204654,
463
+ 0.10184806073084474,
464
+ -0.08071113121695817
465
+ ],
466
+ "orientation": {
467
+ "w": 0.04186629031117927,
468
+ "xyz": [
469
+ 0.008784328505812254,
470
+ 0.4477050381151807,
471
+ -0.8931574598885501
472
+ ]
473
+ }
474
+ }
475
+ }
476
+ },
477
+ {
478
+ "part_name": "lower body frame",
479
+ "mask_color": "Purple",
480
+ "graspable": true,
481
+ "grasp_scenarios": [
482
+ {
483
+ "scenario": "grasp the side frame area to lift the stapler when side access is available",
484
+ "confidence": 0.6
485
+ },
486
+ {
487
+ "scenario": "hold the lower frame to steady the stapler while pressing the top handle",
488
+ "confidence": 0.8
489
+ }
490
+ ],
491
+ "functional_labels": [
492
+ "connect the upper handle to the base",
493
+ "support the staple magazine area",
494
+ "guide the moving top arm",
495
+ "support the front mechanism"
496
+ ],
497
+ "semantic_description": "White plastic lower side frame between the top handle and the gray base pad, with a smooth hard finish and wedge-like side profile visible along the stapler body.",
498
+ "id": 5,
499
+ "grasp_group": {
500
+ "grasp_58": {
501
+ "confidence": 0.9817558526992798,
502
+ "position": [
503
+ 0.0029658083731192164,
504
+ 0.014072314370423555,
505
+ -0.10880738985724747
506
+ ],
507
+ "orientation": {
508
+ "w": 0.9997875203399625,
509
+ "xyz": [
510
+ -0.011922732292183193,
511
+ 0.00426778262408567,
512
+ 0.01626495184843948
513
+ ]
514
+ }
515
+ },
516
+ "grasp_59": {
517
+ "confidence": 0.9817264676094055,
518
+ "position": [
519
+ 0.0004331445015850477,
520
+ 0.011400860268622637,
521
+ -0.10840935003943741
522
+ ],
523
+ "orientation": {
524
+ "w": 0.9992278978402199,
525
+ "xyz": [
526
+ -0.03533800390432172,
527
+ 0.011197506551174685,
528
+ -0.0130172771695493
529
+ ]
530
+ }
531
+ },
532
+ "grasp_60": {
533
+ "confidence": 0.9807501435279846,
534
+ "position": [
535
+ -0.0004964799227309413,
536
+ 0.02060779044404626,
537
+ -0.10832571727223694
538
+ ],
539
+ "orientation": {
540
+ "w": 0.019793129236084044,
541
+ "xyz": [
542
+ 0.002456998801219354,
543
+ 0.014920476445615227,
544
+ -0.9996897391563896
545
+ ]
546
+ }
547
+ },
548
+ "grasp_61": {
549
+ "confidence": 0.9801256060600281,
550
+ "position": [
551
+ 0.006024080088536721,
552
+ 0.016736631747335196,
553
+ -0.10802165907807648
554
+ ],
555
+ "orientation": {
556
+ "w": 0.9999590268445836,
557
+ "xyz": [
558
+ -0.004030952102701151,
559
+ -0.007918163445302162,
560
+ -0.0017316884338498813
561
+ ]
562
+ }
563
+ },
564
+ "grasp_62": {
565
+ "confidence": 0.9773598313331604,
566
+ "position": [
567
+ -0.0012246280748513527,
568
+ 0.010579633992165327,
569
+ -0.10722493869252503
570
+ ],
571
+ "orientation": {
572
+ "w": 0.9995786112947671,
573
+ "xyz": [
574
+ -0.009746806568326365,
575
+ 0.018469089832848118,
576
+ 0.020161654805356546
577
+ ]
578
+ }
579
+ },
580
+ "grasp_63": {
581
+ "confidence": 0.9719650149345398,
582
+ "position": [
583
+ 0.004447837585757952,
584
+ -0.014939557295292616,
585
+ -0.10457981866784394
586
+ ],
587
+ "orientation": {
588
+ "w": 0.9904206897284917,
589
+ "xyz": [
590
+ -0.13787700612134351,
591
+ -0.005603421295250266,
592
+ 0.005038869966630925
593
+ ]
594
+ }
595
+ },
596
+ "grasp_64": {
597
+ "confidence": 0.9704629778862,
598
+ "position": [
599
+ 0.002830311183060985,
600
+ 0.009820906445384026,
601
+ -0.10547536355443299
602
+ ],
603
+ "orientation": {
604
+ "w": 0.02937557370555817,
605
+ "xyz": [
606
+ 0.0011506813269947576,
607
+ 0.01368785556721086,
608
+ 0.9994740587988885
609
+ ]
610
+ }
611
+ },
612
+ "grasp_65": {
613
+ "confidence": 0.9696873426437378,
614
+ "position": [
615
+ 0.006055589525203686,
616
+ 0.03266061516478658,
617
+ -0.10667577874846756
618
+ ],
619
+ "orientation": {
620
+ "w": 0.9933149574749729,
621
+ "xyz": [
622
+ 0.1137351156193211,
623
+ -0.008754638061660658,
624
+ 0.017693926753583177
625
+ ]
626
+ }
627
+ },
628
+ "grasp_66": {
629
+ "confidence": 0.9681262969970703,
630
+ "position": [
631
+ 0.011234111378144007,
632
+ 0.04170362139120698,
633
+ -0.10461709392257035
634
+ ],
635
+ "orientation": {
636
+ "w": 0.9881106614524449,
637
+ "xyz": [
638
+ 0.15159696730581124,
639
+ -0.020400801947843106,
640
+ 0.015475383923416713
641
+ ]
642
+ }
643
+ },
644
+ "grasp_67": {
645
+ "confidence": 0.9628147482872009,
646
+ "position": [
647
+ 0.003813683746557217,
648
+ 0.009958006907254457,
649
+ -0.10473578912205994
650
+ ],
651
+ "orientation": {
652
+ "w": 0.9998691299973147,
653
+ "xyz": [
654
+ -0.0025829386145123775,
655
+ 0.009055341917098225,
656
+ 0.01315492642668
657
+ ]
658
+ }
659
+ },
660
+ "grasp_68": {
661
+ "confidence": 0.9586367011070251,
662
+ "position": [
663
+ 0.006892818717460614,
664
+ 0.11526362830772996,
665
+ -0.06464261305518448
666
+ ],
667
+ "orientation": {
668
+ "w": 0.03814839761198799,
669
+ "xyz": [
670
+ 0.03004513500459393,
671
+ 0.4797081197488178,
672
+ -0.8760833918464882
673
+ ]
674
+ }
675
+ },
676
+ "grasp_71": {
677
+ "confidence": 0.9556627869606018,
678
+ "position": [
679
+ 0.008178721407603007,
680
+ -0.026060120668262243,
681
+ -0.10091496747918427
682
+ ],
683
+ "orientation": {
684
+ "w": 0.9771465071515274,
685
+ "xyz": [
686
+ -0.20924856356650207,
687
+ -0.03134946127274629,
688
+ -0.020419438896166743
689
+ ]
690
+ }
691
+ },
692
+ "grasp_75": {
693
+ "confidence": 0.9497429132461548,
694
+ "position": [
695
+ -0.008476680850435514,
696
+ 0.1267769210971892,
697
+ -0.015705095836892724
698
+ ],
699
+ "orientation": {
700
+ "w": 0.7341910029969619,
701
+ "xyz": [
702
+ 0.678440334324223,
703
+ 0.0188158697513372,
704
+ 0.01811758609339225
705
+ ]
706
+ }
707
+ }
708
+ }
709
+ },
710
+ {
711
+ "part_name": "rear finger pad",
712
+ "mask_color": "Lime Green",
713
+ "graspable": false,
714
+ "grasp_scenarios": [],
715
+ "functional_labels": [
716
+ "improve pressing comfort",
717
+ "increase finger traction",
718
+ "mark the press location"
719
+ ],
720
+ "semantic_description": "Small translucent frosted finger pad on the rear top area of the handle, slightly raised and rectangular with a subtly ribbed surface.",
721
+ "id": 9,
722
+ "grasp_group": {}
723
+ },
724
+ {
725
+ "part_name": "rear end section of top handle",
726
+ "mask_color": "Brown",
727
+ "graspable": false,
728
+ "grasp_scenarios": [],
729
+ "functional_labels": [
730
+ "form the back end of the top handle",
731
+ "provide rear structural enclosure",
732
+ "finish the rear edge of the handle"
733
+ ],
734
+ "semantic_description": "White plastic rear end portion of the top handle surrounding the back corner, matching the main shell with a smooth semi-gloss finish.",
735
+ "id": 11,
736
+ "grasp_group": {}
737
+ },
738
+ {
739
+ "part_name": "front driver block",
740
+ "mask_color": "Cyan",
741
+ "graspable": false,
742
+ "grasp_scenarios": [],
743
+ "functional_labels": [
744
+ "form part of the front stapling mechanism",
745
+ "support force transfer at the nose",
746
+ "align the front moving mechanism"
747
+ ],
748
+ "semantic_description": "Small metallic-looking front internal block near the stapling nose, compact and rectangular, visible beneath the front of the top handle.",
749
+ "id": 6,
750
+ "grasp_group": {}
751
+ },
752
+ {
753
+ "part_name": "staple magazine",
754
+ "mask_color": "Green",
755
+ "graspable": true,
756
+ "grasp_scenarios": [
757
+ {
758
+ "scenario": "pull or hold the magazine area during opening or reloading access",
759
+ "confidence": 0.31
760
+ }
761
+ ],
762
+ "functional_labels": [
763
+ "hold the staple strip",
764
+ "guide staples forward",
765
+ "align staples toward the front mechanism"
766
+ ],
767
+ "semantic_description": "Slim internal magazine or channel element visible inside the body, appearing as a narrow linear structural strip beneath the top handle.",
768
+ "id": 1,
769
+ "grasp_group": {
770
+ "grasp_20": {
771
+ "confidence": 0.8433721661567688,
772
+ "position": [
773
+ 0.0006241719747777097,
774
+ -0.1359353712759912,
775
+ -0.010534594999626279
776
+ ],
777
+ "orientation": {
778
+ "w": 0.6978128415024184,
779
+ "xyz": [
780
+ -0.715937247407866,
781
+ -0.02000947447918555,
782
+ -0.009524544053941883
783
+ ]
784
+ }
785
+ },
786
+ "grasp_23": {
787
+ "confidence": 0.8305964469909668,
788
+ "position": [
789
+ -0.025274644380260725,
790
+ -0.11928913509473205,
791
+ -0.05168509972281754
792
+ ],
793
+ "orientation": {
794
+ "w": 0.8390317897182759,
795
+ "xyz": [
796
+ -0.5291683349826212,
797
+ 0.10007133166267335,
798
+ -0.07740967428639822
799
+ ]
800
+ }
801
+ },
802
+ "grasp_26": {
803
+ "confidence": 0.921887993812561,
804
+ "position": [
805
+ -0.0006292514808592387,
806
+ -0.0405839248560369,
807
+ -0.10562607389874756
808
+ ],
809
+ "orientation": {
810
+ "w": 0.9980010214263978,
811
+ "xyz": [
812
+ -0.06270496243427283,
813
+ 0.0075993413769629425,
814
+ 0.002073385786530725
815
+ ]
816
+ }
817
+ },
818
+ "grasp_27": {
819
+ "confidence": 0.8985916972160339,
820
+ "position": [
821
+ 0.005127818549226504,
822
+ -0.08543224399909377,
823
+ -0.0883845139760524
824
+ ],
825
+ "orientation": {
826
+ "w": 0.010126341020175428,
827
+ "xyz": [
828
+ -0.01934015156541113,
829
+ 0.28172082971702994,
830
+ 0.9592480335442539
831
+ ]
832
+ }
833
+ },
834
+ "grasp_30": {
835
+ "confidence": 0.8557520508766174,
836
+ "position": [
837
+ 0.012390093172143679,
838
+ -0.1200206852518022,
839
+ -0.052524057449772954
840
+ ],
841
+ "orientation": {
842
+ "w": 0.8516387565063106,
843
+ "xyz": [
844
+ -0.5215279260222041,
845
+ -0.04999775840950782,
846
+ -0.014841662622122028
847
+ ]
848
+ }
849
+ },
850
+ "grasp_33": {
851
+ "confidence": 0.820652186870575,
852
+ "position": [
853
+ 0.008431405054579955,
854
+ -0.13588320231065154,
855
+ -0.016183417523279786
856
+ ],
857
+ "orientation": {
858
+ "w": 0.7183696952805241,
859
+ "xyz": [
860
+ -0.6947385169927801,
861
+ -0.020543595336223186,
862
+ 0.029348502515472052
863
+ ]
864
+ }
865
+ },
866
+ "grasp_37": {
867
+ "confidence": 0.6698338389396667,
868
+ "position": [
869
+ -0.025491359418083448,
870
+ -0.0972989252768457,
871
+ -0.07058538240380585
872
+ ],
873
+ "orientation": {
874
+ "w": 0.12210062946924267,
875
+ "xyz": [
876
+ 0.09752744355319512,
877
+ 0.42163034705682767,
878
+ 0.893200808596775
879
+ ]
880
+ }
881
+ }
882
+ }
883
+ },
884
+ {
885
+ "part_name": "front linkage",
886
+ "mask_color": "Pink",
887
+ "graspable": false,
888
+ "grasp_scenarios": [],
889
+ "functional_labels": [
890
+ "connect front moving parts",
891
+ "transmit motion in the nose area",
892
+ "support opening and closing alignment"
893
+ ],
894
+ "semantic_description": "Tiny internal connector near the front mechanism, appearing as a small compact rigid piece recessed inside the stapler.",
895
+ "id": 8,
896
+ "grasp_group": {}
897
+ },
898
+ {
899
+ "part_name": "inner nose support",
900
+ "mask_color": "Teal",
901
+ "graspable": false,
902
+ "grasp_scenarios": [],
903
+ "functional_labels": [
904
+ "support the front mechanism",
905
+ "maintain alignment near the stapling tip",
906
+ "connect internal components"
907
+ ],
908
+ "semantic_description": "Small internal support piece near the front tip, appearing as a short upright rigid element with smooth surfaces.",
909
+ "id": 10,
910
+ "grasp_group": {}
911
+ },
912
+ {
913
+ "part_name": "side plate",
914
+ "mask_color": "Navy",
915
+ "graspable": false,
916
+ "grasp_scenarios": [],
917
+ "functional_labels": [
918
+ "cover a mechanism edge",
919
+ "retain internal parts",
920
+ "stiffen the front assembly"
921
+ ],
922
+ "semantic_description": "Thin dark side element visible as a narrow strip along the inner front side of the stapler, likely metal with a smooth finish.",
923
+ "id": 13,
924
+ "grasp_group": {}
925
+ }
926
+ ],
927
+ "quality_check": {
928
+ "success": false,
929
+ "message": "Several mask parts are misidentified and visual descriptions mismatch colors/materials; base and rear pad descriptions are clearly incorrect."
930
+ }
931
+ }
dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba8ed288570b8a271bd39ada4978e8c7318a9527b0c5e01d2fca586ba88e0ffc
3
+ size 3799080
dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.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>