Add asset desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/affordance/affordance_annot.json +662 -0
- dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/stapler_002.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6460,3 +6460,4 @@ dataset/desktop_supplies/office_stationery/ac4d98c52f1a59248e88bc3eca24253a/affo
|
|
| 6460 |
dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6461 |
dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6462 |
dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6460 |
dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6461 |
dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6462 |
dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6463 |
+
dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,662 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top handle to pick up and reposition the stapler",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top handle while pressing down to staple",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the top handle to open the stapler for reloading",
|
| 18 |
+
"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide primary grip",
|
| 23 |
+
"press to drive staples",
|
| 24 |
+
"cover the staple channel",
|
| 25 |
+
"open for reloading"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large curved blue plastic upper arm with a matte smooth hard surface, forming the top of the stapler and spanning most of its length above the base.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9868596196174622,
|
| 32 |
+
"position": [
|
| 33 |
+
0.004214341228362173,
|
| 34 |
+
0.03323286399245262,
|
| 35 |
+
0.10494932101573795
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.06787996076040921,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.9975524060749975,
|
| 41 |
+
-0.006824652039574872,
|
| 42 |
+
-0.015327497698169797
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9866235852241516,
|
| 48 |
+
"position": [
|
| 49 |
+
0.004612812248524278,
|
| 50 |
+
0.033360837027430534,
|
| 51 |
+
0.10226750688161701
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.016601473535411602,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.010411501745662442,
|
| 57 |
+
-0.9984932928457618,
|
| 58 |
+
0.05125559335215491
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9852808117866516,
|
| 64 |
+
"position": [
|
| 65 |
+
0.004531916172709316,
|
| 66 |
+
0.03338516131043434,
|
| 67 |
+
0.10639161930885166
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.06936335556878562,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.9975078952687436,
|
| 73 |
+
-0.0064361120066264155,
|
| 74 |
+
-0.01119375910932804
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9848569631576538,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0008528283797204494,
|
| 82 |
+
0.02817729488015175,
|
| 83 |
+
0.10678245441522449
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.005170755551223388,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.0004969984695376802,
|
| 89 |
+
-0.9986478125613519,
|
| 90 |
+
0.051725842148557154
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9848137497901917,
|
| 96 |
+
"position": [
|
| 97 |
+
0.006349135597702116,
|
| 98 |
+
0.03326895646750927,
|
| 99 |
+
0.1034560085972771
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.0018511244068788212,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.013505423729354376,
|
| 105 |
+
-0.9988212953052836,
|
| 106 |
+
0.04658537230715331
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.984637439250946,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0004832135164178908,
|
| 114 |
+
0.06086211837828159,
|
| 115 |
+
0.0940418200334534
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.3121354740254057,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.9500140832622115,
|
| 121 |
+
0.002767319735857754,
|
| 122 |
+
-0.006085178705251254
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9839752912521362,
|
| 128 |
+
"position": [
|
| 129 |
+
0.0011261149775236845,
|
| 130 |
+
0.0710896160453558,
|
| 131 |
+
0.09268106089439243
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.3009937892805065,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.9535673480529925,
|
| 137 |
+
0.010526255368628168,
|
| 138 |
+
-0.0011178057343343964
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9839450716972351,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.0024001948186196387,
|
| 146 |
+
0.06026767008006573,
|
| 147 |
+
0.09699615405406803
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.29379703833824194,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.9558570483669002,
|
| 153 |
+
-0.0008583813504612903,
|
| 154 |
+
0.004457188850825689
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9838976263999939,
|
| 160 |
+
"position": [
|
| 161 |
+
0.005606895720120519,
|
| 162 |
+
0.07185661606490612,
|
| 163 |
+
0.09214400814380497
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.2983016471421034,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.9543841812957616,
|
| 169 |
+
0.006224474812795255,
|
| 170 |
+
-0.011323326279488642
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9833073616027832,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.0005528175970539451,
|
| 178 |
+
0.05980171822011471,
|
| 179 |
+
0.0974571289261803
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.30307438887947574,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.9529446011037992,
|
| 185 |
+
0.006454261303901365,
|
| 186 |
+
0.0009189904646738558
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_11": {
|
| 191 |
+
"confidence": 0.9824474453926086,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.0006398901459760964,
|
| 194 |
+
-0.014115886762738228,
|
| 195 |
+
0.10865769849624485
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.005343216652557335,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.0077610214057514115,
|
| 201 |
+
-0.9928670815240282,
|
| 202 |
+
-0.11885358643516435
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_12": {
|
| 207 |
+
"confidence": 0.9824473261833191,
|
| 208 |
+
"position": [
|
| 209 |
+
0.017096830008085817,
|
| 210 |
+
0.040686117485165596,
|
| 211 |
+
0.10402662621345371
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.11621566001997705,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.9912000438170487,
|
| 217 |
+
-0.0077566702980819136,
|
| 218 |
+
-0.06289854981705696
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_13": {
|
| 223 |
+
"confidence": 0.9824390411376953,
|
| 224 |
+
"position": [
|
| 225 |
+
0.0036837539519183338,
|
| 226 |
+
0.02578950673341751,
|
| 227 |
+
0.10349908785428852
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.025139620046228855,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.01582206268112622,
|
| 233 |
+
-0.9990559972912453,
|
| 234 |
+
0.03169820362166545
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_14": {
|
| 239 |
+
"confidence": 0.9820833206176758,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.0016153755714185536,
|
| 242 |
+
0.02316877618432045,
|
| 243 |
+
0.10961371974553913
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.00591091488605554,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.0027087678882541325,
|
| 249 |
+
-0.9987466094304719,
|
| 250 |
+
0.04962795394608295
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_15": {
|
| 255 |
+
"confidence": 0.9820245504379272,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.0015010074130259454,
|
| 258 |
+
0.0014367816038429737,
|
| 259 |
+
0.1112300039967522
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.03983166497749402,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.9990868005101667,
|
| 265 |
+
0.009105880439990298,
|
| 266 |
+
-0.012493456402927023
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_16": {
|
| 271 |
+
"confidence": 0.9820072054862976,
|
| 272 |
+
"position": [
|
| 273 |
+
0.006921277323272079,
|
| 274 |
+
0.03798834793269634,
|
| 275 |
+
0.10537493543233722
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.1936942701458311,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.9808276562551731,
|
| 281 |
+
-0.010073182150650006,
|
| 282 |
+
-0.01892536496390985
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_17": {
|
| 287 |
+
"confidence": 0.9818496108055115,
|
| 288 |
+
"position": [
|
| 289 |
+
0.0034831060911528766,
|
| 290 |
+
0.0712850596755743,
|
| 291 |
+
0.09087919013109058
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.31484631762478155,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.9488442825088708,
|
| 297 |
+
-0.0235495016918687,
|
| 298 |
+
-0.003427068485795217
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_18": {
|
| 303 |
+
"confidence": 0.9816293716430664,
|
| 304 |
+
"position": [
|
| 305 |
+
0.0029015105101279914,
|
| 306 |
+
0.028372686356306076,
|
| 307 |
+
0.10635450796689838
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.00798880075717704,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.010083235528257852,
|
| 313 |
+
0.9985853135861199,
|
| 314 |
+
-0.05159339990594384
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_19": {
|
| 319 |
+
"confidence": 0.9814691543579102,
|
| 320 |
+
"position": [
|
| 321 |
+
0.010944218782242388,
|
| 322 |
+
0.09824067167937756,
|
| 323 |
+
0.08077157603111118
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.3308172720152363,
|
| 327 |
+
"xyz": [
|
| 328 |
+
0.9428320685956476,
|
| 329 |
+
0.012142217590881077,
|
| 330 |
+
-0.03847323116174232
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"part_name": "base",
|
| 338 |
+
"mask_color": "Green",
|
| 339 |
+
"graspable": true,
|
| 340 |
+
"grasp_scenarios": [
|
| 341 |
+
{
|
| 342 |
+
"scenario": "grasp the base from the sides to lift or place the stapler",
|
| 343 |
+
"confidence": 0.82
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"scenario": "hold the base to stabilize the stapler while opening the top",
|
| 347 |
+
"confidence": 0.9
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"functional_labels": [
|
| 351 |
+
"support the stapler",
|
| 352 |
+
"rest on a desk",
|
| 353 |
+
"align paper at the bottom",
|
| 354 |
+
"stabilize during stapling"
|
| 355 |
+
],
|
| 356 |
+
"semantic_description": "Broad rectangular blue plastic base with a matte smooth hard finish, positioned at the bottom as the main support surface with rounded edges and an embossed brand area near the front.",
|
| 357 |
+
"id": 1,
|
| 358 |
+
"grasp_group": {
|
| 359 |
+
"grasp_20": {
|
| 360 |
+
"confidence": 0.9825589656829834,
|
| 361 |
+
"position": [
|
| 362 |
+
0.009874663723167032,
|
| 363 |
+
0.01289963535964489,
|
| 364 |
+
-0.10921360237989575
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.000979141374104243,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.034405200717032555,
|
| 370 |
+
-0.027695771528957747,
|
| 371 |
+
-0.999023657219991
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_21": {
|
| 376 |
+
"confidence": 0.9812465310096741,
|
| 377 |
+
"position": [
|
| 378 |
+
-0.004646780027542263,
|
| 379 |
+
0.02301221340894699,
|
| 380 |
+
-0.11026057286653668
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.9992116610773382,
|
| 384 |
+
"xyz": [
|
| 385 |
+
-0.00744620383620973,
|
| 386 |
+
0.038456768239197636,
|
| 387 |
+
0.006456577428665598
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_22": {
|
| 392 |
+
"confidence": 0.979007363319397,
|
| 393 |
+
"position": [
|
| 394 |
+
0.004056234552990645,
|
| 395 |
+
0.032939450815320015,
|
| 396 |
+
-0.11169423593673855
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.021739396027954164,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.010846757034020042,
|
| 402 |
+
0.013048839886413588,
|
| 403 |
+
-0.9996196648224781
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_24": {
|
| 408 |
+
"confidence": 0.9784612059593201,
|
| 409 |
+
"position": [
|
| 410 |
+
0.011797552404459566,
|
| 411 |
+
0.016106784343719482,
|
| 412 |
+
-0.10948750062379986
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.029488296228425286,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.03758714803696708,
|
| 418 |
+
0.019193934730968087,
|
| 419 |
+
0.9986737402963667
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_25": {
|
| 424 |
+
"confidence": 0.9784529805183411,
|
| 425 |
+
"position": [
|
| 426 |
+
0.01384070556377992,
|
| 427 |
+
0.02852477878332138,
|
| 428 |
+
-0.11307425482664257
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.019117577901878725,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.049609800668122865,
|
| 434 |
+
0.0028634695856608605,
|
| 435 |
+
-0.9985815872700473
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_26": {
|
| 440 |
+
"confidence": 0.9778174757957458,
|
| 441 |
+
"position": [
|
| 442 |
+
0.010743162070866674,
|
| 443 |
+
0.008521022740751505,
|
| 444 |
+
-0.10812247230205685
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.9991167000442578,
|
| 448 |
+
"xyz": [
|
| 449 |
+
-0.03753387494253482,
|
| 450 |
+
-0.018890077572740527,
|
| 451 |
+
-0.00043919672908486284
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_27": {
|
| 456 |
+
"confidence": 0.9776393175125122,
|
| 457 |
+
"position": [
|
| 458 |
+
0.0011532523785717785,
|
| 459 |
+
0.0070913422387093306,
|
| 460 |
+
-0.11112777574453503
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.998759660694188,
|
| 464 |
+
"xyz": [
|
| 465 |
+
-0.047909414315356204,
|
| 466 |
+
0.013540397512206592,
|
| 467 |
+
0.0006970116223226117
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_28": {
|
| 472 |
+
"confidence": 0.9765175580978394,
|
| 473 |
+
"position": [
|
| 474 |
+
0.004978198965545744,
|
| 475 |
+
0.03181251510977745,
|
| 476 |
+
-0.1144777579465881
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.999964588112921,
|
| 480 |
+
"xyz": [
|
| 481 |
+
-0.0032493493826727254,
|
| 482 |
+
-0.003784526512268349,
|
| 483 |
+
-0.006778023887795891
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_29": {
|
| 488 |
+
"confidence": 0.9757782816886902,
|
| 489 |
+
"position": [
|
| 490 |
+
-0.005201919062528759,
|
| 491 |
+
0.03126632794737816,
|
| 492 |
+
-0.11311098618898541
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.9993069559411605,
|
| 496 |
+
"xyz": [
|
| 497 |
+
-0.013183241097759691,
|
| 498 |
+
0.03232152770421015,
|
| 499 |
+
0.01292783077844597
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_32": {
|
| 504 |
+
"confidence": 0.9745279550552368,
|
| 505 |
+
"position": [
|
| 506 |
+
0.0036398376687429845,
|
| 507 |
+
0.013161820359528065,
|
| 508 |
+
-0.11302035732660443
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.9999119559608031,
|
| 512 |
+
"xyz": [
|
| 513 |
+
-0.013079748671098197,
|
| 514 |
+
0.0011174645136202699,
|
| 515 |
+
0.0019369497677649437
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_35": {
|
| 520 |
+
"confidence": 0.972593367099762,
|
| 521 |
+
"position": [
|
| 522 |
+
-0.004627340065781027,
|
| 523 |
+
0.015037674456834793,
|
| 524 |
+
-0.11089595092926174
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.9998207188404472,
|
| 528 |
+
"xyz": [
|
| 529 |
+
0.0001625400830224059,
|
| 530 |
+
0.014641177267992522,
|
| 531 |
+
-0.01200581885169844
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_36": {
|
| 536 |
+
"confidence": 0.9720877408981323,
|
| 537 |
+
"position": [
|
| 538 |
+
0.0037256678915582597,
|
| 539 |
+
0.03279689513146877,
|
| 540 |
+
-0.11181626899633557
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.02745660477129009,
|
| 544 |
+
"xyz": [
|
| 545 |
+
0.020742307627164336,
|
| 546 |
+
0.03815648933407745,
|
| 547 |
+
-0.9986791145560382
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"grasp_37": {
|
| 552 |
+
"confidence": 0.9717725515365601,
|
| 553 |
+
"position": [
|
| 554 |
+
0.0024354522465728223,
|
| 555 |
+
0.031515564769506454,
|
| 556 |
+
-0.11437499953899533
|
| 557 |
+
],
|
| 558 |
+
"orientation": {
|
| 559 |
+
"w": 0.9997124374696323,
|
| 560 |
+
"xyz": [
|
| 561 |
+
-0.02055071652455149,
|
| 562 |
+
0.011917417685025189,
|
| 563 |
+
0.0032688797124203937
|
| 564 |
+
]
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"grasp_38": {
|
| 568 |
+
"confidence": 0.9714294672012329,
|
| 569 |
+
"position": [
|
| 570 |
+
-0.002380493388045579,
|
| 571 |
+
0.007267063716426492,
|
| 572 |
+
-0.11323424859438092
|
| 573 |
+
],
|
| 574 |
+
"orientation": {
|
| 575 |
+
"w": 0.9990469948702558,
|
| 576 |
+
"xyz": [
|
| 577 |
+
-0.0376201714256533,
|
| 578 |
+
0.020194169265885353,
|
| 579 |
+
-0.009056504307762102
|
| 580 |
+
]
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"grasp_39": {
|
| 584 |
+
"confidence": 0.9712390303611755,
|
| 585 |
+
"position": [
|
| 586 |
+
-0.004191478306893259,
|
| 587 |
+
0.019754895940423012,
|
| 588 |
+
-0.10954923613462597
|
| 589 |
+
],
|
| 590 |
+
"orientation": {
|
| 591 |
+
"w": 0.9978961415271259,
|
| 592 |
+
"xyz": [
|
| 593 |
+
-0.018232476881323303,
|
| 594 |
+
0.015532061953201892,
|
| 595 |
+
-0.06024634896429474
|
| 596 |
+
]
|
| 597 |
+
}
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
},
|
| 601 |
+
{
|
| 602 |
+
"part_name": "front metal staple exit/anvil area",
|
| 603 |
+
"mask_color": "Blue",
|
| 604 |
+
"graspable": false,
|
| 605 |
+
"grasp_scenarios": [],
|
| 606 |
+
"functional_labels": [
|
| 607 |
+
"provide staple exit region",
|
| 608 |
+
"support paper at the stapling point",
|
| 609 |
+
"form the metal contact area at the front"
|
| 610 |
+
],
|
| 611 |
+
"semantic_description": "Small silver metal assembly at the front of the stapler near the paper insertion end, with a reflective smooth hard surface and rectangular shape visible above the base.",
|
| 612 |
+
"id": 2,
|
| 613 |
+
"grasp_group": {}
|
| 614 |
+
},
|
| 615 |
+
{
|
| 616 |
+
"part_name": "staple magazine",
|
| 617 |
+
"mask_color": "Purple",
|
| 618 |
+
"graspable": false,
|
| 619 |
+
"grasp_scenarios": [],
|
| 620 |
+
"functional_labels": [
|
| 621 |
+
"hold staple strip",
|
| 622 |
+
"guide staples forward",
|
| 623 |
+
"support reloading"
|
| 624 |
+
],
|
| 625 |
+
"semantic_description": "Narrow silver metal channel with a reflective smooth hard finish inside the stapler body, running lengthwise between the top and base as the internal staple holder.",
|
| 626 |
+
"id": 5,
|
| 627 |
+
"grasp_group": {}
|
| 628 |
+
},
|
| 629 |
+
{
|
| 630 |
+
"part_name": "hinge link",
|
| 631 |
+
"mask_color": "Cyan",
|
| 632 |
+
"graspable": false,
|
| 633 |
+
"grasp_scenarios": [],
|
| 634 |
+
"functional_labels": [
|
| 635 |
+
"connect top to base",
|
| 636 |
+
"enable opening motion",
|
| 637 |
+
"transmit pressing force"
|
| 638 |
+
],
|
| 639 |
+
"semantic_description": "Small silver metal linkage near the rear joint with a reflective smooth hard surface, compact and partly enclosed where the upper arm pivots relative to the base.",
|
| 640 |
+
"id": 6,
|
| 641 |
+
"grasp_group": {}
|
| 642 |
+
},
|
| 643 |
+
{
|
| 644 |
+
"part_name": "front brand emboss area",
|
| 645 |
+
"mask_color": "Orange",
|
| 646 |
+
"graspable": false,
|
| 647 |
+
"grasp_scenarios": [],
|
| 648 |
+
"functional_labels": [
|
| 649 |
+
"display branding",
|
| 650 |
+
"mark front orientation",
|
| 651 |
+
"provide surface detail"
|
| 652 |
+
],
|
| 653 |
+
"semantic_description": "Small rounded rectangular embossed area on the front-right of the blue plastic base, same blue color and material as the base, showing molded branding rather than a separate insert.",
|
| 654 |
+
"id": 4,
|
| 655 |
+
"grasp_group": {}
|
| 656 |
+
}
|
| 657 |
+
],
|
| 658 |
+
"quality_check": {
|
| 659 |
+
"success": false,
|
| 660 |
+
"message": "Several mask-color/part mappings are wrong and one part is over-segmented as a separate emboss area."
|
| 661 |
+
}
|
| 662 |
+
}
|
dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3368b5c82dec8ec596504d7443c0313056f4bb3992c31917b57f3f4f2d9d9d1a
|
| 3 |
+
size 3786912
|
dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/stapler_002.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|