xinjjj commited on
Commit
b402f75
·
verified ·
1 Parent(s): 81f0e50

Add asset desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8

Browse files
.gitattributes CHANGED
@@ -6438,3 +6438,4 @@ dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/affo
6438
  dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6439
  dataset/desktop_supplies/office_stationery/9e32571529dc5357af6232884880b3c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6440
  dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6438
  dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6439
  dataset/desktop_supplies/office_stationery/9e32571529dc5357af6232884880b3c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6440
  dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6441
+ dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,777 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main body tube",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical body to pick up and move the glue stick",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body while removing or replacing the cap",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp the body while applying glue to a surface",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "contain glue stick and mechanism",
24
+ "support glue application",
25
+ "stabilize the stick during cap removal"
26
+ ],
27
+ "semantic_description": "Long cylindrical main tube forming most of the object, with a smooth slightly glossy surface. It appears pale aqua/light teal on the upper section and white on the lower labeled section, with blue printed text and graphics.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9892387390136719,
32
+ "position": [
33
+ 0.004488317981667933,
34
+ 0.09792780663701706,
35
+ -0.017058805911801755
36
+ ],
37
+ "orientation": {
38
+ "w": 0.7175674586386437,
39
+ "xyz": [
40
+ 0.6955271320440222,
41
+ -0.03612095800857473,
42
+ -0.0058504090487701945
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9889180064201355,
48
+ "position": [
49
+ -0.026793048962645116,
50
+ 0.0944285893056076,
51
+ -0.015467747463844717
52
+ ],
53
+ "orientation": {
54
+ "w": 0.08501811817513952,
55
+ "xyz": [
56
+ -0.11817789164505729,
57
+ 0.6936054943319666,
58
+ -0.7054908388780076
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9886850714683533,
64
+ "position": [
65
+ 0.04791080088944,
66
+ 0.08346106644603424,
67
+ -0.010138400248251855
68
+ ],
69
+ "orientation": {
70
+ "w": 0.20742511789431584,
71
+ "xyz": [
72
+ -0.16953415677614497,
73
+ -0.6711396349078448,
74
+ 0.691234099714775
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9886383414268494,
80
+ "position": [
81
+ 0.010881065145440516,
82
+ 0.09157514359685592,
83
+ 0.030646850005723536
84
+ ],
85
+ "orientation": {
86
+ "w": 0.034924629814274966,
87
+ "xyz": [
88
+ -0.053392719924061215,
89
+ -0.8379722807117507,
90
+ 0.5419704276528322
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9885395169258118,
96
+ "position": [
97
+ 0.0069464424032048555,
98
+ 0.08985496844979934,
99
+ 0.037608128623105586
100
+ ],
101
+ "orientation": {
102
+ "w": 0.016742237723108375,
103
+ "xyz": [
104
+ -0.044473655823430595,
105
+ -0.854186580044154,
106
+ 0.5177905733848317
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.988456130027771,
112
+ "position": [
113
+ 0.006948200274564442,
114
+ 0.09034678127500229,
115
+ 0.032659557298757136
116
+ ],
117
+ "orientation": {
118
+ "w": 0.020750302377142805,
119
+ "xyz": [
120
+ -0.039744380076488374,
121
+ -0.8518384011255237,
122
+ 0.5218823119933308
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.98843914270401,
128
+ "position": [
129
+ 0.005802630666948971,
130
+ 0.09189741100999527,
131
+ -0.049982405616901815
132
+ ],
133
+ "orientation": {
134
+ "w": 0.8337004536314034,
135
+ "xyz": [
136
+ 0.5512484630687972,
137
+ -0.014326986182335855,
138
+ -0.029384061087804406
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9881884455680847,
144
+ "position": [
145
+ -0.04115127144723374,
146
+ 0.08720086302491836,
147
+ -0.01047390082385391
148
+ ],
149
+ "orientation": {
150
+ "w": 0.150968563359748,
151
+ "xyz": [
152
+ -0.17426909245491404,
153
+ 0.6729086909980578,
154
+ -0.7028745762021238
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9881585240364075,
160
+ "position": [
161
+ 0.0027660077776090475,
162
+ 0.09883919145795517,
163
+ -0.023789148195646703
164
+ ],
165
+ "orientation": {
166
+ "w": 0.7138410313638573,
167
+ "xyz": [
168
+ 0.699851041425822,
169
+ -0.021881064371488845,
170
+ -0.012677569899128657
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9876741766929626,
176
+ "position": [
177
+ 0.004077363513715682,
178
+ 0.09770759727689438,
179
+ -0.00688354333397001
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7005042561070746,
183
+ "xyz": [
184
+ 0.7134130423007213,
185
+ -0.013968733902083863,
186
+ -0.011852962679268348
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9876253008842468,
192
+ "position": [
193
+ -0.00158733363605279,
194
+ 0.09735519226524048,
195
+ -0.008908294490538538
196
+ ],
197
+ "orientation": {
198
+ "w": 0.7056877493652458,
199
+ "xyz": [
200
+ 0.7085142665486336,
201
+ 0.0006804457257523211,
202
+ 0.0034455023552374285
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9874983429908752,
208
+ "position": [
209
+ -0.008494123130731168,
210
+ -0.09682502810028382,
211
+ 0.002027086797170341
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6954732177560621,
215
+ "xyz": [
216
+ -0.7165826413157955,
217
+ 0.02935228462660322,
218
+ -0.04432566904296228
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9874171018600464,
224
+ "position": [
225
+ 0.013759750627286849,
226
+ 0.08997849162551574,
227
+ 0.028396992594935
228
+ ],
229
+ "orientation": {
230
+ "w": 0.03493285054397287,
231
+ "xyz": [
232
+ -0.06253597590154691,
233
+ -0.8469681164612199,
234
+ 0.526795935224492
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9873878359794617,
240
+ "position": [
241
+ 0.04421397553414863,
242
+ 0.08962950643035583,
243
+ -0.01611905766185373
244
+ ],
245
+ "orientation": {
246
+ "w": 0.16800736281487316,
247
+ "xyz": [
248
+ -0.14929333994809377,
249
+ -0.6825731199091433,
250
+ 0.6953984186526693
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.987369954586029,
256
+ "position": [
257
+ 0.0037108918058947893,
258
+ 0.09805681344005279,
259
+ -0.012285353965125978
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6997737743923379,
263
+ "xyz": [
264
+ 0.7142008028678064,
265
+ -0.012062425838785473,
266
+ -0.009400837120509731
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.987322986125946,
272
+ "position": [
273
+ -0.09655550612478692,
274
+ 0.0036796105268877,
275
+ 0.006643009488470852
276
+ ],
277
+ "orientation": {
278
+ "w": 0.4382160880227495,
279
+ "xyz": [
280
+ -0.5318686639116547,
281
+ 0.5506284727498646,
282
+ -0.47105272480267113
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9872293472290039,
288
+ "position": [
289
+ -0.007931797079436365,
290
+ 0.0981381737801712,
291
+ -0.01696833351161331
292
+ ],
293
+ "orientation": {
294
+ "w": 0.039000461865335144,
295
+ "xyz": [
296
+ -0.03178887714841095,
297
+ 0.704112563803172,
298
+ -0.7083035569291306
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9870830774307251,
304
+ "position": [
305
+ 0.012615027591891703,
306
+ 0.09410334911081009,
307
+ -0.032228320254944265
308
+ ],
309
+ "orientation": {
310
+ "w": 0.7466375952523167,
311
+ "xyz": [
312
+ 0.6617913651399082,
313
+ -0.06046837057785204,
314
+ -0.030134142459248437
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9870588183403015,
320
+ "position": [
321
+ 0.011230747901208815,
322
+ 0.09754274573060684,
323
+ -0.023321106447838247
324
+ ],
325
+ "orientation": {
326
+ "w": 0.7073011575353407,
327
+ "xyz": [
328
+ 0.7037335207972863,
329
+ -0.05277025236769084,
330
+ -0.041225049672172755
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9870124459266663,
336
+ "position": [
337
+ 0.0909459094855265,
338
+ -0.009769987576873973,
339
+ 0.012381709762848914
340
+ ],
341
+ "orientation": {
342
+ "w": 0.4342171186983402,
343
+ "xyz": [
344
+ 0.5066515635557164,
345
+ -0.6051599225702503,
346
+ -0.434213259920316
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "protective cap",
354
+ "mask_color": "Yellow",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the cap to pull it off the glue stick",
359
+ "confidence": 0.92
360
+ },
361
+ {
362
+ "scenario": "hold the cap to place it back onto the body",
363
+ "confidence": 0.88
364
+ },
365
+ {
366
+ "scenario": "grasp the capped top for brief relocation of the whole stick",
367
+ "confidence": 0.46
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "cover the glue tip",
372
+ "protect glue from drying",
373
+ "enable opening and closing",
374
+ "provide removable top cover"
375
+ ],
376
+ "semantic_description": "Short cylindrical cap at the top, made of translucent frosted white plastic with fine vertical ribbing/texture and a slightly rounded profile.",
377
+ "id": 3,
378
+ "grasp_group": {
379
+ "grasp_20": {
380
+ "confidence": 0.9748742580413818,
381
+ "position": [
382
+ -0.09899100406437356,
383
+ 0.0036577344581019133,
384
+ 0.02256057655904442
385
+ ],
386
+ "orientation": {
387
+ "w": 0.4759899619229231,
388
+ "xyz": [
389
+ -0.4942038098156989,
390
+ 0.5044138691501083,
391
+ -0.5241782131310693
392
+ ]
393
+ }
394
+ },
395
+ "grasp_21": {
396
+ "confidence": 0.9741723537445068,
397
+ "position": [
398
+ -0.09866478039293725,
399
+ 0.0010753203823696822,
400
+ 0.0239420315483585
401
+ ],
402
+ "orientation": {
403
+ "w": 0.4838698665183978,
404
+ "xyz": [
405
+ -0.498984652939061,
406
+ 0.49640297324714366,
407
+ -0.5200657233063412
408
+ ]
409
+ }
410
+ },
411
+ "grasp_22": {
412
+ "confidence": 0.9741093516349792,
413
+ "position": [
414
+ 0.09776579843492073,
415
+ -0.009424481802852824,
416
+ 0.035175905213691294
417
+ ],
418
+ "orientation": {
419
+ "w": 0.5182605900019643,
420
+ "xyz": [
421
+ -0.5383957925697291,
422
+ -0.48710650120970933,
423
+ 0.45195485158726206
424
+ ]
425
+ }
426
+ },
427
+ "grasp_23": {
428
+ "confidence": 0.9740216732025146,
429
+ "position": [
430
+ 0.09454753504724067,
431
+ 0.004193803499219939,
432
+ 0.028696094290353358
433
+ ],
434
+ "orientation": {
435
+ "w": 0.5075207872837195,
436
+ "xyz": [
437
+ 0.5144978548267892,
438
+ -0.5081980541367979,
439
+ -0.46845420867478343
440
+ ]
441
+ }
442
+ },
443
+ "grasp_24": {
444
+ "confidence": 0.9739027619361877,
445
+ "position": [
446
+ 0.10174256072969001,
447
+ -0.004332497977884486,
448
+ 0.028395595611073077
449
+ ],
450
+ "orientation": {
451
+ "w": 0.5079451723138984,
452
+ "xyz": [
453
+ -0.5131518276505568,
454
+ -0.4761584083626401,
455
+ 0.5019363244949057
456
+ ]
457
+ }
458
+ },
459
+ "grasp_25": {
460
+ "confidence": 0.9736025333404541,
461
+ "position": [
462
+ 0.01351404258639377,
463
+ 0.10005441095563583,
464
+ 0.022479519830085337
465
+ ],
466
+ "orientation": {
467
+ "w": 0.038098361928978794,
468
+ "xyz": [
469
+ -0.04017123416512236,
470
+ -0.6941445703695208,
471
+ 0.7177033525005253
472
+ ]
473
+ }
474
+ },
475
+ "grasp_26": {
476
+ "confidence": 0.9729366302490234,
477
+ "position": [
478
+ 0.09939337776631874,
479
+ -0.007235205062897876,
480
+ 0.022807539091445506
481
+ ],
482
+ "orientation": {
483
+ "w": 0.4735984579669701,
484
+ "xyz": [
485
+ 0.48072083642092517,
486
+ -0.5124979038457194,
487
+ -0.5309970589333033
488
+ ]
489
+ }
490
+ },
491
+ "grasp_27": {
492
+ "confidence": 0.9726072549819946,
493
+ "position": [
494
+ 0.0038893434557394357,
495
+ 0.09650046165916137,
496
+ 0.02970263233873993
497
+ ],
498
+ "orientation": {
499
+ "w": 0.6935923895745845,
500
+ "xyz": [
501
+ 0.7199776185999568,
502
+ -0.021011060701335516,
503
+ -0.010970923733110476
504
+ ]
505
+ }
506
+ },
507
+ "grasp_28": {
508
+ "confidence": 0.9725918769836426,
509
+ "position": [
510
+ -0.10025219364433724,
511
+ 0.0017533093632664531,
512
+ 0.02289743593428284
513
+ ],
514
+ "orientation": {
515
+ "w": 0.49195928707886705,
516
+ "xyz": [
517
+ -0.49249822666393916,
518
+ 0.49591747278117626,
519
+ -0.5191217745192923
520
+ ]
521
+ }
522
+ },
523
+ "grasp_29": {
524
+ "confidence": 0.9724048376083374,
525
+ "position": [
526
+ 0.0986116330477671,
527
+ -0.00312980919261463,
528
+ 0.02544354519341141
529
+ ],
530
+ "orientation": {
531
+ "w": 0.5037895441320666,
532
+ "xyz": [
533
+ 0.47499521579859044,
534
+ -0.5164516569709418,
535
+ -0.5038385914195384
536
+ ]
537
+ }
538
+ },
539
+ "grasp_30": {
540
+ "confidence": 0.9713446497917175,
541
+ "position": [
542
+ -0.10038787616758782,
543
+ 0.003691478370456025,
544
+ 0.0218214193591848
545
+ ],
546
+ "orientation": {
547
+ "w": 0.47504765395443616,
548
+ "xyz": [
549
+ -0.48835024369441,
550
+ 0.5070438901796726,
551
+ -0.5279680476955596
552
+ ]
553
+ }
554
+ },
555
+ "grasp_31": {
556
+ "confidence": 0.9711112976074219,
557
+ "position": [
558
+ -0.10092945887117821,
559
+ 0.008533549233106896,
560
+ 0.021751367137767375
561
+ ],
562
+ "orientation": {
563
+ "w": 0.46782514863146674,
564
+ "xyz": [
565
+ -0.4777924647599899,
566
+ 0.5177099872375976,
567
+ -0.5336950065730109
568
+ ]
569
+ }
570
+ },
571
+ "grasp_32": {
572
+ "confidence": 0.9711078405380249,
573
+ "position": [
574
+ 0.010422827430375037,
575
+ 0.09852386053535156,
576
+ 0.02088102197740227
577
+ ],
578
+ "orientation": {
579
+ "w": 0.7276182598567043,
580
+ "xyz": [
581
+ 0.6850418451462889,
582
+ -0.02302428610249263,
583
+ -0.027553957449710446
584
+ ]
585
+ }
586
+ },
587
+ "grasp_33": {
588
+ "confidence": 0.97053062915802,
589
+ "position": [
590
+ -0.09787732107906777,
591
+ 0.0016279540432151407,
592
+ 0.02624237968120724
593
+ ],
594
+ "orientation": {
595
+ "w": 0.5024511192425963,
596
+ "xyz": [
597
+ 0.5094001620500844,
598
+ 0.49901382907000413,
599
+ 0.4889167066813152
600
+ ]
601
+ }
602
+ },
603
+ "grasp_34": {
604
+ "confidence": 0.9704324007034302,
605
+ "position": [
606
+ -0.1010268677619024,
607
+ -0.0004768420767504722,
608
+ 0.02439785993192345
609
+ ],
610
+ "orientation": {
611
+ "w": 0.5095597013367404,
612
+ "xyz": [
613
+ 0.49837102763976127,
614
+ 0.5009921065589173,
615
+ 0.4908993163048388
616
+ ]
617
+ }
618
+ },
619
+ "grasp_35": {
620
+ "confidence": 0.9702858328819275,
621
+ "position": [
622
+ -0.09471153213053185,
623
+ -0.026500061416300014,
624
+ 0.03582849039230496
625
+ ],
626
+ "orientation": {
627
+ "w": 0.5274536780228821,
628
+ "xyz": [
629
+ -0.5916593318752228,
630
+ 0.44038588765605746,
631
+ -0.4216540317588405
632
+ ]
633
+ }
634
+ },
635
+ "grasp_36": {
636
+ "confidence": 0.9696581959724426,
637
+ "position": [
638
+ -0.1012576643970533,
639
+ -0.0035779527679551393,
640
+ 0.025299996719695628
641
+ ],
642
+ "orientation": {
643
+ "w": 0.49550649974501193,
644
+ "xyz": [
645
+ 0.4957640657289679,
646
+ 0.511241612831684,
647
+ 0.49731610988544117
648
+ ]
649
+ }
650
+ },
651
+ "grasp_37": {
652
+ "confidence": 0.9693143367767334,
653
+ "position": [
654
+ 0.0962830956432299,
655
+ -0.003903622302459553,
656
+ 0.03812308667693287
657
+ ],
658
+ "orientation": {
659
+ "w": 0.4455268783881455,
660
+ "xyz": [
661
+ 0.5206265000941116,
662
+ -0.545986342224953,
663
+ -0.48202983531861066
664
+ ]
665
+ }
666
+ },
667
+ "grasp_38": {
668
+ "confidence": 0.9691622257232666,
669
+ "position": [
670
+ -0.005259028415821376,
671
+ -0.10099230174091645,
672
+ 0.025277279899455607
673
+ ],
674
+ "orientation": {
675
+ "w": 0.7086700022769077,
676
+ "xyz": [
677
+ -0.7031511460372933,
678
+ -0.0014951618899259334,
679
+ -0.05799188038175053
680
+ ]
681
+ }
682
+ },
683
+ "grasp_39": {
684
+ "confidence": 0.9690807461738586,
685
+ "position": [
686
+ -0.10019080086021859,
687
+ 0.002864671841962263,
688
+ 0.029161546961404383
689
+ ],
690
+ "orientation": {
691
+ "w": 0.48563405364981804,
692
+ "xyz": [
693
+ -0.5039623182715599,
694
+ 0.5027713676917746,
695
+ -0.5073484990884892
696
+ ]
697
+ }
698
+ }
699
+ }
700
+ },
701
+ {
702
+ "part_name": "top end of cap",
703
+ "mask_color": "Purple",
704
+ "graspable": false,
705
+ "grasp_scenarios": [],
706
+ "functional_labels": [
707
+ "close the cap end",
708
+ "provide top surface",
709
+ "form the cap's upper end"
710
+ ],
711
+ "semantic_description": "Flat circular top face of the cap, pale white to light gray in appearance, smooth plastic, forming the small uppermost end surface.",
712
+ "id": 5,
713
+ "grasp_group": {}
714
+ },
715
+ {
716
+ "part_name": "bottom twist base",
717
+ "mask_color": "Orange",
718
+ "graspable": true,
719
+ "grasp_scenarios": [
720
+ {
721
+ "scenario": "grasp the bottom base to stabilize the glue stick while twisting or orienting it",
722
+ "confidence": 0.62
723
+ },
724
+ {
725
+ "scenario": "pinch the base to pick up the stick from below",
726
+ "confidence": 0.43
727
+ }
728
+ ],
729
+ "functional_labels": [
730
+ "support standing upright",
731
+ "house the twist mechanism",
732
+ "adjust glue height",
733
+ "provide bottom stabilization"
734
+ ],
735
+ "semantic_description": "Flat circular plastic base at the bottom, pale lavender to light purple with a smooth slightly glossy finish, forming the lower end associated with the twist mechanism.",
736
+ "id": 4,
737
+ "grasp_group": {
738
+ "grasp_40": {
739
+ "confidence": 0.03366699814796448,
740
+ "position": [
741
+ 0.031412883416123805,
742
+ -0.09791805062559433,
743
+ -0.015315521857701242
744
+ ],
745
+ "orientation": {
746
+ "w": 0.5709114166136097,
747
+ "xyz": [
748
+ -0.3873452283419889,
749
+ -0.5757839775946249,
750
+ -0.4387443898288012
751
+ ]
752
+ }
753
+ },
754
+ "grasp_41": {
755
+ "confidence": 0.040335763245821,
756
+ "position": [
757
+ -0.08262516303329903,
758
+ -0.058796206751139835,
759
+ -0.010578524670563638
760
+ ],
761
+ "orientation": {
762
+ "w": 0.17657418198036945,
763
+ "xyz": [
764
+ -0.6402517932089777,
765
+ -0.26018023976266613,
766
+ -0.7008605013750546
767
+ ]
768
+ }
769
+ }
770
+ }
771
+ }
772
+ ],
773
+ "quality_check": {
774
+ "success": true,
775
+ "message": "YES"
776
+ }
777
+ }
dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:adcc553898b33805ec66e772b287f32e6cf90c5ebfa6ece4fc75c2712b538d4f
3
+ size 3792228
dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/glue_stick_015.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>