Add asset desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa/affordance/affordance_annot.json +586 -0
- dataset/desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa/notebook_038.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6485,3 +6485,4 @@ dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/affo
|
|
| 6485 |
dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6486 |
dataset/desktop_supplies/office_stationery/c072a0b55974573aaa0cc7493d526f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6487 |
dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6485 |
dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6486 |
dataset/desktop_supplies/office_stationery/c072a0b55974573aaa0cc7493d526f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6487 |
dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6488 |
+
dataset/desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,586 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "notebook cover",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the notebook cover from the side to pick up the notebook",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cover to stabilize the notebook while repositioning it",
|
| 14 |
+
"confidence": 0.85
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch a cover edge to open or rotate the notebook slightly",
|
| 18 |
+
"confidence": 0.62
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"protect inner pages",
|
| 23 |
+
"provide main structure",
|
| 24 |
+
"support opening and closing",
|
| 25 |
+
"main grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large dark blue cover made of hard textured material with a matte finish, diamond-quilted embossing, rounded corners, and a smooth elastic band crossing the exterior.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9829254150390625,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.15748644899576902,
|
| 34 |
+
0.04325290455017239,
|
| 35 |
+
0.002368199042393826
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6965901996240849,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.014444838621137898,
|
| 41 |
+
0.7172782253463261,
|
| 42 |
+
0.008086276578974285
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9827830791473389,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.15586167108267546,
|
| 50 |
+
0.04720638750586659,
|
| 51 |
+
0.004108141278265975
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6977205456093316,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.006476344029832195,
|
| 57 |
+
0.7156104448408881,
|
| 58 |
+
0.03233865237220194
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.98247230052948,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.159939537756145,
|
| 66 |
+
0.051012930111028254,
|
| 67 |
+
0.0035027653066208586
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6913269387711287,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.02938854834131844,
|
| 73 |
+
0.7219332862200809,
|
| 74 |
+
-0.003963231409407092
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9820860624313354,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.1549400044605136,
|
| 82 |
+
0.056171198026277125,
|
| 83 |
+
0.0021604037465294823
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7010690093155098,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.010175651569154186,
|
| 89 |
+
0.7128728571135796,
|
| 90 |
+
0.014525490808752763
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.9816564917564392,
|
| 96 |
+
"position": [
|
| 97 |
+
0.16187035012990236,
|
| 98 |
+
0.06191333069000393,
|
| 99 |
+
-0.0019662393169710413
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.012409324811789848,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.6965460923324517,
|
| 105 |
+
0.00995878696904895,
|
| 106 |
+
-0.7173356065860751
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_7": {
|
| 111 |
+
"confidence": 0.9814367890357971,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.16114344727247953,
|
| 114 |
+
0.04632746858987957,
|
| 115 |
+
0.0041301731107523665
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6911475407240102,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.013962137781564915,
|
| 121 |
+
0.7223719307796592,
|
| 122 |
+
0.01728957146339543
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_8": {
|
| 127 |
+
"confidence": 0.9813836216926575,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.15548404585570097,
|
| 130 |
+
0.05645063950214535,
|
| 131 |
+
0.0014207900821929798
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7012720063608399,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.006020378096133482,
|
| 137 |
+
0.7128297962210438,
|
| 138 |
+
0.0074168565907393146
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_9": {
|
| 143 |
+
"confidence": 0.9812406897544861,
|
| 144 |
+
"position": [
|
| 145 |
+
0.00043309666216373444,
|
| 146 |
+
-0.17847898916807026,
|
| 147 |
+
-0.0014475310599664226
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.500851200202761,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.4895832365161671,
|
| 153 |
+
0.497610280981971,
|
| 154 |
+
0.5117033691884911
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_10": {
|
| 159 |
+
"confidence": 0.9809048175811768,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.15425773989409208,
|
| 162 |
+
0.027697977260686457,
|
| 163 |
+
0.004539316156296991
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.6960759206742083,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.011055530222023598,
|
| 169 |
+
0.7178822134896589,
|
| 170 |
+
0.001102480952571966
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_11": {
|
| 175 |
+
"confidence": 0.9805231690406799,
|
| 176 |
+
"position": [
|
| 177 |
+
0.021238728426396847,
|
| 178 |
+
-0.1758151085814461,
|
| 179 |
+
0.0009379447292303666
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.4552261735293877,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.5360060007576289,
|
| 185 |
+
0.4608697339106861,
|
| 186 |
+
0.5413555083775339
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_13": {
|
| 191 |
+
"confidence": 0.9799748063087463,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.1591678662225604,
|
| 194 |
+
0.03755154518876225,
|
| 195 |
+
0.004932176889269613
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.7077497060514067,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.006713717238769645,
|
| 201 |
+
0.7063651697165187,
|
| 202 |
+
-0.0096709149690489
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_14": {
|
| 207 |
+
"confidence": 0.9799071550369263,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.1517140967771411,
|
| 210 |
+
0.08064689917955548,
|
| 211 |
+
0.0035833375150104985
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.6896457940414605,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.14455352650116954,
|
| 217 |
+
0.7001394613974556,
|
| 218 |
+
-0.11531561616311924
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_15": {
|
| 223 |
+
"confidence": 0.9798024296760559,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.15167125593870878,
|
| 226 |
+
0.03154785616789013,
|
| 227 |
+
0.006973388706683181
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.692613496698809,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.012994454371865534,
|
| 233 |
+
0.7211266611651509,
|
| 234 |
+
0.009696747033336296
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_16": {
|
| 239 |
+
"confidence": 0.9796957969665527,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.1583104683086276,
|
| 242 |
+
0.038239263580180705,
|
| 243 |
+
0.013617426258861087
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.010611409860415292,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.7295835908759806,
|
| 249 |
+
0.011426099310619109,
|
| 250 |
+
0.6837138481556653
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_17": {
|
| 255 |
+
"confidence": 0.9795699715614319,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.1538604898378253,
|
| 258 |
+
0.03776918782386929,
|
| 259 |
+
8.342410728801042e-05
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.7024857748720972,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.007530121769723954,
|
| 265 |
+
0.7116243851028994,
|
| 266 |
+
0.006911432225113558
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_18": {
|
| 271 |
+
"confidence": 0.9794453978538513,
|
| 272 |
+
"position": [
|
| 273 |
+
0.00020150654017925262,
|
| 274 |
+
-0.17620705382432789,
|
| 275 |
+
0.0007454330770997331
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.49470743134769946,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.4969518620957175,
|
| 281 |
+
0.5080793905677841,
|
| 282 |
+
0.5001587118197878
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_19": {
|
| 287 |
+
"confidence": 0.9793853759765625,
|
| 288 |
+
"position": [
|
| 289 |
+
0.16193457413464785,
|
| 290 |
+
0.05074368475470692,
|
| 291 |
+
0.000933996620005928
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.04116225809420456,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.7090254974056056,
|
| 297 |
+
0.03542455057042215,
|
| 298 |
+
-0.703088624395391
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"part_name": "page block",
|
| 306 |
+
"mask_color": "Green",
|
| 307 |
+
"graspable": true,
|
| 308 |
+
"grasp_scenarios": [
|
| 309 |
+
{
|
| 310 |
+
"scenario": "grasp the page block along the fore edge to lift the notebook",
|
| 311 |
+
"confidence": 0.56
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"scenario": "pinch the page edges to open to a section",
|
| 315 |
+
"confidence": 0.48
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"scenario": "hold the page block to stabilize the notebook during placement",
|
| 319 |
+
"confidence": 0.44
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"functional_labels": [
|
| 323 |
+
"provide writing pages",
|
| 324 |
+
"store notes",
|
| 325 |
+
"indicate thickness",
|
| 326 |
+
"support page turning"
|
| 327 |
+
],
|
| 328 |
+
"semantic_description": "Medium-size off-white page stack with a matte paper finish, smooth fine texture, and a rectangular layered edge visible around the notebook perimeter.",
|
| 329 |
+
"id": 1,
|
| 330 |
+
"grasp_group": {}
|
| 331 |
+
},
|
| 332 |
+
{
|
| 333 |
+
"part_name": "elastic closure band",
|
| 334 |
+
"mask_color": "Blue",
|
| 335 |
+
"graspable": true,
|
| 336 |
+
"grasp_scenarios": [
|
| 337 |
+
{
|
| 338 |
+
"scenario": "grasp the elastic band to pull it aside and open the notebook",
|
| 339 |
+
"confidence": 0.87
|
| 340 |
+
},
|
| 341 |
+
{
|
| 342 |
+
"scenario": "pinch the band to hold and reposition the closed notebook lightly",
|
| 343 |
+
"confidence": 0.41
|
| 344 |
+
}
|
| 345 |
+
],
|
| 346 |
+
"functional_labels": [
|
| 347 |
+
"keep notebook closed",
|
| 348 |
+
"secure pages and covers",
|
| 349 |
+
"provide light pull tab",
|
| 350 |
+
"indicate orientation"
|
| 351 |
+
],
|
| 352 |
+
"semantic_description": "Thin dark navy elastic strap with a matte fabric-like finish and slightly smooth taut texture, wrapped around the notebook near one edge and across the front cover.",
|
| 353 |
+
"id": 2,
|
| 354 |
+
"grasp_group": {
|
| 355 |
+
"grasp_41": {
|
| 356 |
+
"confidence": 0.9684755802154541,
|
| 357 |
+
"position": [
|
| 358 |
+
0.050811086781322956,
|
| 359 |
+
0.17296594067011029,
|
| 360 |
+
0.0061282907699933276
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.495984508105352,
|
| 364 |
+
"xyz": [
|
| 365 |
+
0.5064999890478348,
|
| 366 |
+
0.5035668854838263,
|
| 367 |
+
-0.49383956975738047
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_44": {
|
| 372 |
+
"confidence": 0.9663336277008057,
|
| 373 |
+
"position": [
|
| 374 |
+
0.04233047645539045,
|
| 375 |
+
-0.18007488863077015,
|
| 376 |
+
-0.00014970743359299377
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.5127809032314566,
|
| 380 |
+
"xyz": [
|
| 381 |
+
-0.48847989403998143,
|
| 382 |
+
0.5032420193781115,
|
| 383 |
+
0.49516725288740604
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_45": {
|
| 388 |
+
"confidence": 0.9656594395637512,
|
| 389 |
+
"position": [
|
| 390 |
+
0.044804234988987446,
|
| 391 |
+
0.17917808576021343,
|
| 392 |
+
0.003303122808574699
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.49710595865268337,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.5036825138490122,
|
| 398 |
+
0.5050441933070074,
|
| 399 |
+
-0.4940849662979135
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_46": {
|
| 404 |
+
"confidence": 0.965576171875,
|
| 405 |
+
"position": [
|
| 406 |
+
0.046804615296423435,
|
| 407 |
+
-0.17581112997140735,
|
| 408 |
+
-0.003182781525538303
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.5112891444114166,
|
| 412 |
+
"xyz": [
|
| 413 |
+
-0.4880213176476492,
|
| 414 |
+
0.49861934569118904,
|
| 415 |
+
0.5017941335159121
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_47": {
|
| 420 |
+
"confidence": 0.965281069278717,
|
| 421 |
+
"position": [
|
| 422 |
+
0.05159889254719019,
|
| 423 |
+
0.173725244239904,
|
| 424 |
+
0.0010223284916719422
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.49408623458176937,
|
| 428 |
+
"xyz": [
|
| 429 |
+
0.5057564970513593,
|
| 430 |
+
0.5036807267772401,
|
| 431 |
+
-0.4963817925350385
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_48": {
|
| 436 |
+
"confidence": 0.9646685123443604,
|
| 437 |
+
"position": [
|
| 438 |
+
0.04887465853244066,
|
| 439 |
+
-0.17536457197275013,
|
| 440 |
+
-0.0019230122125009075
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.5057535655310789,
|
| 444 |
+
"xyz": [
|
| 445 |
+
-0.5069991318933215,
|
| 446 |
+
-0.48915869171772697,
|
| 447 |
+
-0.4978845102320622
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_49": {
|
| 452 |
+
"confidence": 0.9645786881446838,
|
| 453 |
+
"position": [
|
| 454 |
+
0.05027033481746912,
|
| 455 |
+
0.17439406795892864,
|
| 456 |
+
0.00839427403116133
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.5022190468304344,
|
| 460 |
+
"xyz": [
|
| 461 |
+
0.5010459134676838,
|
| 462 |
+
0.5118057466547733,
|
| 463 |
+
-0.48454504361226786
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_51": {
|
| 468 |
+
"confidence": 0.9629026055335999,
|
| 469 |
+
"position": [
|
| 470 |
+
0.01844082400202751,
|
| 471 |
+
-0.1746644111117348,
|
| 472 |
+
-0.00014836414629826322
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.5671395266553828,
|
| 476 |
+
"xyz": [
|
| 477 |
+
-0.40704948385384637,
|
| 478 |
+
0.578698618037267,
|
| 479 |
+
0.42162943977049716
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"grasp_52": {
|
| 484 |
+
"confidence": 0.9627680778503418,
|
| 485 |
+
"position": [
|
| 486 |
+
0.06520498264580965,
|
| 487 |
+
0.17384311242494732,
|
| 488 |
+
-0.0011584524909267202
|
| 489 |
+
],
|
| 490 |
+
"orientation": {
|
| 491 |
+
"w": 0.4635725799868887,
|
| 492 |
+
"xyz": [
|
| 493 |
+
0.5381790572285475,
|
| 494 |
+
0.4599219991784671,
|
| 495 |
+
-0.5328560031721272
|
| 496 |
+
]
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"grasp_55": {
|
| 500 |
+
"confidence": 0.9589866399765015,
|
| 501 |
+
"position": [
|
| 502 |
+
0.05111667234450579,
|
| 503 |
+
0.18098872585687786,
|
| 504 |
+
0.0036765000404557213
|
| 505 |
+
],
|
| 506 |
+
"orientation": {
|
| 507 |
+
"w": 0.48683693359501556,
|
| 508 |
+
"xyz": [
|
| 509 |
+
0.5169491137759424,
|
| 510 |
+
0.502407443080301,
|
| 511 |
+
-0.4932952209291963
|
| 512 |
+
]
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"grasp_56": {
|
| 516 |
+
"confidence": 0.9587870240211487,
|
| 517 |
+
"position": [
|
| 518 |
+
0.0842439653351903,
|
| 519 |
+
0.16936519427690655,
|
| 520 |
+
-0.003643858144641854
|
| 521 |
+
],
|
| 522 |
+
"orientation": {
|
| 523 |
+
"w": 0.4056835422712295,
|
| 524 |
+
"xyz": [
|
| 525 |
+
0.5768135586672526,
|
| 526 |
+
0.38052424116149275,
|
| 527 |
+
-0.5982543639258782
|
| 528 |
+
]
|
| 529 |
+
}
|
| 530 |
+
},
|
| 531 |
+
"grasp_57": {
|
| 532 |
+
"confidence": 0.958543062210083,
|
| 533 |
+
"position": [
|
| 534 |
+
0.048218351788818836,
|
| 535 |
+
-0.1734032662352547,
|
| 536 |
+
-0.011228911476791836
|
| 537 |
+
],
|
| 538 |
+
"orientation": {
|
| 539 |
+
"w": 0.516010849613843,
|
| 540 |
+
"xyz": [
|
| 541 |
+
-0.4786806898047803,
|
| 542 |
+
0.48954836097984267,
|
| 543 |
+
0.5147232290763349
|
| 544 |
+
]
|
| 545 |
+
}
|
| 546 |
+
},
|
| 547 |
+
"grasp_58": {
|
| 548 |
+
"confidence": 0.9570019245147705,
|
| 549 |
+
"position": [
|
| 550 |
+
0.09166417736560106,
|
| 551 |
+
0.1691119937459007,
|
| 552 |
+
0.0011182291054865345
|
| 553 |
+
],
|
| 554 |
+
"orientation": {
|
| 555 |
+
"w": 0.37650343694609417,
|
| 556 |
+
"xyz": [
|
| 557 |
+
0.6003006887730523,
|
| 558 |
+
0.3668349621525204,
|
| 559 |
+
-0.6027572940819022
|
| 560 |
+
]
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
"grasp_59": {
|
| 564 |
+
"confidence": 0.9569255113601685,
|
| 565 |
+
"position": [
|
| 566 |
+
0.09230223018676043,
|
| 567 |
+
0.16422389133367687,
|
| 568 |
+
-0.0036733098240802065
|
| 569 |
+
],
|
| 570 |
+
"orientation": {
|
| 571 |
+
"w": 0.38059838209816044,
|
| 572 |
+
"xyz": [
|
| 573 |
+
0.5847616511990263,
|
| 574 |
+
0.36804619667885796,
|
| 575 |
+
-0.6146061177221377
|
| 576 |
+
]
|
| 577 |
+
}
|
| 578 |
+
}
|
| 579 |
+
}
|
| 580 |
+
}
|
| 581 |
+
],
|
| 582 |
+
"quality_check": {
|
| 583 |
+
"success": true,
|
| 584 |
+
"message": "YES"
|
| 585 |
+
}
|
| 586 |
+
}
|
dataset/desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0868284120e29eca6d0b5fbdb5b6c30bca5fcd579087280b5f41f0afa74d265d
|
| 3 |
+
size 3784172
|
dataset/desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa/notebook_038.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>
|