Add asset desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/affordance/affordance_annot.json +462 -0
- dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.urdf +4 -3
.gitattributes
CHANGED
|
@@ -6474,3 +6474,4 @@ dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/affo
|
|
| 6474 |
dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6475 |
dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6476 |
dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6474 |
dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6475 |
dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6476 |
dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6477 |
+
dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,462 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front cover",
|
| 5 |
+
"mask_color": "Maroon",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the front cover edge to pick up the notebook from a table",
|
| 10 |
+
"confidence": 0.79
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the front cover to open the notebook",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the cover to stabilize the notebook while flipping pages",
|
| 18 |
+
"confidence": 0.68
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the pages",
|
| 23 |
+
"protect the contents",
|
| 24 |
+
"provide a writing support surface",
|
| 25 |
+
"open and close the notebook"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rectangular pink paperboard cover with a smooth matte finish, hard flat surface, printed ruled layout and bold dark text, forming the main outer face of the notebook.",
|
| 28 |
+
"id": 12,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_45": {
|
| 31 |
+
"confidence": 0.9733938574790955,
|
| 32 |
+
"position": [
|
| 33 |
+
0.1468432443216443,
|
| 34 |
+
-0.027800158564787125,
|
| 35 |
+
0.0010907863907050341
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6997595778841696,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.010401412307128892,
|
| 41 |
+
-0.7143016790479371,
|
| 42 |
+
-0.0012062713973360287
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_46": {
|
| 47 |
+
"confidence": 0.9702521562576294,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.039479232393205166,
|
| 50 |
+
0.16497175305630662,
|
| 51 |
+
0.0013280323764774948
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.49782704485374474,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5005281414165603,
|
| 57 |
+
-0.5044909180593893,
|
| 58 |
+
0.4971204347619054
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_47": {
|
| 63 |
+
"confidence": 0.9680166840553284,
|
| 64 |
+
"position": [
|
| 65 |
+
0.14618337620049715,
|
| 66 |
+
-0.009514788132946705,
|
| 67 |
+
0.004137146548600867
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.05538174743057716,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.714045252253335,
|
| 73 |
+
0.02742906005556356,
|
| 74 |
+
0.6973663932614441
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_48": {
|
| 79 |
+
"confidence": 0.9677908420562744,
|
| 80 |
+
"position": [
|
| 81 |
+
0.14362210500985384,
|
| 82 |
+
-0.049693399076204514,
|
| 83 |
+
0.012166873581008986
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.11738860222227454,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.7355200593183425,
|
| 89 |
+
0.06492856045215245,
|
| 90 |
+
0.6640891810941161
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_49": {
|
| 95 |
+
"confidence": 0.9674988985061646,
|
| 96 |
+
"position": [
|
| 97 |
+
0.13985361624509096,
|
| 98 |
+
-0.06954372764084837,
|
| 99 |
+
-0.0015736387285869569
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.1728878975275275,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.6938425555268751,
|
| 105 |
+
0.10586536483489961,
|
| 106 |
+
0.6910027551007448
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_51": {
|
| 111 |
+
"confidence": 0.9610303640365601,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.061134654097259045,
|
| 114 |
+
0.15432448595311143,
|
| 115 |
+
0.002571346965851262
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5993642688515511,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.3699703266160267,
|
| 121 |
+
0.6122724882901002,
|
| 122 |
+
-0.3591752089589769
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_53": {
|
| 127 |
+
"confidence": 0.9519338607788086,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.08362206351011992,
|
| 130 |
+
-0.15341019720290205,
|
| 131 |
+
-0.0021037694241385907
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.6041629243204546,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.35886403328715416,
|
| 137 |
+
0.6193217600855041,
|
| 138 |
+
0.3502061164143568
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_54": {
|
| 143 |
+
"confidence": 0.9447544813156128,
|
| 144 |
+
"position": [
|
| 145 |
+
0.13395306933671236,
|
| 146 |
+
-0.07936454654191039,
|
| 147 |
+
-0.0009977105946745723
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.20217046875110964,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.6880884187998416,
|
| 153 |
+
0.17777675789581715,
|
| 154 |
+
0.6738374090465317
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_55": {
|
| 159 |
+
"confidence": 0.9445159435272217,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.00799108762294054,
|
| 162 |
+
0.15233066588189104,
|
| 163 |
+
0.001563687139423564
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.6056775915361235,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.3536158640678178,
|
| 169 |
+
0.6232047893092224,
|
| 170 |
+
-0.346014835480531
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_56": {
|
| 175 |
+
"confidence": 0.9168744087219238,
|
| 176 |
+
"position": [
|
| 177 |
+
0.12970331776887178,
|
| 178 |
+
0.09028500973727205,
|
| 179 |
+
0.03822400330682285
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.517724290418181,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.11582233791042829,
|
| 185 |
+
-0.8206554282581526,
|
| 186 |
+
0.21230029020795377
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
}
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
{
|
| 193 |
+
"part_name": "page block",
|
| 194 |
+
"mask_color": "Cyan",
|
| 195 |
+
"graspable": true,
|
| 196 |
+
"grasp_scenarios": [
|
| 197 |
+
{
|
| 198 |
+
"scenario": "grasp the page block from the side to lift the notebook",
|
| 199 |
+
"confidence": 0.72
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"scenario": "pinch the page edges to separate or flip a section of pages",
|
| 203 |
+
"confidence": 0.62
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"scenario": "hold the page block to stabilize the notebook during placement",
|
| 207 |
+
"confidence": 0.66
|
| 208 |
+
}
|
| 209 |
+
],
|
| 210 |
+
"functional_labels": [
|
| 211 |
+
"provide writing pages",
|
| 212 |
+
"store written notes",
|
| 213 |
+
"offer page edges for flipping",
|
| 214 |
+
"form the main thickness of the notebook"
|
| 215 |
+
],
|
| 216 |
+
"semantic_description": "Thick white stack of paper pages with a smooth matte finish and fine dry texture, visible along the side and bottom edges as the main interior bulk of the notebook.",
|
| 217 |
+
"id": 6,
|
| 218 |
+
"grasp_group": {}
|
| 219 |
+
},
|
| 220 |
+
{
|
| 221 |
+
"part_name": "spine binding",
|
| 222 |
+
"mask_color": "Green",
|
| 223 |
+
"graspable": true,
|
| 224 |
+
"grasp_scenarios": [
|
| 225 |
+
{
|
| 226 |
+
"scenario": "grasp the spine to pull the notebook from a shelf or bin",
|
| 227 |
+
"confidence": 0.74
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"scenario": "hold the spine to carry or reorient the notebook",
|
| 231 |
+
"confidence": 0.69
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"scenario": "stabilize the notebook by the spine while opening it",
|
| 235 |
+
"confidence": 0.71
|
| 236 |
+
}
|
| 237 |
+
],
|
| 238 |
+
"functional_labels": [
|
| 239 |
+
"bind the pages",
|
| 240 |
+
"connect front and back covers",
|
| 241 |
+
"provide structural reinforcement",
|
| 242 |
+
"indicate notebook orientation"
|
| 243 |
+
],
|
| 244 |
+
"semantic_description": "Narrow dark blue binding strip along one long edge, likely coated paper or cloth over board, with a smooth slightly matte surface and firm rectangular rounded profile.",
|
| 245 |
+
"id": 1,
|
| 246 |
+
"grasp_group": {
|
| 247 |
+
"grasp_0": {
|
| 248 |
+
"confidence": 0.9747194647789001,
|
| 249 |
+
"position": [
|
| 250 |
+
-0.04223104100674391,
|
| 251 |
+
0.1569226673200319,
|
| 252 |
+
0.00023809650156181306
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.48736574714111836,
|
| 256 |
+
"xyz": [
|
| 257 |
+
0.5081803836527741,
|
| 258 |
+
0.5066002407779412,
|
| 259 |
+
-0.49757765446996455
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_1": {
|
| 264 |
+
"confidence": 0.9743898510932922,
|
| 265 |
+
"position": [
|
| 266 |
+
-0.0422443775460124,
|
| 267 |
+
0.16147091894890764,
|
| 268 |
+
-0.0014996214013081044
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.490220441172262,
|
| 272 |
+
"xyz": [
|
| 273 |
+
0.5100456118537047,
|
| 274 |
+
0.5018592724729931,
|
| 275 |
+
-0.49766923103456
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_3": {
|
| 280 |
+
"confidence": 0.9730640649795532,
|
| 281 |
+
"position": [
|
| 282 |
+
-0.04373937379568815,
|
| 283 |
+
0.15582562893177965,
|
| 284 |
+
0.0004930761315335985
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.4907539564336875,
|
| 288 |
+
"xyz": [
|
| 289 |
+
0.5111340896601644,
|
| 290 |
+
0.5011806050445036,
|
| 291 |
+
-0.49670967149752826
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_6": {
|
| 296 |
+
"confidence": 0.9722055196762085,
|
| 297 |
+
"position": [
|
| 298 |
+
-0.1344505799934268,
|
| 299 |
+
0.01698267742540338,
|
| 300 |
+
-0.0021542573522310704
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.677839675306156,
|
| 304 |
+
"xyz": [
|
| 305 |
+
0.18470089104807616,
|
| 306 |
+
0.6874265536186108,
|
| 307 |
+
-0.18402089231098404
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_7": {
|
| 312 |
+
"confidence": 0.9716618061065674,
|
| 313 |
+
"position": [
|
| 314 |
+
-0.0446387929841876,
|
| 315 |
+
0.15440818577553728,
|
| 316 |
+
0.00016247047460637987
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.5036007274207274,
|
| 320 |
+
"xyz": [
|
| 321 |
+
0.5097657089692074,
|
| 322 |
+
0.496636015127111,
|
| 323 |
+
-0.4897733126448393
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_8": {
|
| 328 |
+
"confidence": 0.9715960621833801,
|
| 329 |
+
"position": [
|
| 330 |
+
-0.10117246489971876,
|
| 331 |
+
0.14578486889149644,
|
| 332 |
+
0.0034590231080073863
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.3501131177481872,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.6075811421085602,
|
| 338 |
+
-0.3540255687906758,
|
| 339 |
+
0.6188148811859167
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_10": {
|
| 344 |
+
"confidence": 0.9707306623458862,
|
| 345 |
+
"position": [
|
| 346 |
+
-0.10059825610369444,
|
| 347 |
+
0.14406599014546373,
|
| 348 |
+
0.0037690755270887166
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.6053684851110728,
|
| 352 |
+
"xyz": [
|
| 353 |
+
0.3597965070253718,
|
| 354 |
+
0.6202920075189677,
|
| 355 |
+
-0.3454175678432643
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_12": {
|
| 360 |
+
"confidence": 0.9704450964927673,
|
| 361 |
+
"position": [
|
| 362 |
+
-0.09728351514786482,
|
| 363 |
+
0.14426907807137468,
|
| 364 |
+
-0.0001438592153135687
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.6169917508313072,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.35406788216194685,
|
| 370 |
+
0.6064906751176686,
|
| 371 |
+
-0.35514247172478036
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_13": {
|
| 376 |
+
"confidence": 0.9699403643608093,
|
| 377 |
+
"position": [
|
| 378 |
+
-0.047276693396270275,
|
| 379 |
+
0.15324914365555742,
|
| 380 |
+
0.0022477702295873314
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.49097237949253164,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.5061147107087782,
|
| 386 |
+
-0.4931501055183213,
|
| 387 |
+
0.5095066197871025
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_14": {
|
| 392 |
+
"confidence": 0.9698435068130493,
|
| 393 |
+
"position": [
|
| 394 |
+
-0.10004147421568632,
|
| 395 |
+
0.14123138695504167,
|
| 396 |
+
0.00057692636619322
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.6168993459162082,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.35688779861808356,
|
| 402 |
+
0.6076211594888627,
|
| 403 |
+
-0.350517934986361
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_15": {
|
| 408 |
+
"confidence": 0.9696337580680847,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.09725802671164274,
|
| 411 |
+
0.14402843921925523,
|
| 412 |
+
0.000999103969661519
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.6133901950427462,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.3578735597717815,
|
| 418 |
+
0.6156501209780803,
|
| 419 |
+
-0.3415463546597594
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_16": {
|
| 424 |
+
"confidence": 0.969106137752533,
|
| 425 |
+
"position": [
|
| 426 |
+
-0.05478345509618521,
|
| 427 |
+
0.1595111182286928,
|
| 428 |
+
0.0005113937659189105
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.49982266436984407,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.502704697662591,
|
| 434 |
+
0.5129661172568762,
|
| 435 |
+
-0.48407752858049313
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_18": {
|
| 440 |
+
"confidence": 0.9689278602600098,
|
| 441 |
+
"position": [
|
| 442 |
+
-0.09750854503363371,
|
| 443 |
+
0.1417031577184389,
|
| 444 |
+
0.0016614084888715297
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.6052541398896307,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.3497219750997906,
|
| 450 |
+
0.6266510924714547,
|
| 451 |
+
-0.34448566673099357
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
],
|
| 458 |
+
"quality_check": {
|
| 459 |
+
"success": true,
|
| 460 |
+
"message": "YES"
|
| 461 |
+
}
|
| 462 |
+
}
|
dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cc2987725b6b7c60233697179405f52f252522c32bff25a4635101de631a217f
|
| 3 |
+
size 3806144
|
dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.urdf
CHANGED
|
@@ -51,16 +51,17 @@
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
-
<part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
-
<mesh filename="
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
+
<part_count>4</part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 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>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|