xinjjj commited on
Commit
4e092a3
·
verified ·
1 Parent(s): 670c11e

Add asset desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c

Browse files
.gitattributes CHANGED
@@ -6683,4 +6683,5 @@ dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/affordanc
6683
  dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6684
  dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6685
  dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6686
- dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6683
  dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6684
  dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6685
  dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6686
+ dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6687
+ dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,1036 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "stamp cap top",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the top of the cap to remove it from the stamp body",
10
+ "confidence": 0.88
11
+ },
12
+ {
13
+ "scenario": "hold the cap top while placing the cap back onto the body",
14
+ "confidence": 0.84
15
+ },
16
+ {
17
+ "scenario": "pick up the capped stamp by the cap top",
18
+ "confidence": 0.7
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the stamp head",
23
+ "protect the stamp from contamination",
24
+ "enable opening and closing",
25
+ "provide a grasp point for uncapping"
26
+ ],
27
+ "semantic_description": "Rounded translucent pink-red plastic cap section with a glossy smooth surface, forming the upper portion of the cap above the darker body.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9854975938796997,
32
+ "position": [
33
+ 0.10301133844768628,
34
+ 0.0006746223662048578,
35
+ 0.030120061011984944
36
+ ],
37
+ "orientation": {
38
+ "w": 0.4827071182980125,
39
+ "xyz": [
40
+ -0.5040636834186597,
41
+ -0.5094812712359622,
42
+ 0.5033313771886567
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9843875169754028,
48
+ "position": [
49
+ 0.1036255196086131,
50
+ -0.013762578601017594,
51
+ 0.02836112235672772
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5168839117167158,
55
+ "xyz": [
56
+ -0.530581598358384,
57
+ -0.4805511399507313,
58
+ 0.469451585559088
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.98420250415802,
64
+ "position": [
65
+ 0.10420214239275083,
66
+ -0.0013950774446129799,
67
+ 0.03367732954211533
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4953487240271944,
71
+ "xyz": [
72
+ 0.511408261036979,
73
+ -0.5011727071554021,
74
+ -0.4918507393003381
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9840779304504395,
80
+ "position": [
81
+ 0.10294341895496473,
82
+ -0.015669463435187936,
83
+ 0.0364669703412801
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5198741858397364,
87
+ "xyz": [
88
+ -0.5436836150215393,
89
+ -0.465691983947788,
90
+ 0.46612223047324713
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9822033643722534,
96
+ "position": [
97
+ 0.1017530545941554,
98
+ -0.0014193304814398289,
99
+ 0.01798508153297007
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5004536513555564,
103
+ "xyz": [
104
+ 0.5069716196647692,
105
+ -0.47806635595582003,
106
+ -0.5137883601274893
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9816951751708984,
112
+ "position": [
113
+ 0.10259008262073621,
114
+ -0.0038242468144744635,
115
+ 0.03960854117758572
116
+ ],
117
+ "orientation": {
118
+ "w": 0.49584147105181225,
119
+ "xyz": [
120
+ 0.5014193661641695,
121
+ -0.5003295113362872,
122
+ -0.5023845488335499
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9810587763786316,
128
+ "position": [
129
+ 0.1017644539824687,
130
+ -0.020772656658664346,
131
+ 0.022925558732822537
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5309103117457139,
135
+ "xyz": [
136
+ -0.5523448176402193,
137
+ -0.4532000779130526,
138
+ 0.45569631629810786
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9809375405311584,
144
+ "position": [
145
+ 0.10053855780279264,
146
+ 0.002833343343809247,
147
+ 0.02348443423397839
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5136936205295407,
151
+ "xyz": [
152
+ 0.5166109105439282,
153
+ -0.4659829899763134,
154
+ -0.5020875266195728
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.9799312353134155,
160
+ "position": [
161
+ 0.10133335593855008,
162
+ -0.01346513838507235,
163
+ 0.026246891589835286
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5139405818314934,
167
+ "xyz": [
168
+ -0.5374865808030708,
169
+ -0.4762041977654865,
170
+ 0.46925772858191644
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.979160487651825,
176
+ "position": [
177
+ 0.09983032796299085,
178
+ -0.031013896921649575,
179
+ 0.022067402722314
180
+ ],
181
+ "orientation": {
182
+ "w": 0.4246832972616917,
183
+ "xyz": [
184
+ 0.42280565803589715,
185
+ -0.5737712480102638,
186
+ -0.5582705683774798
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.9789392948150635,
192
+ "position": [
193
+ 0.10203387442743406,
194
+ 0.011304165003821254,
195
+ 0.02017766167409718
196
+ ],
197
+ "orientation": {
198
+ "w": 0.45936290974631677,
199
+ "xyz": [
200
+ -0.4674473637840215,
201
+ -0.536943291172658,
202
+ 0.5311973092038779
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.9788767695426941,
208
+ "position": [
209
+ 0.10379131737863645,
210
+ -0.006445689359679818,
211
+ 0.04949262668378651
212
+ ],
213
+ "orientation": {
214
+ "w": 0.49663577232738254,
215
+ "xyz": [
216
+ -0.5306877644018282,
217
+ -0.48770607999385407,
218
+ 0.48359713181118313
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.9787051677703857,
224
+ "position": [
225
+ 0.10418984148418531,
226
+ 0.0007509321440011263,
227
+ 0.04541006241925061
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4751365268208157,
231
+ "xyz": [
232
+ -0.502285245950698,
233
+ -0.5199509440788401,
234
+ 0.5016032578965389
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.9785680174827576,
240
+ "position": [
241
+ -0.05586937960470095,
242
+ -0.009233401855453849,
243
+ 0.13448809762485325
244
+ ],
245
+ "orientation": {
246
+ "w": 0.1644504005513351,
247
+ "xyz": [
248
+ 0.6385124146086556,
249
+ 0.7254062063555642,
250
+ 0.19759503518549906
251
+ ]
252
+ }
253
+ },
254
+ "grasp_34": {
255
+ "confidence": 0.9784448742866516,
256
+ "position": [
257
+ -0.104466320539359,
258
+ -0.010783328907564282,
259
+ 0.037976539926603436
260
+ ],
261
+ "orientation": {
262
+ "w": 0.49598027567769504,
263
+ "xyz": [
264
+ 0.47434174505735016,
265
+ 0.510015318411785,
266
+ 0.5185439711537981
267
+ ]
268
+ }
269
+ },
270
+ "grasp_35": {
271
+ "confidence": 0.977978527545929,
272
+ "position": [
273
+ -0.10365265753353015,
274
+ -0.021606192225590348,
275
+ 0.0333764657843858
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5430314056611137,
279
+ "xyz": [
280
+ -0.5340720442010594,
281
+ 0.45732409078983427,
282
+ -0.4590627626500196
283
+ ]
284
+ }
285
+ },
286
+ "grasp_36": {
287
+ "confidence": 0.9778788089752197,
288
+ "position": [
289
+ 0.10438069555675611,
290
+ -0.026910666609182954,
291
+ 0.030241399304941297
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5395962015521941,
295
+ "xyz": [
296
+ -0.56524750089004,
297
+ -0.4378111120944084,
298
+ 0.4445814122685126
299
+ ]
300
+ }
301
+ },
302
+ "grasp_37": {
303
+ "confidence": 0.9778704643249512,
304
+ "position": [
305
+ 0.10721744451439008,
306
+ -0.0016363353934139013,
307
+ 0.02505682152695954
308
+ ],
309
+ "orientation": {
310
+ "w": 0.48859690246061843,
311
+ "xyz": [
312
+ -0.5051209659219276,
313
+ -0.5074190138629406,
314
+ 0.4986499985584564
315
+ ]
316
+ }
317
+ },
318
+ "grasp_38": {
319
+ "confidence": 0.9775595664978027,
320
+ "position": [
321
+ 0.03476288024103269,
322
+ 0.09474140196107328,
323
+ 0.026977499248459935
324
+ ],
325
+ "orientation": {
326
+ "w": 0.11960979680146162,
327
+ "xyz": [
328
+ -0.12492344012500363,
329
+ -0.6750170898411307,
330
+ 0.7172444207094671
331
+ ]
332
+ }
333
+ },
334
+ "grasp_39": {
335
+ "confidence": 0.9774150252342224,
336
+ "position": [
337
+ 0.1010421797982417,
338
+ 0.0032158049289137125,
339
+ 0.02061234530992806
340
+ ],
341
+ "orientation": {
342
+ "w": 0.4735632137403299,
343
+ "xyz": [
344
+ -0.4898590649759511,
345
+ -0.5253395488229858,
346
+ 0.5097002427851876
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "stamp cap sidewall",
354
+ "mask_color": "Blue",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the cap sidewall to pull the cap off the stamp",
359
+ "confidence": 0.9
360
+ },
361
+ {
362
+ "scenario": "hold the side of the cap while aligning it for recapping",
363
+ "confidence": 0.87
364
+ },
365
+ {
366
+ "scenario": "stabilize the capped stamp by gripping the cap side",
367
+ "confidence": 0.68
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "form the lower side of the protective cap",
372
+ "enclose the upper stamp portion",
373
+ "provide friction surface for uncapping",
374
+ "align with the body during recapping"
375
+ ],
376
+ "semantic_description": "Short translucent clear to light pink glossy plastic cylindrical band around the lower edge of the cap, positioned between the cap top and the black body.",
377
+ "id": 2,
378
+ "grasp_group": {
379
+ "grasp_40": {
380
+ "confidence": 0.9804359674453735,
381
+ "position": [
382
+ -0.10714829113567248,
383
+ -0.011107244761660695,
384
+ -0.012254824629053473
385
+ ],
386
+ "orientation": {
387
+ "w": 0.5255589090756297,
388
+ "xyz": [
389
+ -0.5037647240668546,
390
+ 0.48780160795074534,
391
+ -0.4817245345192075
392
+ ]
393
+ }
394
+ },
395
+ "grasp_41": {
396
+ "confidence": 0.9782053828239441,
397
+ "position": [
398
+ 0.09979069832479581,
399
+ -0.020430129254236817,
400
+ -0.004305596696212888
401
+ ],
402
+ "orientation": {
403
+ "w": 0.5257889438224677,
404
+ "xyz": [
405
+ -0.5473329506883532,
406
+ -0.46713095615461364,
407
+ 0.4536091902143421
408
+ ]
409
+ }
410
+ },
411
+ "grasp_42": {
412
+ "confidence": 0.97532719373703,
413
+ "position": [
414
+ -0.10431587096536532,
415
+ 0.00010957359336316586,
416
+ -0.008916838793084025
417
+ ],
418
+ "orientation": {
419
+ "w": 0.5005205100930504,
420
+ "xyz": [
421
+ -0.47714758349479586,
422
+ 0.5117096006674144,
423
+ -0.5098653617633426
424
+ ]
425
+ }
426
+ },
427
+ "grasp_43": {
428
+ "confidence": 0.9743271470069885,
429
+ "position": [
430
+ -0.0005816749326186255,
431
+ -0.10501903505064547,
432
+ -0.007456900319084525
433
+ ],
434
+ "orientation": {
435
+ "w": 0.6948629510881207,
436
+ "xyz": [
437
+ -0.7190930743543076,
438
+ -0.002709644871465078,
439
+ -0.00795534068715373
440
+ ]
441
+ }
442
+ },
443
+ "grasp_44": {
444
+ "confidence": 0.9740666151046753,
445
+ "position": [
446
+ 0.021259634231682867,
447
+ 0.09927972941659391,
448
+ -0.009766108123585582
449
+ ],
450
+ "orientation": {
451
+ "w": 0.07395883428513099,
452
+ "xyz": [
453
+ -0.07501785227562559,
454
+ -0.6873812656441817,
455
+ 0.7186163150893106
456
+ ]
457
+ }
458
+ },
459
+ "grasp_45": {
460
+ "confidence": 0.9738819599151611,
461
+ "position": [
462
+ -0.10404761281097308,
463
+ -0.011260948376730084,
464
+ -0.013165558455511928
465
+ ],
466
+ "orientation": {
467
+ "w": 0.490170540975113,
468
+ "xyz": [
469
+ 0.4790166740283691,
470
+ 0.5100060333735478,
471
+ 0.519778522724384
472
+ ]
473
+ }
474
+ },
475
+ "grasp_46": {
476
+ "confidence": 0.9734172224998474,
477
+ "position": [
478
+ 0.0997391477576457,
479
+ 0.009091535350307822,
480
+ 0.002140334516298026
481
+ ],
482
+ "orientation": {
483
+ "w": 0.4428983028266681,
484
+ "xyz": [
485
+ -0.4948835023837775,
486
+ -0.5623313627078,
487
+ 0.4926609898670798
488
+ ]
489
+ }
490
+ },
491
+ "grasp_47": {
492
+ "confidence": 0.973212718963623,
493
+ "position": [
494
+ 0.10590620193397626,
495
+ 0.0018224872183054686,
496
+ -0.011041278718039393
497
+ ],
498
+ "orientation": {
499
+ "w": 0.5169800069223391,
500
+ "xyz": [
501
+ 0.5102019779145551,
502
+ -0.4819278958879244,
503
+ -0.49007256334107524
504
+ ]
505
+ }
506
+ },
507
+ "grasp_48": {
508
+ "confidence": 0.9721266031265259,
509
+ "position": [
510
+ 0.02278461161768064,
511
+ 0.09709518938325346,
512
+ -0.012718408135697246
513
+ ],
514
+ "orientation": {
515
+ "w": 0.08692600822462476,
516
+ "xyz": [
517
+ -0.07829532034313866,
518
+ -0.6892947625413013,
519
+ 0.7149730360227781
520
+ ]
521
+ }
522
+ },
523
+ "grasp_49": {
524
+ "confidence": 0.9720948338508606,
525
+ "position": [
526
+ -0.01686189096653834,
527
+ -0.10497372061945498,
528
+ -0.013534483266994357
529
+ ],
530
+ "orientation": {
531
+ "w": 0.7310441115577287,
532
+ "xyz": [
533
+ -0.6769939133595043,
534
+ 0.06827786900904065,
535
+ -0.05091051791663405
536
+ ]
537
+ }
538
+ },
539
+ "grasp_50": {
540
+ "confidence": 0.9715580344200134,
541
+ "position": [
542
+ -0.10317037400091067,
543
+ -0.009986332384869456,
544
+ -0.01211930881254375
545
+ ],
546
+ "orientation": {
547
+ "w": 0.49128765869024515,
548
+ "xyz": [
549
+ 0.47822993755007465,
550
+ 0.5096666844133947,
551
+ 0.5197811405279787
552
+ ]
553
+ }
554
+ },
555
+ "grasp_51": {
556
+ "confidence": 0.9714034795761108,
557
+ "position": [
558
+ -0.0039855531067587435,
559
+ -0.10626781196333468,
560
+ -0.01499738055281341
561
+ ],
562
+ "orientation": {
563
+ "w": 0.7330178374594154,
564
+ "xyz": [
565
+ -0.6796792091041256,
566
+ 0.011023295097436825,
567
+ -0.024484886013766492
568
+ ]
569
+ }
570
+ },
571
+ "grasp_52": {
572
+ "confidence": 0.9710694551467896,
573
+ "position": [
574
+ 0.018577441980596632,
575
+ 0.10098331957124174,
576
+ -0.008570140926167369
577
+ ],
578
+ "orientation": {
579
+ "w": 0.7228066372246901,
580
+ "xyz": [
581
+ 0.6866010087577453,
582
+ -0.04902151862685222,
583
+ -0.06104515270108983
584
+ ]
585
+ }
586
+ },
587
+ "grasp_53": {
588
+ "confidence": 0.9708426594734192,
589
+ "position": [
590
+ -0.010252162406686693,
591
+ -0.108241947600618,
592
+ -0.012685767142102122
593
+ ],
594
+ "orientation": {
595
+ "w": 0.7095343443446014,
596
+ "xyz": [
597
+ -0.7023514037534629,
598
+ 0.030361281977744348,
599
+ -0.048391242985535515
600
+ ]
601
+ }
602
+ },
603
+ "grasp_54": {
604
+ "confidence": 0.97053062915802,
605
+ "position": [
606
+ -0.015887112880591303,
607
+ -0.10452786297537386,
608
+ -0.014610589249059558
609
+ ],
610
+ "orientation": {
611
+ "w": 0.7151099670445875,
612
+ "xyz": [
613
+ -0.6948215038710237,
614
+ 0.046672559416302994,
615
+ -0.06051846816823663
616
+ ]
617
+ }
618
+ },
619
+ "grasp_55": {
620
+ "confidence": 0.9698268175125122,
621
+ "position": [
622
+ 0.10487338009988889,
623
+ -0.0255482813809067,
624
+ -0.010252513689920306
625
+ ],
626
+ "orientation": {
627
+ "w": 0.4463736497176831,
628
+ "xyz": [
629
+ 0.4371847443476872,
630
+ -0.5624685676201697,
631
+ -0.5415248605435186
632
+ ]
633
+ }
634
+ },
635
+ "grasp_56": {
636
+ "confidence": 0.9682937860488892,
637
+ "position": [
638
+ 0.017872739990707487,
639
+ 0.09900948195718229,
640
+ -0.01618091086857021
641
+ ],
642
+ "orientation": {
643
+ "w": 0.7193621460475418,
644
+ "xyz": [
645
+ 0.6908443603525469,
646
+ -0.05035442034552484,
647
+ -0.052121060566935454
648
+ ]
649
+ }
650
+ },
651
+ "grasp_57": {
652
+ "confidence": 0.9680696129798889,
653
+ "position": [
654
+ 0.010019052249845117,
655
+ 0.10230120806954801,
656
+ -0.007758642314001918
657
+ ],
658
+ "orientation": {
659
+ "w": 0.708395554061691,
660
+ "xyz": [
661
+ 0.7047892487262902,
662
+ -0.0288407818974179,
663
+ -0.024820619754686486
664
+ ]
665
+ }
666
+ },
667
+ "grasp_58": {
668
+ "confidence": 0.9675111174583435,
669
+ "position": [
670
+ -0.02028603438520804,
671
+ -0.10690406174398959,
672
+ -0.012699811486527324
673
+ ],
674
+ "orientation": {
675
+ "w": 0.7099654717332563,
676
+ "xyz": [
677
+ -0.6963152799749205,
678
+ 0.05680670630342144,
679
+ -0.0886964370140086
680
+ ]
681
+ }
682
+ },
683
+ "grasp_59": {
684
+ "confidence": 0.9674042463302612,
685
+ "position": [
686
+ 0.10700576606905088,
687
+ -0.018154029035940766,
688
+ -0.0056353246327489614
689
+ ],
690
+ "orientation": {
691
+ "w": 0.4577067661828531,
692
+ "xyz": [
693
+ 0.4639385849278229,
694
+ -0.5431345697286243,
695
+ -0.5294056523794453
696
+ ]
697
+ }
698
+ }
699
+ }
700
+ },
701
+ {
702
+ "part_name": "stamp body",
703
+ "mask_color": "Red",
704
+ "graspable": true,
705
+ "grasp_scenarios": [
706
+ {
707
+ "scenario": "grasp the main body to pick up and carry the stamp",
708
+ "confidence": 0.97
709
+ },
710
+ {
711
+ "scenario": "hold the body while pressing the stamp onto a surface",
712
+ "confidence": 0.95
713
+ },
714
+ {
715
+ "scenario": "stabilize the body while removing the cap",
716
+ "confidence": 0.93
717
+ }
718
+ ],
719
+ "functional_labels": [
720
+ "main grip surface",
721
+ "support pressing for stamping",
722
+ "house the stamp structure",
723
+ "stabilize the tool during use"
724
+ ],
725
+ "semantic_description": "Large dark gray to black plastic cylindrical body with a mostly matte smooth hard surface, forming the lower main section and primary handhold of the stamp.",
726
+ "id": 0,
727
+ "grasp_group": {
728
+ "grasp_0": {
729
+ "confidence": 0.985116183757782,
730
+ "position": [
731
+ 0.1022461787215434,
732
+ -0.013915566029027104,
733
+ -0.025895272148773074
734
+ ],
735
+ "orientation": {
736
+ "w": 0.5164436724952078,
737
+ "xyz": [
738
+ -0.5280735532550596,
739
+ -0.48166287586031054,
740
+ 0.4716196873649502
741
+ ]
742
+ }
743
+ },
744
+ "grasp_2": {
745
+ "confidence": 0.9828053116798401,
746
+ "position": [
747
+ 0.1042794868699275,
748
+ 0.004764527315273881,
749
+ -0.02183489012531936
750
+ ],
751
+ "orientation": {
752
+ "w": 0.47294706810053516,
753
+ "xyz": [
754
+ -0.4808321895341256,
755
+ -0.5308182772173674,
756
+ 0.5131797276343959
757
+ ]
758
+ }
759
+ },
760
+ "grasp_3": {
761
+ "confidence": 0.9823871850967407,
762
+ "position": [
763
+ 0.10228342417394742,
764
+ -0.024727054173126817,
765
+ -0.027028587413951755
766
+ ],
767
+ "orientation": {
768
+ "w": 0.5410177533843263,
769
+ "xyz": [
770
+ -0.5600669820424709,
771
+ -0.44271543293077087,
772
+ 0.4445534968861845
773
+ ]
774
+ }
775
+ },
776
+ "grasp_5": {
777
+ "confidence": 0.9822140336036682,
778
+ "position": [
779
+ 0.10542406741296872,
780
+ -0.011692234547808766,
781
+ -0.029212889028713107
782
+ ],
783
+ "orientation": {
784
+ "w": 0.5083786857449137,
785
+ "xyz": [
786
+ -0.5225163973031689,
787
+ -0.4873811733508887,
788
+ 0.4806114005022177
789
+ ]
790
+ }
791
+ },
792
+ "grasp_6": {
793
+ "confidence": 0.9821208119392395,
794
+ "position": [
795
+ 0.10236397985136136,
796
+ 0.014738823985680938,
797
+ -0.013932703761383891
798
+ ],
799
+ "orientation": {
800
+ "w": 0.45101598482293354,
801
+ "xyz": [
802
+ -0.4550353395046193,
803
+ -0.5551780515697993,
804
+ 0.5303817043330932
805
+ ]
806
+ }
807
+ },
808
+ "grasp_7": {
809
+ "confidence": 0.9821029901504517,
810
+ "position": [
811
+ 0.09809815738117322,
812
+ -0.021880349377170205,
813
+ -0.03801012854091823
814
+ ],
815
+ "orientation": {
816
+ "w": 0.4745887909589304,
817
+ "xyz": [
818
+ 0.4357858687815074,
819
+ -0.5307772601261677,
820
+ -0.5505739334543965
821
+ ]
822
+ }
823
+ },
824
+ "grasp_8": {
825
+ "confidence": 0.9819245338439941,
826
+ "position": [
827
+ 0.10644093010341749,
828
+ -0.01023377780802548,
829
+ -0.01891457918100059
830
+ ],
831
+ "orientation": {
832
+ "w": 0.5059773930289112,
833
+ "xyz": [
834
+ -0.526094312298622,
835
+ -0.48755816508891503,
836
+ 0.4790602132987425
837
+ ]
838
+ }
839
+ },
840
+ "grasp_9": {
841
+ "confidence": 0.9808566570281982,
842
+ "position": [
843
+ 0.10226423892891034,
844
+ 0.007023695623502135,
845
+ -0.010874679079279304
846
+ ],
847
+ "orientation": {
848
+ "w": 0.468204477510263,
849
+ "xyz": [
850
+ -0.4811106362676363,
851
+ -0.5337184045400913,
852
+ 0.5142584832209102
853
+ ]
854
+ }
855
+ },
856
+ "grasp_10": {
857
+ "confidence": 0.980795681476593,
858
+ "position": [
859
+ 0.0005639586015604436,
860
+ -0.005992737133055925,
861
+ -0.148762398166582
862
+ ],
863
+ "orientation": {
864
+ "w": 0.6399445455260082,
865
+ "xyz": [
866
+ -0.0015295828380899798,
867
+ 0.01390703275565508,
868
+ 0.7682937156242952
869
+ ]
870
+ }
871
+ },
872
+ "grasp_11": {
873
+ "confidence": 0.9802917838096619,
874
+ "position": [
875
+ 0.1016997605911456,
876
+ -0.008864412317052484,
877
+ -0.019127989886328578
878
+ ],
879
+ "orientation": {
880
+ "w": 0.5071427311217239,
881
+ "xyz": [
882
+ -0.5134435246237038,
883
+ -0.496445558430628,
884
+ 0.4824145570014331
885
+ ]
886
+ }
887
+ },
888
+ "grasp_13": {
889
+ "confidence": 0.9800516366958618,
890
+ "position": [
891
+ 0.10325475636636838,
892
+ -0.01889450498856604,
893
+ -0.03539204294793308
894
+ ],
895
+ "orientation": {
896
+ "w": 0.4614229126590683,
897
+ "xyz": [
898
+ 0.4525440880123482,
899
+ -0.5373310586530274,
900
+ -0.541819229526888
901
+ ]
902
+ }
903
+ },
904
+ "grasp_14": {
905
+ "confidence": 0.9800434112548828,
906
+ "position": [
907
+ 0.10389333817875013,
908
+ 0.0027530386578291655,
909
+ -0.02375517296604812
910
+ ],
911
+ "orientation": {
912
+ "w": 0.5117483088594558,
913
+ "xyz": [
914
+ 0.5197676314691009,
915
+ -0.4854220768817591,
916
+ -0.48199656112080985
917
+ ]
918
+ }
919
+ },
920
+ "grasp_15": {
921
+ "confidence": 0.9796580076217651,
922
+ "position": [
923
+ 0.10607441369211301,
924
+ 0.001933431951329112,
925
+ -0.03718916396610439
926
+ ],
927
+ "orientation": {
928
+ "w": 0.48120536201188474,
929
+ "xyz": [
930
+ -0.48802822240921695,
931
+ -0.5191186035109684,
932
+ 0.5106718410015703
933
+ ]
934
+ }
935
+ },
936
+ "grasp_16": {
937
+ "confidence": 0.9795778393745422,
938
+ "position": [
939
+ 0.10154173377668485,
940
+ -0.0177893687505275,
941
+ -0.05690825427882373
942
+ ],
943
+ "orientation": {
944
+ "w": 0.562886856619429,
945
+ "xyz": [
946
+ -0.48494365971371206,
947
+ -0.42826671564652197,
948
+ 0.5143691804705163
949
+ ]
950
+ }
951
+ },
952
+ "grasp_17": {
953
+ "confidence": 0.979404091835022,
954
+ "position": [
955
+ 0.10529085848247632,
956
+ -0.0062735676765441895,
957
+ -0.03381462092511356
958
+ ],
959
+ "orientation": {
960
+ "w": 0.49717446983471075,
961
+ "xyz": [
962
+ -0.5236741593718772,
963
+ -0.4746656753807631,
964
+ 0.5032647593126861
965
+ ]
966
+ }
967
+ },
968
+ "grasp_18": {
969
+ "confidence": 0.9792906045913696,
970
+ "position": [
971
+ 0.09867922816192731,
972
+ -0.02832807251252234,
973
+ -0.03999881143681705
974
+ ],
975
+ "orientation": {
976
+ "w": 0.5414150299736453,
977
+ "xyz": [
978
+ -0.5620116645661578,
979
+ -0.43834648517203467,
980
+ 0.44594283618815617
981
+ ]
982
+ }
983
+ }
984
+ }
985
+ },
986
+ {
987
+ "part_name": "threaded neck",
988
+ "mask_color": "Yellow",
989
+ "graspable": false,
990
+ "grasp_scenarios": [],
991
+ "functional_labels": [
992
+ "connect cap and body",
993
+ "retain the cap by threaded engagement",
994
+ "align mating components",
995
+ "support opening and closing"
996
+ ],
997
+ "semantic_description": "Small exposed white threaded ring recessed near the top of the black body and visible through a side opening between the cap and body.",
998
+ "id": 3,
999
+ "grasp_group": {}
1000
+ },
1001
+ {
1002
+ "part_name": "stamp face",
1003
+ "mask_color": "Orange",
1004
+ "graspable": false,
1005
+ "grasp_scenarios": [],
1006
+ "functional_labels": [
1007
+ "make printed impression",
1008
+ "transfer inked pattern",
1009
+ "contact paper",
1010
+ "define stamp footprint"
1011
+ ],
1012
+ "semantic_description": "Flat circular red-orange stamping surface on the bottom end of the object, slightly recessed within the black body and sized to contact paper.",
1013
+ "id": 4,
1014
+ "grasp_group": {}
1015
+ },
1016
+ {
1017
+ "part_name": "stamp pattern",
1018
+ "mask_color": "Purple",
1019
+ "graspable": false,
1020
+ "grasp_scenarios": [],
1021
+ "functional_labels": [
1022
+ "create decorative print",
1023
+ "define printed motif",
1024
+ "mark paper with a flower symbol",
1025
+ "provide the detailed imprint geometry"
1026
+ ],
1027
+ "semantic_description": "Raised purple flower-like motif centered on the bottom stamp face, with petal-shaped details that form the printed design.",
1028
+ "id": 5,
1029
+ "grasp_group": {}
1030
+ }
1031
+ ],
1032
+ "quality_check": {
1033
+ "success": true,
1034
+ "message": "YES"
1035
+ }
1036
+ }
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9565ad9c503aee0eaa65cf089f76347914dfbfb64c549540b64f9b3e754713e
3
+ size 3785284
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.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>