xinjjj commited on
Commit
76946f4
·
verified ·
1 Parent(s): 7f70f81

Add asset desktop_supplies/office_stationery/d263cb9be98b5fa7b60e900b96e20482

Browse files
.gitattributes CHANGED
@@ -6507,3 +6507,4 @@ dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/affo
6507
  dataset/desktop_supplies/office_stationery/d036ab39a3445b6a8b56e818486833de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6508
  dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6509
  dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6507
  dataset/desktop_supplies/office_stationery/d036ab39a3445b6a8b56e818486833de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6508
  dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6509
  dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6510
+ dataset/desktop_supplies/office_stationery/d263cb9be98b5fa7b60e900b96e20482/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/d263cb9be98b5fa7b60e900b96e20482/affordance/affordance_annot.json ADDED
@@ -0,0 +1,819 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main body case",
5
+ "mask_color": "Navy",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the long sidewalls of the body to pick up the dispenser",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the tool during use or repositioning",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "regrasp the body to orient the dispenser for application",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "house the internal tape mechanism",
23
+ "provide the main grasp surface",
24
+ "protect internal components",
25
+ "support overall structure"
26
+ ],
27
+ "semantic_description": "Long rectangular transparent pink plastic housing with smooth glossy surfaces, forming the central body and enclosing the visible internal wheel mechanism.",
28
+ "id": 13,
29
+ "grasp_group": {
30
+ "grasp_40": {
31
+ "confidence": 0.8968761563301086,
32
+ "position": [
33
+ -0.0029741578073299024,
34
+ -0.05333915023948066,
35
+ 0.08695185935357586
36
+ ],
37
+ "orientation": {
38
+ "w": 0.2506275013594077,
39
+ "xyz": [
40
+ -0.9678021291098395,
41
+ 0.0031648279392299528,
42
+ -0.02312743645362762
43
+ ]
44
+ }
45
+ },
46
+ "grasp_41": {
47
+ "confidence": 0.8817013502120972,
48
+ "position": [
49
+ -0.005497534879395971,
50
+ -0.009658855822635815,
51
+ 0.09778342401841655
52
+ ],
53
+ "orientation": {
54
+ "w": 8.865190578292346e-06,
55
+ "xyz": [
56
+ -0.011418310813814893,
57
+ -0.9997169914580673,
58
+ -0.020870052457964867
59
+ ]
60
+ }
61
+ },
62
+ "grasp_42": {
63
+ "confidence": 0.8673240542411804,
64
+ "position": [
65
+ 0.004395545805891743,
66
+ -0.05489318861509673,
67
+ 0.08689157670596614
68
+ ],
69
+ "orientation": {
70
+ "w": 0.25362946750705867,
71
+ "xyz": [
72
+ -0.9672957467240931,
73
+ -0.003289143941955286,
74
+ -0.0004616423879744487
75
+ ]
76
+ }
77
+ },
78
+ "grasp_43": {
79
+ "confidence": 0.8151482939720154,
80
+ "position": [
81
+ 0.009151013447990408,
82
+ -0.0582250174775254,
83
+ -0.08311783516546711
84
+ ],
85
+ "orientation": {
86
+ "w": 0.960651657402761,
87
+ "xyz": [
88
+ -0.27682157474860974,
89
+ -0.021907328897167844,
90
+ -0.006186907435811501
91
+ ]
92
+ }
93
+ },
94
+ "grasp_44": {
95
+ "confidence": 0.7797123193740845,
96
+ "position": [
97
+ -0.003943130028346786,
98
+ -0.10825286849285476,
99
+ -0.006351029907818884
100
+ ],
101
+ "orientation": {
102
+ "w": 0.7138656081947012,
103
+ "xyz": [
104
+ -0.7001886148591224,
105
+ 0.0024076231761162026,
106
+ -0.011224990383713464
107
+ ]
108
+ }
109
+ },
110
+ "grasp_45": {
111
+ "confidence": 0.7647342681884766,
112
+ "position": [
113
+ -0.001806254618713865,
114
+ -0.10792060985113494,
115
+ 0.0033133477554656565
116
+ ],
117
+ "orientation": {
118
+ "w": 0.0036273676219469478,
119
+ "xyz": [
120
+ -0.01995256692944341,
121
+ -0.7045051310250704,
122
+ -0.7094090904664311
123
+ ]
124
+ }
125
+ },
126
+ "grasp_46": {
127
+ "confidence": 0.7551468014717102,
128
+ "position": [
129
+ -0.0016290623498207424,
130
+ -0.1111509729817044,
131
+ -0.004416778159793466
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7101064225156714,
135
+ "xyz": [
136
+ -0.7040084016565211,
137
+ -0.0015700758358269118,
138
+ -0.010889167135047825
139
+ ]
140
+ }
141
+ },
142
+ "grasp_47": {
143
+ "confidence": 0.7523044943809509,
144
+ "position": [
145
+ -0.004798585669050226,
146
+ -0.11234446658636443,
147
+ -0.005099531204905361
148
+ ],
149
+ "orientation": {
150
+ "w": 0.7165743404310173,
151
+ "xyz": [
152
+ -0.6973440280724031,
153
+ 0.003233881753597956,
154
+ -0.014901783665430867
155
+ ]
156
+ }
157
+ },
158
+ "grasp_48": {
159
+ "confidence": 0.7485470771789551,
160
+ "position": [
161
+ -0.0016190083733818028,
162
+ -0.0221801218285691,
163
+ 0.08938352769473568
164
+ ],
165
+ "orientation": {
166
+ "w": 0.21358103355866323,
167
+ "xyz": [
168
+ -0.9766383025776658,
169
+ 0.001650862494247729,
170
+ -0.023622927321853327
171
+ ]
172
+ }
173
+ },
174
+ "grasp_49": {
175
+ "confidence": 0.7409669756889343,
176
+ "position": [
177
+ -0.0015985871468728874,
178
+ 0.10986610458348878,
179
+ -0.005427592375781387
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7140744132220769,
183
+ "xyz": [
184
+ 0.6996518286902841,
185
+ 0.006461287611567945,
186
+ 0.02330885570525839
187
+ ]
188
+ }
189
+ },
190
+ "grasp_50": {
191
+ "confidence": 0.7394042611122131,
192
+ "position": [
193
+ -0.0005895172980672214,
194
+ 0.10924980745767243,
195
+ -0.006122246792074293
196
+ ],
197
+ "orientation": {
198
+ "w": 0.03887396292052071,
199
+ "xyz": [
200
+ 0.018055381566424316,
201
+ 0.700349643242863,
202
+ -0.7125118914186204
203
+ ]
204
+ }
205
+ },
206
+ "grasp_51": {
207
+ "confidence": 0.7379605174064636,
208
+ "position": [
209
+ -0.002858262861991534,
210
+ -0.10692367746378295,
211
+ 0.0026944901910610497
212
+ ],
213
+ "orientation": {
214
+ "w": 0.7117588851850719,
215
+ "xyz": [
216
+ -0.7021934504405931,
217
+ -0.007835151876354307,
218
+ -0.016194379071523317
219
+ ]
220
+ }
221
+ },
222
+ "grasp_52": {
223
+ "confidence": 0.734665036201477,
224
+ "position": [
225
+ -0.002929793790826807,
226
+ -0.1024517570331227,
227
+ -0.005875011847820133
228
+ ],
229
+ "orientation": {
230
+ "w": 0.7127618848585432,
231
+ "xyz": [
232
+ -0.7010138802033067,
233
+ -0.00618734459336534,
234
+ -0.022621936744760762
235
+ ]
236
+ }
237
+ },
238
+ "grasp_53": {
239
+ "confidence": 0.7304139137268066,
240
+ "position": [
241
+ 0.0021321094791346695,
242
+ -0.02358104332233779,
243
+ 0.08858563011744991
244
+ ],
245
+ "orientation": {
246
+ "w": 0.21915264240297122,
247
+ "xyz": [
248
+ -0.975597379642452,
249
+ 0.0009847813687973717,
250
+ -0.013449995101577626
251
+ ]
252
+ }
253
+ },
254
+ "grasp_54": {
255
+ "confidence": 0.7241264581680298,
256
+ "position": [
257
+ -0.004654021122405538,
258
+ -0.025834266532910988,
259
+ 0.08712156122783199
260
+ ],
261
+ "orientation": {
262
+ "w": 0.23623047624881507,
263
+ "xyz": [
264
+ -0.9713002409564476,
265
+ 0.004172858566806631,
266
+ -0.027451616720810413
267
+ ]
268
+ }
269
+ },
270
+ "grasp_55": {
271
+ "confidence": 0.7238432765007019,
272
+ "position": [
273
+ -0.0067427746289467905,
274
+ 0.10798954920028336,
275
+ -0.0015175293083302677
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5106166334954767,
279
+ "xyz": [
280
+ 0.49306133871609364,
281
+ -0.49131664925220686,
282
+ 0.5047465899130209
283
+ ]
284
+ }
285
+ },
286
+ "grasp_57": {
287
+ "confidence": 0.7171024084091187,
288
+ "position": [
289
+ -0.010269526512274751,
290
+ -0.10400085194851272,
291
+ -0.011114596331026405
292
+ ],
293
+ "orientation": {
294
+ "w": 0.7261246771943247,
295
+ "xyz": [
296
+ -0.6869400233683761,
297
+ 0.021332875614008984,
298
+ -0.020031622054393867
299
+ ]
300
+ }
301
+ },
302
+ "grasp_58": {
303
+ "confidence": 0.711152970790863,
304
+ "position": [
305
+ -0.005890607022593031,
306
+ 0.11186367974733002,
307
+ 0.0004397723823785782
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5007670147557662,
311
+ "xyz": [
312
+ 0.5187872905742942,
313
+ 0.49179238917522017,
314
+ -0.4880905551437261
315
+ ]
316
+ }
317
+ },
318
+ "grasp_59": {
319
+ "confidence": 0.7070653438568115,
320
+ "position": [
321
+ -0.0071127034061646555,
322
+ 0.10574224547599442,
323
+ 0.0036729374551214278
324
+ ],
325
+ "orientation": {
326
+ "w": 0.5067233772892148,
327
+ "xyz": [
328
+ 0.5247815652209835,
329
+ 0.49278568706893067,
330
+ -0.47433953486171543
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "transparent top window panel",
338
+ "mask_color": "Red",
339
+ "graspable": false,
340
+ "grasp_scenarios": [],
341
+ "functional_labels": [
342
+ "cover the internal mechanism",
343
+ "allow visibility of the wheels inside",
344
+ "protect the tape path area"
345
+ ],
346
+ "semantic_description": "Large clear pink translucent rectangular top panel spanning most of the body length, with a smooth glossy plastic surface over the visible wheels.",
347
+ "id": 0,
348
+ "grasp_group": {}
349
+ },
350
+ {
351
+ "part_name": "yellow end cap",
352
+ "mask_color": "Magenta",
353
+ "graspable": true,
354
+ "grasp_scenarios": [
355
+ {
356
+ "scenario": "grasp the yellow end cap to pull or reposition the small dispenser from one end",
357
+ "confidence": 0.72
358
+ },
359
+ {
360
+ "scenario": "hold this end to stabilize the object while manipulating the body",
361
+ "confidence": 0.55
362
+ }
363
+ ],
364
+ "functional_labels": [
365
+ "close one end of the housing",
366
+ "protect the body edge",
367
+ "provide an end stop",
368
+ "indicate object orientation"
369
+ ],
370
+ "semantic_description": "Yellow plastic end piece with a smooth glossy finish, attached to one short side of the rectangular body.",
371
+ "id": 7,
372
+ "grasp_group": {
373
+ "grasp_1": {
374
+ "confidence": 0.36243709921836853,
375
+ "position": [
376
+ -0.008898131669411669,
377
+ 0.10854163722251542,
378
+ 0.05409706017235294
379
+ ],
380
+ "orientation": {
381
+ "w": 0.07185098805215501,
382
+ "xyz": [
383
+ 0.12148850626392077,
384
+ -0.8618324888216642,
385
+ 0.48715781793290275
386
+ ]
387
+ }
388
+ },
389
+ "grasp_2": {
390
+ "confidence": 0.6458138227462769,
391
+ "position": [
392
+ -0.05130901013399125,
393
+ 0.10863707915996201,
394
+ -0.010844906733836979
395
+ ],
396
+ "orientation": {
397
+ "w": 0.6341791328954344,
398
+ "xyz": [
399
+ 0.3542289450121166,
400
+ 0.5913531240418056,
401
+ -0.35020017790057495
402
+ ]
403
+ }
404
+ },
405
+ "grasp_3": {
406
+ "confidence": 0.6306556463241577,
407
+ "position": [
408
+ -0.08391609986210824,
409
+ 0.07629983083461411,
410
+ -0.005090244056191295
411
+ ],
412
+ "orientation": {
413
+ "w": 0.6876598325603644,
414
+ "xyz": [
415
+ 0.20671885583011507,
416
+ 0.6703415185600471,
417
+ -0.18717242804950998
418
+ ]
419
+ }
420
+ },
421
+ "grasp_6": {
422
+ "confidence": 0.5777778029441833,
423
+ "position": [
424
+ -0.0049941662036872,
425
+ 0.11084020839189179,
426
+ 0.05085130414227024
427
+ ],
428
+ "orientation": {
429
+ "w": 0.02776964631544729,
430
+ "xyz": [
431
+ 0.0173353382444215,
432
+ 0.860431691322829,
433
+ -0.5085131634075972
434
+ ]
435
+ }
436
+ },
437
+ "grasp_7": {
438
+ "confidence": 0.47524455189704895,
439
+ "position": [
440
+ -0.012234382451424608,
441
+ 0.1226129527494777,
442
+ 0.002848269243258983
443
+ ],
444
+ "orientation": {
445
+ "w": 0.7148437543907213,
446
+ "xyz": [
447
+ 0.697019413807638,
448
+ 0.04751864476903289,
449
+ 0.030071946780165854
450
+ ]
451
+ }
452
+ },
453
+ "grasp_8": {
454
+ "confidence": 0.4356435239315033,
455
+ "position": [
456
+ 0.004715323793789139,
457
+ 0.12269423113320954,
458
+ 0.005967391247395426
459
+ ],
460
+ "orientation": {
461
+ "w": 0.03141335105010273,
462
+ "xyz": [
463
+ 0.02556789076737755,
464
+ 0.7189991925401966,
465
+ -0.6938296948560618
466
+ ]
467
+ }
468
+ },
469
+ "grasp_9": {
470
+ "confidence": 0.42234739661216736,
471
+ "position": [
472
+ 0.0026978818896168377,
473
+ 0.12216070995782502,
474
+ 0.00952660950133577
475
+ ],
476
+ "orientation": {
477
+ "w": 0.6908190182753331,
478
+ "xyz": [
479
+ 0.7229651157012066,
480
+ -0.0003199452713699147,
481
+ 0.00950910633388431
482
+ ]
483
+ }
484
+ },
485
+ "grasp_10": {
486
+ "confidence": 0.41992348432540894,
487
+ "position": [
488
+ -0.0004636054545699153,
489
+ 0.11523683325503953,
490
+ 0.0410256982431747
491
+ ],
492
+ "orientation": {
493
+ "w": 0.543741925114311,
494
+ "xyz": [
495
+ 0.8391743065528,
496
+ 0.0024475924474447464,
497
+ 0.011189789355555658
498
+ ]
499
+ }
500
+ },
501
+ "grasp_12": {
502
+ "confidence": 0.7274107336997986,
503
+ "position": [
504
+ -0.058911992357025156,
505
+ 0.019657337601529434,
506
+ -0.0790428146137856
507
+ ],
508
+ "orientation": {
509
+ "w": 0.6013063780540455,
510
+ "xyz": [
511
+ -0.19207876338406432,
512
+ 0.26790234107191147,
513
+ -0.7278493827822919
514
+ ]
515
+ }
516
+ },
517
+ "grasp_13": {
518
+ "confidence": 0.7116880416870117,
519
+ "position": [
520
+ -0.0450915378787613,
521
+ 0.028024747531162575,
522
+ -0.08696152264019474
523
+ ],
524
+ "orientation": {
525
+ "w": 0.7310893766683181,
526
+ "xyz": [
527
+ 0.23468268068488915,
528
+ 0.1210028013866834,
529
+ 0.6291189750483288
530
+ ]
531
+ }
532
+ },
533
+ "grasp_17": {
534
+ "confidence": 0.3795231580734253,
535
+ "position": [
536
+ -0.0034482969240343664,
537
+ 0.12199623094056733,
538
+ 0.0029224006575532258
539
+ ],
540
+ "orientation": {
541
+ "w": 0.7049777505696366,
542
+ "xyz": [
543
+ 0.6831756810281409,
544
+ 0.143415396386684,
545
+ -0.12533708203385432
546
+ ]
547
+ }
548
+ },
549
+ "grasp_19": {
550
+ "confidence": 0.08943533897399902,
551
+ "position": [
552
+ -0.002835244060406694,
553
+ 0.1220011334226001,
554
+ 0.02119385084370151
555
+ ],
556
+ "orientation": {
557
+ "w": 0.1769706527655836,
558
+ "xyz": [
559
+ 0.10583712718519299,
560
+ -0.7379764137171749,
561
+ 0.642550156303806
562
+ ]
563
+ }
564
+ }
565
+ }
566
+ },
567
+ {
568
+ "part_name": "pink end cap",
569
+ "mask_color": "Teal",
570
+ "graspable": true,
571
+ "grasp_scenarios": [
572
+ {
573
+ "scenario": "grasp the pink end cap to help pick up or reorient the dispenser",
574
+ "confidence": 0.64
575
+ },
576
+ {
577
+ "scenario": "pinch this end while stabilizing the body during manipulation",
578
+ "confidence": 0.5
579
+ }
580
+ ],
581
+ "functional_labels": [
582
+ "close the opposite end of the housing",
583
+ "protect the body edge",
584
+ "provide an end stop",
585
+ "indicate object orientation"
586
+ ],
587
+ "semantic_description": "Pink plastic end piece with a smooth glossy finish, attached to the opposite short side of the body and containing a small recessed slot feature.",
588
+ "id": 10,
589
+ "grasp_group": {
590
+ "grasp_20": {
591
+ "confidence": 0.7688204646110535,
592
+ "position": [
593
+ 0.09892424742793082,
594
+ -0.00048394312034361064,
595
+ -0.006855446787085384
596
+ ],
597
+ "orientation": {
598
+ "w": 0.4991990111862465,
599
+ "xyz": [
600
+ 0.4976053520217031,
601
+ -0.5080854571359417,
602
+ -0.4950135645787811
603
+ ]
604
+ }
605
+ },
606
+ "grasp_21": {
607
+ "confidence": 0.6295979619026184,
608
+ "position": [
609
+ -0.09927761007929803,
610
+ -0.0011025073181372136,
611
+ -0.010245374345686287
612
+ ],
613
+ "orientation": {
614
+ "w": 0.5132850387242034,
615
+ "xyz": [
616
+ 0.48741665982006877,
617
+ 0.5019226812835874,
618
+ 0.49702825952337526
619
+ ]
620
+ }
621
+ },
622
+ "grasp_22": {
623
+ "confidence": 0.5480645298957825,
624
+ "position": [
625
+ -0.10227605898762704,
626
+ -0.0274026193364989,
627
+ -0.005712593381758779
628
+ ],
629
+ "orientation": {
630
+ "w": 0.7067794430306833,
631
+ "xyz": [
632
+ 6.783793965867739e-05,
633
+ 0.7070476756975407,
634
+ 0.023375170543891648
635
+ ]
636
+ }
637
+ },
638
+ "grasp_23": {
639
+ "confidence": 0.7692330479621887,
640
+ "position": [
641
+ 0.09661645243977546,
642
+ -0.0038317411381285638,
643
+ 0.019472681044135243
644
+ ],
645
+ "orientation": {
646
+ "w": 0.48455726123657805,
647
+ "xyz": [
648
+ -0.5232671284234163,
649
+ -0.5287911671925638,
650
+ 0.4601909108115295
651
+ ]
652
+ }
653
+ },
654
+ "grasp_24": {
655
+ "confidence": 0.6173131465911865,
656
+ "position": [
657
+ -0.10048648913289071,
658
+ -0.00033212159178219736,
659
+ -0.013999697694089264
660
+ ],
661
+ "orientation": {
662
+ "w": 0.507400887944307,
663
+ "xyz": [
664
+ -0.48036581066366724,
665
+ 0.4882142050105992,
666
+ -0.522914827562419
667
+ ]
668
+ }
669
+ },
670
+ "grasp_26": {
671
+ "confidence": 0.4303244650363922,
672
+ "position": [
673
+ -0.08405901689911843,
674
+ -0.07763111634994857,
675
+ -0.00339260435430333
676
+ ],
677
+ "orientation": {
678
+ "w": 0.19275211031936698,
679
+ "xyz": [
680
+ -0.667714473256788,
681
+ -0.19905644000193423,
682
+ -0.6909273043270164
683
+ ]
684
+ }
685
+ },
686
+ "grasp_27": {
687
+ "confidence": 0.6855852603912354,
688
+ "position": [
689
+ 0.10300626407479285,
690
+ -0.006399024714482948,
691
+ -0.01624411897500977
692
+ ],
693
+ "orientation": {
694
+ "w": 0.5181697553799849,
695
+ "xyz": [
696
+ -0.505266612459735,
697
+ -0.4545867804604449,
698
+ 0.5191884185664369
699
+ ]
700
+ }
701
+ },
702
+ "grasp_28": {
703
+ "confidence": 0.664122998714447,
704
+ "position": [
705
+ -0.10092158068800927,
706
+ 0.002882208238588646,
707
+ -0.009353978501167148
708
+ ],
709
+ "orientation": {
710
+ "w": 0.5141143246223114,
711
+ "xyz": [
712
+ 0.500985223262738,
713
+ 0.49693807024175995,
714
+ 0.4875990377707125
715
+ ]
716
+ }
717
+ },
718
+ "grasp_30": {
719
+ "confidence": 0.48731809854507446,
720
+ "position": [
721
+ -0.0014627629461756442,
722
+ -0.07166439338470809,
723
+ 0.08722231542924419
724
+ ],
725
+ "orientation": {
726
+ "w": 0.24586012106034244,
727
+ "xyz": [
728
+ -0.9692039248004923,
729
+ -0.009384474251646041,
730
+ -0.010415597272140014
731
+ ]
732
+ }
733
+ },
734
+ "grasp_31": {
735
+ "confidence": 0.39447155594825745,
736
+ "position": [
737
+ 0.0006324341484287288,
738
+ -0.06857936872984283,
739
+ 0.08876668667653576
740
+ ],
741
+ "orientation": {
742
+ "w": 0.00573448793287393,
743
+ "xyz": [
744
+ -0.0037745000326272,
745
+ 0.97370391571879,
746
+ 0.22771375301361801
747
+ ]
748
+ }
749
+ },
750
+ "grasp_33": {
751
+ "confidence": 0.28752413392066956,
752
+ "position": [
753
+ 0.011729363232007017,
754
+ -0.11015419705654494,
755
+ 0.04860747983912006
756
+ ],
757
+ "orientation": {
758
+ "w": 0.5040050970811869,
759
+ "xyz": [
760
+ -0.8626851145597064,
761
+ -0.02863450131793821,
762
+ 0.03055029570335631
763
+ ]
764
+ }
765
+ },
766
+ "grasp_35": {
767
+ "confidence": 0.2570437490940094,
768
+ "position": [
769
+ 0.0513384359619522,
770
+ -0.11398971869493835,
771
+ 0.0008110729395411909
772
+ ],
773
+ "orientation": {
774
+ "w": 0.3717344357015592,
775
+ "xyz": [
776
+ -0.6236605880645428,
777
+ 0.3564434973467504,
778
+ 0.5880552809114538
779
+ ]
780
+ }
781
+ },
782
+ "grasp_39": {
783
+ "confidence": 0.8563305139541626,
784
+ "position": [
785
+ 0.09785844187354087,
786
+ 0.005462678178446367,
787
+ -0.022779475839342922
788
+ ],
789
+ "orientation": {
790
+ "w": 0.5711521808867959,
791
+ "xyz": [
792
+ -0.4317350087783735,
793
+ -0.46497962181114705,
794
+ 0.5207533194937475
795
+ ]
796
+ }
797
+ }
798
+ }
799
+ },
800
+ {
801
+ "part_name": "slot recess on pink end cap",
802
+ "mask_color": "Maroon",
803
+ "graspable": false,
804
+ "grasp_scenarios": [],
805
+ "functional_labels": [
806
+ "provide a recessed finger access point",
807
+ "serve as a small opening or actuation feature",
808
+ "mark the functional end of the dispenser"
809
+ ],
810
+ "semantic_description": "Small recessed rectangular slot on the pink end cap, appearing as a darker inset detail within the glossy pink plastic end piece.",
811
+ "id": 12,
812
+ "grasp_group": {}
813
+ }
814
+ ],
815
+ "quality_check": {
816
+ "success": false,
817
+ "message": "Main body/window colors and end-cap identities are swapped; one end cap color description mismatches images."
818
+ }
819
+ }
dataset/desktop_supplies/office_stationery/d263cb9be98b5fa7b60e900b96e20482/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c0386258529231eed2ac8dba5029573cab078850303f0c73f25b1c0cc9e60292
3
+ size 3813532
dataset/desktop_supplies/office_stationery/d263cb9be98b5fa7b60e900b96e20482/correction_tape_020.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>