Add asset desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e/affordance/affordance_annot.json +431 -0
- dataset/desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e/staples_box_007.urdf +4 -3
.gitattributes
CHANGED
|
@@ -6600,3 +6600,4 @@ dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordanc
|
|
| 6600 |
dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6601 |
dataset/desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6602 |
dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6600 |
dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6601 |
dataset/desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6602 |
dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6603 |
+
dataset/desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,431 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "plastic storage case body and lid",
|
| 5 |
+
"mask_color": "Burnt Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the case from the sides to pick up and move the container",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the case steady while opening or closing the hinged lid",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the case on a surface while accessing the contents",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain contents",
|
| 23 |
+
"provide main structural body",
|
| 24 |
+
"support hinged lid",
|
| 25 |
+
"protect contents",
|
| 26 |
+
"provide primary grasp surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Small rectangular translucent plastic case with a smooth glossy finish, pale frosted white to light lavender appearance, including most of the outer walls, lid, and interior tray structure around the colorful contents.",
|
| 29 |
+
"id": 18,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9159814715385437,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.004660375998355448,
|
| 35 |
+
-0.015557731268927455,
|
| 36 |
+
0.1436572430538945
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.08899992472391081,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.708874937414662,
|
| 42 |
+
-0.6963967740599409,
|
| 43 |
+
-0.06787392417861743
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_3": {
|
| 48 |
+
"confidence": 0.9128237962722778,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.0038568071322515607,
|
| 51 |
+
-0.022037200396880507,
|
| 52 |
+
0.14659824053524062
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.10157425848631146,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.7026397249841994,
|
| 58 |
+
-0.6977168046265758,
|
| 59 |
+
-0.0957671521387439
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_4": {
|
| 64 |
+
"confidence": 0.9126524925231934,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.028170541510917246,
|
| 67 |
+
-0.025450188433751464,
|
| 68 |
+
0.13933955709217116
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.14699932950072875,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.6840803634621128,
|
| 74 |
+
0.7084564126600262,
|
| 75 |
+
0.09227548327029658
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_6": {
|
| 80 |
+
"confidence": 0.9088729023933411,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.02218247449491173,
|
| 83 |
+
-0.025982821127399802,
|
| 84 |
+
0.13979474286315963
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.13974539009199383,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.7004578233460436,
|
| 90 |
+
0.6938582115831318,
|
| 91 |
+
0.09160156046714876
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_11": {
|
| 96 |
+
"confidence": 0.905838131904602,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.01544557383749634,
|
| 99 |
+
-0.007623123237863183,
|
| 100 |
+
0.14159626344917342
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.06904987382844949,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.7146899599481291,
|
| 106 |
+
-0.6941985982919838,
|
| 107 |
+
-0.05038533718317355
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_13": {
|
| 112 |
+
"confidence": 0.9051377177238464,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.006014747195877135,
|
| 115 |
+
-0.028840008890256286,
|
| 116 |
+
0.142744830052834
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.1203357430880208,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.7080463611477816,
|
| 122 |
+
-0.6868866812949591,
|
| 123 |
+
-0.11124902903143341
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_14": {
|
| 128 |
+
"confidence": 0.9051178693771362,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.01816272980067879,
|
| 131 |
+
-0.01341521623544395,
|
| 132 |
+
0.1428540853667073
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.10433125969354756,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.7149075341790667,
|
| 138 |
+
-0.6850882399915588,
|
| 139 |
+
-0.09314670820824843
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_15": {
|
| 144 |
+
"confidence": 0.9050031304359436,
|
| 145 |
+
"position": [
|
| 146 |
+
0.0013148523430572823,
|
| 147 |
+
-0.017770433565601707,
|
| 148 |
+
0.14381020347354934
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.10830023986759509,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.6993709820324748,
|
| 154 |
+
-0.7026915607465847,
|
| 155 |
+
-0.07332024271019537
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_17": {
|
| 160 |
+
"confidence": 0.9025765657424927,
|
| 161 |
+
"position": [
|
| 162 |
+
0.012575905187986791,
|
| 163 |
+
-0.011996820336207747,
|
| 164 |
+
0.1442917941021733
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.0961830914557529,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.7177454546860536,
|
| 170 |
+
-0.6891576355372979,
|
| 171 |
+
-0.025534850227971806
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_18": {
|
| 176 |
+
"confidence": 0.9009336829185486,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.0035814676666632295,
|
| 179 |
+
-0.024231057381257415,
|
| 180 |
+
0.14329012314556167
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.12580808579446282,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.7025076713459107,
|
| 186 |
+
0.6956529441702062,
|
| 187 |
+
0.08198950247563828
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
}
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"part_name": "bottom panel of case",
|
| 195 |
+
"mask_color": "Violet",
|
| 196 |
+
"graspable": true,
|
| 197 |
+
"grasp_scenarios": [
|
| 198 |
+
{
|
| 199 |
+
"scenario": "support the case from below while lifting or carrying it",
|
| 200 |
+
"confidence": 0.78
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"scenario": "grip the broad bottom surface together with an opposite side to stabilize the case",
|
| 204 |
+
"confidence": 0.7
|
| 205 |
+
}
|
| 206 |
+
],
|
| 207 |
+
"functional_labels": [
|
| 208 |
+
"form bottom surface",
|
| 209 |
+
"support stored contents from below",
|
| 210 |
+
"provide a resting surface",
|
| 211 |
+
"add structural reinforcement to the case base"
|
| 212 |
+
],
|
| 213 |
+
"semantic_description": "Large rectangular lower exterior panel of the translucent plastic case, visible as the broad smooth pale lavender-tinted base on the underside, with a small additional violet detail near the front closure area in some views.",
|
| 214 |
+
"id": 20,
|
| 215 |
+
"grasp_group": {
|
| 216 |
+
"grasp_21": {
|
| 217 |
+
"confidence": 0.8403385281562805,
|
| 218 |
+
"position": [
|
| 219 |
+
0.01391125691588968,
|
| 220 |
+
-0.11849575093947351,
|
| 221 |
+
-0.012569238257128745
|
| 222 |
+
],
|
| 223 |
+
"orientation": {
|
| 224 |
+
"w": 0.5129928326429041,
|
| 225 |
+
"xyz": [
|
| 226 |
+
-0.49277783021764854,
|
| 227 |
+
-0.48203318634402303,
|
| 228 |
+
-0.5115196682103472
|
| 229 |
+
]
|
| 230 |
+
}
|
| 231 |
+
},
|
| 232 |
+
"grasp_22": {
|
| 233 |
+
"confidence": 0.7650154829025269,
|
| 234 |
+
"position": [
|
| 235 |
+
0.003961970214731991,
|
| 236 |
+
-0.11572906724177301,
|
| 237 |
+
-0.019272673700470477
|
| 238 |
+
],
|
| 239 |
+
"orientation": {
|
| 240 |
+
"w": 0.5319410643550644,
|
| 241 |
+
"xyz": [
|
| 242 |
+
-0.4712872446488098,
|
| 243 |
+
0.4902965392464057,
|
| 244 |
+
0.5045159469106322
|
| 245 |
+
]
|
| 246 |
+
}
|
| 247 |
+
},
|
| 248 |
+
"grasp_23": {
|
| 249 |
+
"confidence": 0.7550434470176697,
|
| 250 |
+
"position": [
|
| 251 |
+
0.013038076809607446,
|
| 252 |
+
-0.1206593771930784,
|
| 253 |
+
0.0007596532232128084
|
| 254 |
+
],
|
| 255 |
+
"orientation": {
|
| 256 |
+
"w": 0.4807478583869279,
|
| 257 |
+
"xyz": [
|
| 258 |
+
-0.5337376497836085,
|
| 259 |
+
-0.5037283012703695,
|
| 260 |
+
-0.47985770428234303
|
| 261 |
+
]
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"grasp_24": {
|
| 265 |
+
"confidence": 0.7129084467887878,
|
| 266 |
+
"position": [
|
| 267 |
+
-0.031328581855632365,
|
| 268 |
+
-0.1178023328538984,
|
| 269 |
+
-0.012725002889055759
|
| 270 |
+
],
|
| 271 |
+
"orientation": {
|
| 272 |
+
"w": 0.5217273854645996,
|
| 273 |
+
"xyz": [
|
| 274 |
+
-0.4828472195602953,
|
| 275 |
+
0.501946044548371,
|
| 276 |
+
0.49265532188479316
|
| 277 |
+
]
|
| 278 |
+
}
|
| 279 |
+
},
|
| 280 |
+
"grasp_25": {
|
| 281 |
+
"confidence": 0.9113567471504211,
|
| 282 |
+
"position": [
|
| 283 |
+
0.0284742129733786,
|
| 284 |
+
-0.1225236242171377,
|
| 285 |
+
-0.017265744332689792
|
| 286 |
+
],
|
| 287 |
+
"orientation": {
|
| 288 |
+
"w": 0.49835188424706556,
|
| 289 |
+
"xyz": [
|
| 290 |
+
-0.5224180141948761,
|
| 291 |
+
0.4369206226224611,
|
| 292 |
+
0.5364934178899888
|
| 293 |
+
]
|
| 294 |
+
}
|
| 295 |
+
},
|
| 296 |
+
"grasp_26": {
|
| 297 |
+
"confidence": 0.8730224370956421,
|
| 298 |
+
"position": [
|
| 299 |
+
-0.037312202737666667,
|
| 300 |
+
-0.12162054679356515,
|
| 301 |
+
-0.01847581547917798
|
| 302 |
+
],
|
| 303 |
+
"orientation": {
|
| 304 |
+
"w": 0.49895745058350327,
|
| 305 |
+
"xyz": [
|
| 306 |
+
-0.512403610386033,
|
| 307 |
+
-0.44536894740272226,
|
| 308 |
+
-0.5386376363195955
|
| 309 |
+
]
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"grasp_27": {
|
| 313 |
+
"confidence": 0.8486309051513672,
|
| 314 |
+
"position": [
|
| 315 |
+
0.014383357367478311,
|
| 316 |
+
-0.12438053986988962,
|
| 317 |
+
-0.005595811002422124
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.5018767876702329,
|
| 321 |
+
"xyz": [
|
| 322 |
+
-0.5114138147598134,
|
| 323 |
+
0.5055607472232766,
|
| 324 |
+
0.4806078764831733
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_28": {
|
| 329 |
+
"confidence": 0.8171046376228333,
|
| 330 |
+
"position": [
|
| 331 |
+
-0.03517294360790402,
|
| 332 |
+
-0.12384456745348871,
|
| 333 |
+
-0.004182058444712311
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.47592759848336524,
|
| 337 |
+
"xyz": [
|
| 338 |
+
-0.5339273908899204,
|
| 339 |
+
-0.48285168169672676,
|
| 340 |
+
-0.5052412450918685
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_30": {
|
| 345 |
+
"confidence": 0.6429738998413086,
|
| 346 |
+
"position": [
|
| 347 |
+
-0.007333624758757651,
|
| 348 |
+
-0.11117753735743463,
|
| 349 |
+
-0.009665220801252872
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.47073481518558136,
|
| 353 |
+
"xyz": [
|
| 354 |
+
-0.5334340746626329,
|
| 355 |
+
-0.4476023564957392,
|
| 356 |
+
-0.5417646649796191
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_31": {
|
| 361 |
+
"confidence": 0.12190736830234528,
|
| 362 |
+
"position": [
|
| 363 |
+
-0.026051242486573756,
|
| 364 |
+
0.10506593831814826,
|
| 365 |
+
0.021187808539252728
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.45870099576953577,
|
| 369 |
+
"xyz": [
|
| 370 |
+
0.5381838788573228,
|
| 371 |
+
-0.5451318794300387,
|
| 372 |
+
0.4503140493557762
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_36": {
|
| 377 |
+
"confidence": 0.8754065036773682,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.0012985382927581668,
|
| 380 |
+
-0.11798312119208276,
|
| 381 |
+
-0.02162468043388799
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.5056761401123605,
|
| 385 |
+
"xyz": [
|
| 386 |
+
-0.4998668453417614,
|
| 387 |
+
-0.4360191295501862,
|
| 388 |
+
-0.5516449011052654
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_38": {
|
| 393 |
+
"confidence": 0.8318561315536499,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.000763931660912931,
|
| 396 |
+
-0.11681943736039102,
|
| 397 |
+
-0.019933342759031802
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.5586955598887524,
|
| 401 |
+
"xyz": [
|
| 402 |
+
-0.44251858242180453,
|
| 403 |
+
0.5158207537084265,
|
| 404 |
+
0.47535831287110314
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_39": {
|
| 409 |
+
"confidence": 0.8307499289512634,
|
| 410 |
+
"position": [
|
| 411 |
+
-0.03790058253798634,
|
| 412 |
+
-0.12013393244706094,
|
| 413 |
+
-0.018841532815713435
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.5024656093922608,
|
| 417 |
+
"xyz": [
|
| 418 |
+
-0.5159366048694215,
|
| 419 |
+
-0.44831078168041627,
|
| 420 |
+
-0.5294857638907512
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
}
|
| 424 |
+
}
|
| 425 |
+
}
|
| 426 |
+
],
|
| 427 |
+
"quality_check": {
|
| 428 |
+
"success": false,
|
| 429 |
+
"message": "Burnt Orange mask excludes bottom panel; first part wrongly includes base and lid together, and bottom panel grasp description is overstated."
|
| 430 |
+
}
|
| 431 |
+
}
|
dataset/desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6889400c4e47465b158ee7851527acb62e976cd801328f45d5a5f92975ac122f
|
| 3 |
+
size 3831576
|
dataset/desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e/staples_box_007.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
-
<mesh filename="
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
-
<PartSegChecker>NO:
|
| 60 |
</quality>
|
| 61 |
</custom_data>
|
| 62 |
</robot>
|
|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
+
<part_count>2</part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 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>NO: {"summary":"Bottom/base and box body are inconsistently split; no clear functional boundary supports two parts.","merge_groups":[{"colors":["Burnt Orange","Violet"],"target_part":"main box body","reason":"Both colors cover the same container surfaces inconsistently."}]}</PartSegChecker>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
|