Add asset desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/affordance/affordance_annot.json +719 -0
- dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/stapler_031.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6385,3 +6385,4 @@ dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/affo
|
|
| 6385 |
dataset/desktop_supplies/office_stationery/7f39ebff0a2a5df78f8fc8704c6ea561/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6386 |
dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6387 |
dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6385 |
dataset/desktop_supplies/office_stationery/7f39ebff0a2a5df78f8fc8704c6ea561/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6386 |
dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6387 |
dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6388 |
+
dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,719 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "swan-shaped top cover",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the swan top cover to lift and reposition the stapler",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top cover to open the stapler for loading or clearing staples",
|
| 14 |
+
"confidence": 0.87
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the stapler by gripping the top while pressing against a surface",
|
| 18 |
+
"confidence": 0.73
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"press to drive staples",
|
| 23 |
+
"cover the staple channel",
|
| 24 |
+
"provide the main handhold",
|
| 25 |
+
"support opening for reloading"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white plastic swan-shaped top with a glossy smooth hard surface, featuring raised feather details and a curved neck, forming the upper movable body of the stapler.",
|
| 28 |
+
"id": 8,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_40": {
|
| 31 |
+
"confidence": 0.9107053279876709,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.00636777094041463,
|
| 34 |
+
-0.1303252566140145,
|
| 35 |
+
-0.002811265178024769
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.716775379267354,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.6967541819688963,
|
| 41 |
+
0.003313053979627778,
|
| 42 |
+
-0.027489802806191156
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_41": {
|
| 47 |
+
"confidence": 0.9050722718238831,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.002351962713873945,
|
| 50 |
+
-0.12391790631227195,
|
| 51 |
+
0.011907033389434218
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.04102944820477342,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.06678426566329929,
|
| 57 |
+
-0.747587193127427,
|
| 58 |
+
-0.6595224294227461
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_42": {
|
| 63 |
+
"confidence": 0.8775581121444702,
|
| 64 |
+
"position": [
|
| 65 |
+
0.019373357776203193,
|
| 66 |
+
-0.1307399112265557,
|
| 67 |
+
0.0023898696526885033
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.060739854204505436,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.05576953451095416,
|
| 73 |
+
-0.7115227027175985,
|
| 74 |
+
-0.6978079052641142
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_43": {
|
| 79 |
+
"confidence": 0.8430538177490234,
|
| 80 |
+
"position": [
|
| 81 |
+
0.013265215340652503,
|
| 82 |
+
-0.12795489910058677,
|
| 83 |
+
-0.008247093297541142
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7369291023511227,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6747620186332574,
|
| 89 |
+
-0.037715570654166974,
|
| 90 |
+
0.014465546936452812
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
}
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
{
|
| 97 |
+
"part_name": "base body",
|
| 98 |
+
"mask_color": "Yellow",
|
| 99 |
+
"graspable": true,
|
| 100 |
+
"grasp_scenarios": [
|
| 101 |
+
{
|
| 102 |
+
"scenario": "grasp the lower body from the side to pick up or reposition the stapler",
|
| 103 |
+
"confidence": 0.78
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"scenario": "hold the base body to stabilize the stapler while opening the top cover",
|
| 107 |
+
"confidence": 0.85
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"functional_labels": [
|
| 111 |
+
"support the stapler mechanism",
|
| 112 |
+
"rest above the bottom pad",
|
| 113 |
+
"stabilize during stapling",
|
| 114 |
+
"house the lower stapling structure"
|
| 115 |
+
],
|
| 116 |
+
"semantic_description": "White glossy lower body section beneath the swan-shaped top, forming the rigid main support structure above the bottom pad.",
|
| 117 |
+
"id": 3,
|
| 118 |
+
"grasp_group": {
|
| 119 |
+
"grasp_0": {
|
| 120 |
+
"confidence": 0.9245785474777222,
|
| 121 |
+
"position": [
|
| 122 |
+
0.006796815447160043,
|
| 123 |
+
0.12704123673029244,
|
| 124 |
+
-0.02396520134061575
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.08424092190220489,
|
| 128 |
+
"xyz": [
|
| 129 |
+
0.030173639240725993,
|
| 130 |
+
-0.6947406418699442,
|
| 131 |
+
0.7136725153080894
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_1": {
|
| 136 |
+
"confidence": 0.8967639803886414,
|
| 137 |
+
"position": [
|
| 138 |
+
-0.005259522222331725,
|
| 139 |
+
-0.12411463144235313,
|
| 140 |
+
-0.03856269549578428
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.7637186300768668,
|
| 144 |
+
"xyz": [
|
| 145 |
+
-0.6452749514849503,
|
| 146 |
+
0.018205851177810595,
|
| 147 |
+
-0.00475794519733327
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_2": {
|
| 152 |
+
"confidence": 0.8846666216850281,
|
| 153 |
+
"position": [
|
| 154 |
+
-0.005755032863817178,
|
| 155 |
+
-0.12722903373651206,
|
| 156 |
+
-0.033815531991422176
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.7453046314206103,
|
| 160 |
+
"xyz": [
|
| 161 |
+
-0.666229086015097,
|
| 162 |
+
0.003953740939824035,
|
| 163 |
+
-0.025380686812171746
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_3": {
|
| 168 |
+
"confidence": 0.8309230208396912,
|
| 169 |
+
"position": [
|
| 170 |
+
-0.006679775644442998,
|
| 171 |
+
-0.13563381019048393,
|
| 172 |
+
-0.03092500101774931
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.7368483393557022,
|
| 176 |
+
"xyz": [
|
| 177 |
+
-0.6756247233002735,
|
| 178 |
+
0.00935264517985146,
|
| 179 |
+
-0.022322322511615162
|
| 180 |
+
]
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"grasp_4": {
|
| 184 |
+
"confidence": 0.8033486008644104,
|
| 185 |
+
"position": [
|
| 186 |
+
-0.004445466664037667,
|
| 187 |
+
-0.1357840585988015,
|
| 188 |
+
-0.03199279215186834
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.05479874861480432,
|
| 192 |
+
"xyz": [
|
| 193 |
+
0.006722787489200109,
|
| 194 |
+
0.676209429079852,
|
| 195 |
+
0.7346378082443938
|
| 196 |
+
]
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"grasp_5": {
|
| 200 |
+
"confidence": 0.91283118724823,
|
| 201 |
+
"position": [
|
| 202 |
+
0.006829738165833987,
|
| 203 |
+
0.13417939958162606,
|
| 204 |
+
-0.027649267576634884
|
| 205 |
+
],
|
| 206 |
+
"orientation": {
|
| 207 |
+
"w": 0.07653833672262016,
|
| 208 |
+
"xyz": [
|
| 209 |
+
0.01897424832266913,
|
| 210 |
+
-0.680812671730341,
|
| 211 |
+
0.7282004991235037
|
| 212 |
+
]
|
| 213 |
+
}
|
| 214 |
+
},
|
| 215 |
+
"grasp_6": {
|
| 216 |
+
"confidence": 0.8942331671714783,
|
| 217 |
+
"position": [
|
| 218 |
+
0.0011274545249762014,
|
| 219 |
+
0.13140256819315255,
|
| 220 |
+
-0.026870775036513805
|
| 221 |
+
],
|
| 222 |
+
"orientation": {
|
| 223 |
+
"w": 0.7276215413971364,
|
| 224 |
+
"xyz": [
|
| 225 |
+
0.6797115324696322,
|
| 226 |
+
-0.06489573175192231,
|
| 227 |
+
0.0659368570908662
|
| 228 |
+
]
|
| 229 |
+
}
|
| 230 |
+
},
|
| 231 |
+
"grasp_7": {
|
| 232 |
+
"confidence": 0.7715288400650024,
|
| 233 |
+
"position": [
|
| 234 |
+
0.0009645532845752314,
|
| 235 |
+
-0.13889141264371574,
|
| 236 |
+
-0.02758388128131628
|
| 237 |
+
],
|
| 238 |
+
"orientation": {
|
| 239 |
+
"w": 0.7265211731881789,
|
| 240 |
+
"xyz": [
|
| 241 |
+
-0.6870847002582339,
|
| 242 |
+
-0.007655842771000287,
|
| 243 |
+
-0.004794543960683331
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_8": {
|
| 248 |
+
"confidence": 0.8838626742362976,
|
| 249 |
+
"position": [
|
| 250 |
+
0.011154966909089126,
|
| 251 |
+
0.13399455067701638,
|
| 252 |
+
-0.02755665685981512
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.7318564486235299,
|
| 256 |
+
"xyz": [
|
| 257 |
+
0.6806920171187928,
|
| 258 |
+
-0.028365524402714226,
|
| 259 |
+
-0.015489140204101083
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_9": {
|
| 264 |
+
"confidence": 0.03505149111151695,
|
| 265 |
+
"position": [
|
| 266 |
+
0.09949733364919666,
|
| 267 |
+
0.006152305053547025,
|
| 268 |
+
0.01746954396367073
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.4233675872027499,
|
| 272 |
+
"xyz": [
|
| 273 |
+
0.5563950085709746,
|
| 274 |
+
-0.6064859143259316,
|
| 275 |
+
-0.37862820321215634
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_15": {
|
| 280 |
+
"confidence": 0.8705841898918152,
|
| 281 |
+
"position": [
|
| 282 |
+
-0.0036473297368502244,
|
| 283 |
+
0.13818611321039498,
|
| 284 |
+
-0.02277583535760641
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.7143455417357018,
|
| 288 |
+
"xyz": [
|
| 289 |
+
0.6979503121574385,
|
| 290 |
+
-0.03472778911216734,
|
| 291 |
+
0.03701066636852296
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_18": {
|
| 296 |
+
"confidence": 0.8284797668457031,
|
| 297 |
+
"position": [
|
| 298 |
+
-0.001324538592598401,
|
| 299 |
+
-0.13781747105531394,
|
| 300 |
+
-0.02697919588536024
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.04561623908672501,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.050980223417493184,
|
| 306 |
+
-0.6892614150157709,
|
| 307 |
+
-0.7212758676971958
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
}
|
| 311 |
+
}
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"part_name": "underside pad",
|
| 315 |
+
"mask_color": "Magenta",
|
| 316 |
+
"graspable": false,
|
| 317 |
+
"grasp_scenarios": [],
|
| 318 |
+
"functional_labels": [
|
| 319 |
+
"provide bottom contact",
|
| 320 |
+
"reduce slipping",
|
| 321 |
+
"protect the desk surface",
|
| 322 |
+
"support stable placement"
|
| 323 |
+
],
|
| 324 |
+
"semantic_description": "Large light gray to white smooth pad covering most of the underside of the stapler base, forming the main desk-contact surface.",
|
| 325 |
+
"id": 7,
|
| 326 |
+
"grasp_group": {}
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"part_name": "staple magazine",
|
| 330 |
+
"mask_color": "Orange",
|
| 331 |
+
"graspable": true,
|
| 332 |
+
"grasp_scenarios": [
|
| 333 |
+
{
|
| 334 |
+
"scenario": "pinch the exposed magazine area while opening or servicing the stapler",
|
| 335 |
+
"confidence": 0.43
|
| 336 |
+
},
|
| 337 |
+
{
|
| 338 |
+
"scenario": "grasp the magazine section to help clear a jam during maintenance",
|
| 339 |
+
"confidence": 0.39
|
| 340 |
+
}
|
| 341 |
+
],
|
| 342 |
+
"functional_labels": [
|
| 343 |
+
"hold staple strips",
|
| 344 |
+
"guide staples forward",
|
| 345 |
+
"support loading",
|
| 346 |
+
"feed staples to the driver"
|
| 347 |
+
],
|
| 348 |
+
"semantic_description": "Exposed silver metal staple channel inside the stapler body, visible along the side opening and running lengthwise beneath the top cover.",
|
| 349 |
+
"id": 4,
|
| 350 |
+
"grasp_group": {
|
| 351 |
+
"grasp_20": {
|
| 352 |
+
"confidence": 0.9250665307044983,
|
| 353 |
+
"position": [
|
| 354 |
+
-0.013826382797560655,
|
| 355 |
+
-0.1292017090599984,
|
| 356 |
+
-0.005035241134464741
|
| 357 |
+
],
|
| 358 |
+
"orientation": {
|
| 359 |
+
"w": 0.042484324407951954,
|
| 360 |
+
"xyz": [
|
| 361 |
+
0.040802670348534395,
|
| 362 |
+
0.7010312232748084,
|
| 363 |
+
0.7106936388246723
|
| 364 |
+
]
|
| 365 |
+
}
|
| 366 |
+
},
|
| 367 |
+
"grasp_21": {
|
| 368 |
+
"confidence": 0.9131523966789246,
|
| 369 |
+
"position": [
|
| 370 |
+
-0.01642258789797779,
|
| 371 |
+
-0.12662701192311943,
|
| 372 |
+
-0.017682024277746677
|
| 373 |
+
],
|
| 374 |
+
"orientation": {
|
| 375 |
+
"w": 0.7463994428993791,
|
| 376 |
+
"xyz": [
|
| 377 |
+
-0.6632387562795141,
|
| 378 |
+
0.050445970557094766,
|
| 379 |
+
-0.021387563275242577
|
| 380 |
+
]
|
| 381 |
+
}
|
| 382 |
+
},
|
| 383 |
+
"grasp_22": {
|
| 384 |
+
"confidence": 0.9112708568572998,
|
| 385 |
+
"position": [
|
| 386 |
+
-0.017883907523355447,
|
| 387 |
+
-0.1252010005991906,
|
| 388 |
+
-0.01846357900649309
|
| 389 |
+
],
|
| 390 |
+
"orientation": {
|
| 391 |
+
"w": 0.7323066026717576,
|
| 392 |
+
"xyz": [
|
| 393 |
+
-0.6772343364994612,
|
| 394 |
+
0.06627537853883991,
|
| 395 |
+
-0.02623484989507167
|
| 396 |
+
]
|
| 397 |
+
}
|
| 398 |
+
},
|
| 399 |
+
"grasp_23": {
|
| 400 |
+
"confidence": 0.9080198407173157,
|
| 401 |
+
"position": [
|
| 402 |
+
-0.010794193934998475,
|
| 403 |
+
-0.1280316400807351,
|
| 404 |
+
-0.017910298891365528
|
| 405 |
+
],
|
| 406 |
+
"orientation": {
|
| 407 |
+
"w": 0.7287504842153758,
|
| 408 |
+
"xyz": [
|
| 409 |
+
-0.6837229377174844,
|
| 410 |
+
0.0267383185113812,
|
| 411 |
+
-0.02703217560633562
|
| 412 |
+
]
|
| 413 |
+
}
|
| 414 |
+
},
|
| 415 |
+
"grasp_24": {
|
| 416 |
+
"confidence": 0.9073432683944702,
|
| 417 |
+
"position": [
|
| 418 |
+
-0.0067621897760545835,
|
| 419 |
+
-0.12799660745076835,
|
| 420 |
+
-0.005163084715604782
|
| 421 |
+
],
|
| 422 |
+
"orientation": {
|
| 423 |
+
"w": 0.0562572917847681,
|
| 424 |
+
"xyz": [
|
| 425 |
+
-0.09948376784071293,
|
| 426 |
+
-0.7083416619678222,
|
| 427 |
+
-0.6965559467680413
|
| 428 |
+
]
|
| 429 |
+
}
|
| 430 |
+
},
|
| 431 |
+
"grasp_25": {
|
| 432 |
+
"confidence": 0.9068105816841125,
|
| 433 |
+
"position": [
|
| 434 |
+
-0.011953562949202023,
|
| 435 |
+
-0.12664882722310722,
|
| 436 |
+
-0.02091325167566538
|
| 437 |
+
],
|
| 438 |
+
"orientation": {
|
| 439 |
+
"w": 0.7395376167507774,
|
| 440 |
+
"xyz": [
|
| 441 |
+
-0.6711293483834326,
|
| 442 |
+
0.00887075340096477,
|
| 443 |
+
-0.05090010690664556
|
| 444 |
+
]
|
| 445 |
+
}
|
| 446 |
+
},
|
| 447 |
+
"grasp_26": {
|
| 448 |
+
"confidence": 0.9052781462669373,
|
| 449 |
+
"position": [
|
| 450 |
+
-0.01798419420083519,
|
| 451 |
+
-0.12419320526532829,
|
| 452 |
+
-0.032095703296363354
|
| 453 |
+
],
|
| 454 |
+
"orientation": {
|
| 455 |
+
"w": 0.7829576285437361,
|
| 456 |
+
"xyz": [
|
| 457 |
+
-0.616965724463995,
|
| 458 |
+
0.027576198999011092,
|
| 459 |
+
-0.07463377245291708
|
| 460 |
+
]
|
| 461 |
+
}
|
| 462 |
+
},
|
| 463 |
+
"grasp_27": {
|
| 464 |
+
"confidence": 0.9025287628173828,
|
| 465 |
+
"position": [
|
| 466 |
+
-0.01011916201969143,
|
| 467 |
+
-0.12430311623029411,
|
| 468 |
+
-0.040520637296140194
|
| 469 |
+
],
|
| 470 |
+
"orientation": {
|
| 471 |
+
"w": 0.8141101120868469,
|
| 472 |
+
"xyz": [
|
| 473 |
+
-0.5792533812449566,
|
| 474 |
+
0.03921722265282568,
|
| 475 |
+
-0.012339171837117214
|
| 476 |
+
]
|
| 477 |
+
}
|
| 478 |
+
},
|
| 479 |
+
"grasp_28": {
|
| 480 |
+
"confidence": 0.8969623446464539,
|
| 481 |
+
"position": [
|
| 482 |
+
-0.015754604231915437,
|
| 483 |
+
-0.12634158018045127,
|
| 484 |
+
0.02009699773043394
|
| 485 |
+
],
|
| 486 |
+
"orientation": {
|
| 487 |
+
"w": 0.08538156904067866,
|
| 488 |
+
"xyz": [
|
| 489 |
+
0.044020295519871785,
|
| 490 |
+
0.7911785203329764,
|
| 491 |
+
0.6039939984918863
|
| 492 |
+
]
|
| 493 |
+
}
|
| 494 |
+
},
|
| 495 |
+
"grasp_29": {
|
| 496 |
+
"confidence": 0.8923372030258179,
|
| 497 |
+
"position": [
|
| 498 |
+
-0.0016594333428656682,
|
| 499 |
+
-0.12440518918447196,
|
| 500 |
+
-0.014636018313467503
|
| 501 |
+
],
|
| 502 |
+
"orientation": {
|
| 503 |
+
"w": 0.7331306585385305,
|
| 504 |
+
"xyz": [
|
| 505 |
+
-0.6799151384225012,
|
| 506 |
+
-0.003681399665776741,
|
| 507 |
+
-0.014875797500381122
|
| 508 |
+
]
|
| 509 |
+
}
|
| 510 |
+
},
|
| 511 |
+
"grasp_30": {
|
| 512 |
+
"confidence": 0.8905494213104248,
|
| 513 |
+
"position": [
|
| 514 |
+
0.0028012744296574965,
|
| 515 |
+
-0.11756256851367652,
|
| 516 |
+
0.02213133405894041
|
| 517 |
+
],
|
| 518 |
+
"orientation": {
|
| 519 |
+
"w": 0.5834704943335032,
|
| 520 |
+
"xyz": [
|
| 521 |
+
-0.812030764186087,
|
| 522 |
+
-0.011326774870208611,
|
| 523 |
+
-0.006318578053366301
|
| 524 |
+
]
|
| 525 |
+
}
|
| 526 |
+
},
|
| 527 |
+
"grasp_31": {
|
| 528 |
+
"confidence": 0.8897014260292053,
|
| 529 |
+
"position": [
|
| 530 |
+
-0.0213109473552322,
|
| 531 |
+
-0.11837153020314872,
|
| 532 |
+
0.03450615983456373
|
| 533 |
+
],
|
| 534 |
+
"orientation": {
|
| 535 |
+
"w": 0.10802684652680106,
|
| 536 |
+
"xyz": [
|
| 537 |
+
0.04329741262732571,
|
| 538 |
+
0.8337440903962119,
|
| 539 |
+
0.5397465388667614
|
| 540 |
+
]
|
| 541 |
+
}
|
| 542 |
+
},
|
| 543 |
+
"grasp_32": {
|
| 544 |
+
"confidence": 0.8893786668777466,
|
| 545 |
+
"position": [
|
| 546 |
+
-0.008859358247718774,
|
| 547 |
+
-0.12232588860206306,
|
| 548 |
+
-0.02511123102158308
|
| 549 |
+
],
|
| 550 |
+
"orientation": {
|
| 551 |
+
"w": 0.7634166295189552,
|
| 552 |
+
"xyz": [
|
| 553 |
+
-0.6446573094297116,
|
| 554 |
+
0.04013789477112062,
|
| 555 |
+
-0.0009760000543429162
|
| 556 |
+
]
|
| 557 |
+
}
|
| 558 |
+
},
|
| 559 |
+
"grasp_33": {
|
| 560 |
+
"confidence": 0.8882161974906921,
|
| 561 |
+
"position": [
|
| 562 |
+
-0.004501744624576531,
|
| 563 |
+
-0.12718275072984397,
|
| 564 |
+
-0.015237967483699322
|
| 565 |
+
],
|
| 566 |
+
"orientation": {
|
| 567 |
+
"w": 0.742438734582482,
|
| 568 |
+
"xyz": [
|
| 569 |
+
-0.6694750930729584,
|
| 570 |
+
0.02339331953851309,
|
| 571 |
+
-0.00637006652127499
|
| 572 |
+
]
|
| 573 |
+
}
|
| 574 |
+
},
|
| 575 |
+
"grasp_35": {
|
| 576 |
+
"confidence": 0.8864637017250061,
|
| 577 |
+
"position": [
|
| 578 |
+
-0.010146826025447808,
|
| 579 |
+
-0.1297546315472573,
|
| 580 |
+
-0.012247712351381779
|
| 581 |
+
],
|
| 582 |
+
"orientation": {
|
| 583 |
+
"w": 0.11657914415500523,
|
| 584 |
+
"xyz": [
|
| 585 |
+
-0.036076160660625016,
|
| 586 |
+
0.6888666358799166,
|
| 587 |
+
0.7145422113154423
|
| 588 |
+
]
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
"grasp_36": {
|
| 592 |
+
"confidence": 0.8830018043518066,
|
| 593 |
+
"position": [
|
| 594 |
+
-0.009216460850439034,
|
| 595 |
+
-0.12106387945823371,
|
| 596 |
+
-0.022023404948413372
|
| 597 |
+
],
|
| 598 |
+
"orientation": {
|
| 599 |
+
"w": 0.7597126860620704,
|
| 600 |
+
"xyz": [
|
| 601 |
+
-0.6494844035214153,
|
| 602 |
+
0.026754231003700668,
|
| 603 |
+
-0.017054481586536944
|
| 604 |
+
]
|
| 605 |
+
}
|
| 606 |
+
},
|
| 607 |
+
"grasp_37": {
|
| 608 |
+
"confidence": 0.8740234375,
|
| 609 |
+
"position": [
|
| 610 |
+
0.00473790850082878,
|
| 611 |
+
-0.12889890256337821,
|
| 612 |
+
-0.011083443649113178
|
| 613 |
+
],
|
| 614 |
+
"orientation": {
|
| 615 |
+
"w": 0.7277613703022108,
|
| 616 |
+
"xyz": [
|
| 617 |
+
-0.685643045946919,
|
| 618 |
+
-0.015989075649925355,
|
| 619 |
+
-0.0011622823841071965
|
| 620 |
+
]
|
| 621 |
+
}
|
| 622 |
+
},
|
| 623 |
+
"grasp_38": {
|
| 624 |
+
"confidence": 0.8703231811523438,
|
| 625 |
+
"position": [
|
| 626 |
+
0.004677290577092208,
|
| 627 |
+
-0.12622763100080192,
|
| 628 |
+
-0.0004110559821128845
|
| 629 |
+
],
|
| 630 |
+
"orientation": {
|
| 631 |
+
"w": 0.0405408693192319,
|
| 632 |
+
"xyz": [
|
| 633 |
+
-0.020556187055243303,
|
| 634 |
+
0.7166038744281962,
|
| 635 |
+
0.6959976783316799
|
| 636 |
+
]
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"grasp_39": {
|
| 640 |
+
"confidence": 0.8681389689445496,
|
| 641 |
+
"position": [
|
| 642 |
+
-0.017877147984108888,
|
| 643 |
+
-0.11975107970647514,
|
| 644 |
+
-0.03797133546322584
|
| 645 |
+
],
|
| 646 |
+
"orientation": {
|
| 647 |
+
"w": 0.10020287489128248,
|
| 648 |
+
"xyz": [
|
| 649 |
+
0.05149738004123624,
|
| 650 |
+
0.5735437991593109,
|
| 651 |
+
0.8113907284153021
|
| 652 |
+
]
|
| 653 |
+
}
|
| 654 |
+
}
|
| 655 |
+
}
|
| 656 |
+
},
|
| 657 |
+
{
|
| 658 |
+
"part_name": "anvil plate",
|
| 659 |
+
"mask_color": "Blue",
|
| 660 |
+
"graspable": false,
|
| 661 |
+
"grasp_scenarios": [],
|
| 662 |
+
"functional_labels": [
|
| 663 |
+
"bend staple legs",
|
| 664 |
+
"provide clinching surface",
|
| 665 |
+
"support fastening",
|
| 666 |
+
"align with the driver"
|
| 667 |
+
],
|
| 668 |
+
"semantic_description": "Small shiny silver metal plate inset near the front end of the lower stapler body, flat and reflective, serving as the staple-clinching area.",
|
| 669 |
+
"id": 2,
|
| 670 |
+
"grasp_group": {}
|
| 671 |
+
},
|
| 672 |
+
{
|
| 673 |
+
"part_name": "beak",
|
| 674 |
+
"mask_color": "Green",
|
| 675 |
+
"graspable": false,
|
| 676 |
+
"grasp_scenarios": [],
|
| 677 |
+
"functional_labels": [
|
| 678 |
+
"decorative bird detail",
|
| 679 |
+
"indicate front orientation",
|
| 680 |
+
"form the swan face"
|
| 681 |
+
],
|
| 682 |
+
"semantic_description": "Tiny yellow-orange glossy beak at the front of the swan head, with a pointed curved shape.",
|
| 683 |
+
"id": 1,
|
| 684 |
+
"grasp_group": {}
|
| 685 |
+
},
|
| 686 |
+
{
|
| 687 |
+
"part_name": "eye marking",
|
| 688 |
+
"mask_color": "Purple",
|
| 689 |
+
"graspable": false,
|
| 690 |
+
"grasp_scenarios": [],
|
| 691 |
+
"functional_labels": [
|
| 692 |
+
"provide visual detail",
|
| 693 |
+
"indicate face orientation",
|
| 694 |
+
"decorate the swan head"
|
| 695 |
+
],
|
| 696 |
+
"semantic_description": "Small dark eye marking on the swan head near the beak, appearing as a printed or painted accent.",
|
| 697 |
+
"id": 5,
|
| 698 |
+
"grasp_group": {}
|
| 699 |
+
},
|
| 700 |
+
{
|
| 701 |
+
"part_name": "hinge support",
|
| 702 |
+
"mask_color": "Cyan",
|
| 703 |
+
"graspable": false,
|
| 704 |
+
"grasp_scenarios": [],
|
| 705 |
+
"functional_labels": [
|
| 706 |
+
"connect top cover to base",
|
| 707 |
+
"allow pivoting motion",
|
| 708 |
+
"support opening and closing"
|
| 709 |
+
],
|
| 710 |
+
"semantic_description": "Small light-colored internal support piece visible near the rear interior area, linking the upper body to the lower structure for rotation.",
|
| 711 |
+
"id": 6,
|
| 712 |
+
"grasp_group": {}
|
| 713 |
+
}
|
| 714 |
+
],
|
| 715 |
+
"quality_check": {
|
| 716 |
+
"success": false,
|
| 717 |
+
"message": "Several mask colors and part identities are mismatched; hinge support and magazine descriptions do not match segmented parts."
|
| 718 |
+
}
|
| 719 |
+
}
|
dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e214a3f93c66c7904cc91528f558eefa42efcf207a7833bd05c9b0041919467d
|
| 3 |
+
size 3784280
|
dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/stapler_031.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>
|