Add asset desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/affordance/affordance_annot.json +428 -0
- dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/c7b30a3506a851f4b6b607dcda22c3bc.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6494,4 +6494,4 @@ dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affo
|
|
| 6494 |
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6495 |
dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6496 |
dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6497 |
-
dataset/desktop_supplies/office_stationery/
|
|
|
|
| 6494 |
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6495 |
dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6496 |
dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6497 |
+
dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,428 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pen barrel",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and hold the pen for repositioning",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the barrel to stabilize the pen while aligning it for writing or docking",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"support writing assembly",
|
| 20 |
+
"connect tip and rear hardware",
|
| 21 |
+
"provide structural body"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long dark gray to black plastic barrel with a slightly glossy smooth hard surface, cylindrical shape, and the largest central body section of the pen.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.989744246006012,
|
| 28 |
+
"position": [
|
| 29 |
+
0.000578681007027626,
|
| 30 |
+
-0.09617585100932047,
|
| 31 |
+
0.013665441772900522
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.4872051013700099,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.5204291295869539,
|
| 37 |
+
-0.5528174522277811,
|
| 38 |
+
-0.4314829947851813
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.988856852054596,
|
| 44 |
+
"position": [
|
| 45 |
+
0.0026989327743649483,
|
| 46 |
+
0.09504961065249518,
|
| 47 |
+
-0.022893078275956213
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5739605077606905,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.4430442772207482,
|
| 53 |
+
0.44748356412927903,
|
| 54 |
+
-0.5234878831331172
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9888274669647217,
|
| 60 |
+
"position": [
|
| 61 |
+
0.01384693942964077,
|
| 62 |
+
0.09759600303368643,
|
| 63 |
+
0.008358714519999921
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.46979827211967046,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.534347270748015,
|
| 69 |
+
-0.5048970311314853,
|
| 70 |
+
0.48871419634806185
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.9884549379348755,
|
| 76 |
+
"position": [
|
| 77 |
+
0.016806757455924526,
|
| 78 |
+
0.09657545975642279,
|
| 79 |
+
-0.012315032654441893
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5517697394849094,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.46638223100207166,
|
| 85 |
+
0.47907911066320463,
|
| 86 |
+
-0.49851878091044743
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.9881171584129333,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.016590429469943047,
|
| 94 |
+
0.08911105833249167,
|
| 95 |
+
-0.014321462833322585
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.44164691034834536,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.5516940427123731,
|
| 101 |
+
-0.35313658183990426,
|
| 102 |
+
0.6130874687855461
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_6": {
|
| 107 |
+
"confidence": 0.9870713353157043,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.008920397609472275,
|
| 110 |
+
-0.08946963556809351,
|
| 111 |
+
-0.035789511748589575
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.6353201784841881,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.33369124344955864,
|
| 117 |
+
-0.4326516284994869,
|
| 118 |
+
-0.5457389423640645
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_9": {
|
| 123 |
+
"confidence": 0.9861273765563965,
|
| 124 |
+
"position": [
|
| 125 |
+
0.02324690856039524,
|
| 126 |
+
-0.06679222889943048,
|
| 127 |
+
0.06975176220294088
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.220540582812773,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.6765441787737763,
|
| 133 |
+
0.632242399643159,
|
| 134 |
+
0.3064626789567986
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_10": {
|
| 139 |
+
"confidence": 0.9860761761665344,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.03314020670950413,
|
| 142 |
+
0.08656721404986456,
|
| 143 |
+
-0.022916253306902945
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.45143892154591087,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.5428245989324266,
|
| 149 |
+
-0.30840286820531704,
|
| 150 |
+
0.6375202159853823
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_14": {
|
| 155 |
+
"confidence": 0.985645055770874,
|
| 156 |
+
"position": [
|
| 157 |
+
0.016502381360623986,
|
| 158 |
+
-0.07705591776175424,
|
| 159 |
+
0.059374932548962533
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.27787196450390117,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.6626559160212832,
|
| 165 |
+
0.6100822168061971,
|
| 166 |
+
0.33387721851239394
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_15": {
|
| 171 |
+
"confidence": 0.9854342937469482,
|
| 172 |
+
"position": [
|
| 173 |
+
0.03398220241069794,
|
| 174 |
+
0.09123181394534186,
|
| 175 |
+
0.036161125055514276
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.3985509378660532,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.5876866091316356,
|
| 181 |
+
-0.5879614538574695,
|
| 182 |
+
0.3874053796106361
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_18": {
|
| 187 |
+
"confidence": 0.9850668907165527,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.008266063407063484,
|
| 190 |
+
-0.02942869783146307,
|
| 191 |
+
0.09090642665978521
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.18749246857839102,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.7011432588796015,
|
| 197 |
+
0.6871864636408687,
|
| 198 |
+
0.0319291237404085
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
}
|
| 202 |
+
}
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"part_name": "writing tip",
|
| 206 |
+
"mask_color": "Red",
|
| 207 |
+
"graspable": false,
|
| 208 |
+
"grasp_scenarios": [],
|
| 209 |
+
"functional_labels": [
|
| 210 |
+
"write or mark on surfaces",
|
| 211 |
+
"provide fine contact point",
|
| 212 |
+
"indicate writing end"
|
| 213 |
+
],
|
| 214 |
+
"semantic_description": "Small pointed dark gray tip section with a smooth hard finish, tapered conical shape, positioned at the front end as the pen's writing point.",
|
| 215 |
+
"id": 0,
|
| 216 |
+
"grasp_group": {}
|
| 217 |
+
},
|
| 218 |
+
{
|
| 219 |
+
"part_name": "rear cap tip",
|
| 220 |
+
"mask_color": "Yellow",
|
| 221 |
+
"graspable": false,
|
| 222 |
+
"grasp_scenarios": [],
|
| 223 |
+
"functional_labels": [
|
| 224 |
+
"form pointed rear end",
|
| 225 |
+
"serve as rear-end cap geometry",
|
| 226 |
+
"terminate the back end of the pen body"
|
| 227 |
+
],
|
| 228 |
+
"semantic_description": "Small dark gray pointed rear-end piece with a slightly glossy smooth hard surface, located opposite the writing tip and forming the pen's back point.",
|
| 229 |
+
"id": 3,
|
| 230 |
+
"grasp_group": {}
|
| 231 |
+
},
|
| 232 |
+
{
|
| 233 |
+
"part_name": "side button",
|
| 234 |
+
"mask_color": "Blue",
|
| 235 |
+
"graspable": false,
|
| 236 |
+
"grasp_scenarios": [],
|
| 237 |
+
"functional_labels": [
|
| 238 |
+
"actuate mechanism",
|
| 239 |
+
"provide thumb press target",
|
| 240 |
+
"control pen function"
|
| 241 |
+
],
|
| 242 |
+
"semantic_description": "Small rounded dark gray side button with a smooth hard finish, protruding slightly from the upper side of the pen near the rear hardware.",
|
| 243 |
+
"id": 2,
|
| 244 |
+
"grasp_group": {}
|
| 245 |
+
},
|
| 246 |
+
{
|
| 247 |
+
"part_name": "cord loop",
|
| 248 |
+
"mask_color": "Purple",
|
| 249 |
+
"graspable": true,
|
| 250 |
+
"grasp_scenarios": [
|
| 251 |
+
{
|
| 252 |
+
"scenario": "delicately pinch the loop to pull or reorient the pen",
|
| 253 |
+
"confidence": 0.38
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"scenario": "hold the loop to retrieve the pen from a tight space",
|
| 257 |
+
"confidence": 0.31
|
| 258 |
+
}
|
| 259 |
+
],
|
| 260 |
+
"functional_labels": [
|
| 261 |
+
"provide hanging point",
|
| 262 |
+
"attach strap or tether",
|
| 263 |
+
"aid retrieval",
|
| 264 |
+
"indicate top area"
|
| 265 |
+
],
|
| 266 |
+
"semantic_description": "Thin flexible dark gray loop with a matte slightly textured appearance, small curved shape, and attached near the pen's rear end.",
|
| 267 |
+
"id": 5,
|
| 268 |
+
"grasp_group": {}
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"part_name": "rear tab or fin",
|
| 272 |
+
"mask_color": "Orange",
|
| 273 |
+
"graspable": true,
|
| 274 |
+
"grasp_scenarios": [
|
| 275 |
+
{
|
| 276 |
+
"scenario": "lightly pinch the rear tab to help reorient the pen",
|
| 277 |
+
"confidence": 0.32
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"scenario": "use the tab as a small contact point while pulling the pen from an attachment point",
|
| 281 |
+
"confidence": 0.27
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"functional_labels": [
|
| 285 |
+
"support rear hardware",
|
| 286 |
+
"help guide or retain the pen",
|
| 287 |
+
"provide a small manipulation feature",
|
| 288 |
+
"adjacent to loop attachment"
|
| 289 |
+
],
|
| 290 |
+
"semantic_description": "Small dark gray tab-like protrusion with a smooth hard appearance, compact curved form, mounted beside the rear loop hardware near the pen's back end.",
|
| 291 |
+
"id": 4,
|
| 292 |
+
"grasp_group": {
|
| 293 |
+
"grasp_20": {
|
| 294 |
+
"confidence": 0.9436472654342651,
|
| 295 |
+
"position": [
|
| 296 |
+
0.057989226654171944,
|
| 297 |
+
-0.1013051585177891,
|
| 298 |
+
-0.0008062318811425939
|
| 299 |
+
],
|
| 300 |
+
"orientation": {
|
| 301 |
+
"w": 0.5035537293173334,
|
| 302 |
+
"xyz": [
|
| 303 |
+
-0.5063025881360724,
|
| 304 |
+
0.48208188709055755,
|
| 305 |
+
0.5076301656487004
|
| 306 |
+
]
|
| 307 |
+
}
|
| 308 |
+
},
|
| 309 |
+
"grasp_21": {
|
| 310 |
+
"confidence": 0.9430511593818665,
|
| 311 |
+
"position": [
|
| 312 |
+
0.06076296232640743,
|
| 313 |
+
-0.09900623717112467,
|
| 314 |
+
0.023478459916077554
|
| 315 |
+
],
|
| 316 |
+
"orientation": {
|
| 317 |
+
"w": 0.4591741198258786,
|
| 318 |
+
"xyz": [
|
| 319 |
+
-0.5351974697814478,
|
| 320 |
+
-0.5715974434615664,
|
| 321 |
+
-0.4195225365220173
|
| 322 |
+
]
|
| 323 |
+
}
|
| 324 |
+
},
|
| 325 |
+
"grasp_24": {
|
| 326 |
+
"confidence": 0.9286195039749146,
|
| 327 |
+
"position": [
|
| 328 |
+
0.061019087210297585,
|
| 329 |
+
-0.10049017675919458,
|
| 330 |
+
0.011035099974833429
|
| 331 |
+
],
|
| 332 |
+
"orientation": {
|
| 333 |
+
"w": 0.45723582577690985,
|
| 334 |
+
"xyz": [
|
| 335 |
+
-0.540294462920713,
|
| 336 |
+
0.5139633364304329,
|
| 337 |
+
0.48462251471493045
|
| 338 |
+
]
|
| 339 |
+
}
|
| 340 |
+
},
|
| 341 |
+
"grasp_25": {
|
| 342 |
+
"confidence": 0.9269810914993286,
|
| 343 |
+
"position": [
|
| 344 |
+
0.06265524961054325,
|
| 345 |
+
-0.09915480174822733,
|
| 346 |
+
0.01886488904710859
|
| 347 |
+
],
|
| 348 |
+
"orientation": {
|
| 349 |
+
"w": 0.4655377187747466,
|
| 350 |
+
"xyz": [
|
| 351 |
+
-0.5226002458231781,
|
| 352 |
+
-0.5688143378439019,
|
| 353 |
+
-0.431988268968918
|
| 354 |
+
]
|
| 355 |
+
}
|
| 356 |
+
},
|
| 357 |
+
"grasp_26": {
|
| 358 |
+
"confidence": 0.9268316030502319,
|
| 359 |
+
"position": [
|
| 360 |
+
0.06578871421515942,
|
| 361 |
+
0.08877555123763159,
|
| 362 |
+
0.04570057650562376
|
| 363 |
+
],
|
| 364 |
+
"orientation": {
|
| 365 |
+
"w": 0.3395315457119063,
|
| 366 |
+
"xyz": [
|
| 367 |
+
0.6284770138112792,
|
| 368 |
+
0.5694145250838071,
|
| 369 |
+
-0.406819457746214
|
| 370 |
+
]
|
| 371 |
+
}
|
| 372 |
+
},
|
| 373 |
+
"grasp_35": {
|
| 374 |
+
"confidence": 0.9461227059364319,
|
| 375 |
+
"position": [
|
| 376 |
+
0.06738133169710636,
|
| 377 |
+
0.0989725127001293,
|
| 378 |
+
0.016000148258171976
|
| 379 |
+
],
|
| 380 |
+
"orientation": {
|
| 381 |
+
"w": 0.48768529384037895,
|
| 382 |
+
"xyz": [
|
| 383 |
+
0.5089011510412703,
|
| 384 |
+
-0.5716055271094559,
|
| 385 |
+
0.42005927441090357
|
| 386 |
+
]
|
| 387 |
+
}
|
| 388 |
+
},
|
| 389 |
+
"grasp_36": {
|
| 390 |
+
"confidence": 0.9459708333015442,
|
| 391 |
+
"position": [
|
| 392 |
+
0.05637390352785587,
|
| 393 |
+
0.10253826371626928,
|
| 394 |
+
0.003409334341995418
|
| 395 |
+
],
|
| 396 |
+
"orientation": {
|
| 397 |
+
"w": 0.48834838492634575,
|
| 398 |
+
"xyz": [
|
| 399 |
+
0.49507945485316074,
|
| 400 |
+
-0.5230238396235389,
|
| 401 |
+
0.4928065051392667
|
| 402 |
+
]
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
+
"grasp_39": {
|
| 406 |
+
"confidence": 0.924846351146698,
|
| 407 |
+
"position": [
|
| 408 |
+
0.07028388790786266,
|
| 409 |
+
-0.096023419580888,
|
| 410 |
+
0.02791458589490503
|
| 411 |
+
],
|
| 412 |
+
"orientation": {
|
| 413 |
+
"w": 0.4676604280241172,
|
| 414 |
+
"xyz": [
|
| 415 |
+
-0.5354485559962797,
|
| 416 |
+
-0.5964228545498033,
|
| 417 |
+
-0.37265043474074094
|
| 418 |
+
]
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
}
|
| 422 |
+
}
|
| 423 |
+
],
|
| 424 |
+
"quality_check": {
|
| 425 |
+
"success": false,
|
| 426 |
+
"message": "Red and yellow parts are swapped: red is rear pointed cap, yellow is writing tip."
|
| 427 |
+
}
|
| 428 |
+
}
|
dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bd29111d39dfb2fdf0ddabf0c5dde19803498ff246101e0d2aba78eeb625817c
|
| 3 |
+
size 737436
|
dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/c7b30a3506a851f4b6b607dcda22c3bc.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|