xinjjj commited on
Commit
e9d4fad
·
verified ·
1 Parent(s): d4bb8b6

Add asset desktop_supplies/office_stationery/81bed718b05a55fb926950ed347e2e2e

Browse files
.gitattributes CHANGED
@@ -6389,3 +6389,4 @@ dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/affo
6389
  dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6390
  dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6391
  dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6389
  dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6390
  dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6391
  dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6392
+ dataset/desktop_supplies/office_stationery/81bed718b05a55fb926950ed347e2e2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/81bed718b05a55fb926950ed347e2e2e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,727 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "outer casing",
5
+ "mask_color": "Pink",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the broad body to pick up and move the correction tape dispenser",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body while applying correction tape to paper",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the dispenser body while orienting the tip toward a surface",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house internal tape mechanism",
24
+ "support dispensing",
25
+ "protect internal parts",
26
+ "provide body structure"
27
+ ],
28
+ "semantic_description": "Large teardrop-shaped light blue plastic shell with a smooth matte-to-satin finish, forming the main body of the correction tape dispenser and surrounding the center finger hole, with printed branding on the broad faces.",
29
+ "id": 8,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9802456498146057,
33
+ "position": [
34
+ -0.10844683851064474,
35
+ -0.022913661785423756,
36
+ -0.0031086452363524586
37
+ ],
38
+ "orientation": {
39
+ "w": 0.0363155124748481,
40
+ "xyz": [
41
+ -0.6905815934085275,
42
+ -0.025772514965604287,
43
+ -0.7218822784023555
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9796812534332275,
49
+ "position": [
50
+ -0.10787038708986074,
51
+ -0.02701322827488184,
52
+ 0.0007570931629743427
53
+ ],
54
+ "orientation": {
55
+ "w": 0.04698365647361417,
56
+ "xyz": [
57
+ -0.698035880135283,
58
+ -0.027958811356912472,
59
+ -0.7139725141317687
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9791616201400757,
65
+ "position": [
66
+ -0.1064596494561556,
67
+ -0.04009707737714052,
68
+ -0.004226854915032163
69
+ ],
70
+ "orientation": {
71
+ "w": 0.06196111196940256,
72
+ "xyz": [
73
+ -0.6872190444948725,
74
+ -0.055395516130525735,
75
+ -0.7216800830559909
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9790573120117188,
81
+ "position": [
82
+ -0.10787757690013677,
83
+ -0.026082313619554043,
84
+ -0.0029791185224894434
85
+ ],
86
+ "orientation": {
87
+ "w": 0.06768586320184729,
88
+ "xyz": [
89
+ -0.6923397322926146,
90
+ -0.055356116566711244,
91
+ -0.7162541583615863
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9785307049751282,
97
+ "position": [
98
+ -0.10650560463727743,
99
+ -0.02275634091347456,
100
+ -0.0010636552178766578
101
+ ],
102
+ "orientation": {
103
+ "w": 0.03302255170675948,
104
+ "xyz": [
105
+ -0.6967968263613652,
106
+ -0.01543812738527639,
107
+ -0.7163416489876462
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9781219959259033,
113
+ "position": [
114
+ -0.10393490101159841,
115
+ -0.04182242322713137,
116
+ -0.0015083962643984705
117
+ ],
118
+ "orientation": {
119
+ "w": 0.6946962361307255,
120
+ "xyz": [
121
+ -0.0880120746436415,
122
+ 0.7057988681484398,
123
+ 0.10723325950052512
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9780781865119934,
129
+ "position": [
130
+ -0.10369842703403265,
131
+ -0.03920013178139925,
132
+ -0.003722300665685907
133
+ ],
134
+ "orientation": {
135
+ "w": 0.10939802953480873,
136
+ "xyz": [
137
+ -0.6860168051356403,
138
+ -0.09960094178984047,
139
+ -0.7123851953823628
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9780384302139282,
145
+ "position": [
146
+ -0.1097507273680094,
147
+ -0.029100104235112667,
148
+ 0.0035106326395180076
149
+ ],
150
+ "orientation": {
151
+ "w": 0.05049663084651094,
152
+ "xyz": [
153
+ -0.6990092438851062,
154
+ -0.045318808302971525,
155
+ -0.7118864887398284
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9780152440071106,
161
+ "position": [
162
+ -0.10432792658866674,
163
+ -0.03416477795690298,
164
+ 0.003419299697270617
165
+ ],
166
+ "orientation": {
167
+ "w": 0.6933675727129793,
168
+ "xyz": [
169
+ -0.026329068971119945,
170
+ 0.7181635302407591,
171
+ 0.05281413702179013
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9774812459945679,
177
+ "position": [
178
+ -0.10442315245927603,
179
+ -0.020788230933248997,
180
+ -0.004243690433213487
181
+ ],
182
+ "orientation": {
183
+ "w": 0.05168847346310737,
184
+ "xyz": [
185
+ -0.687443757758343,
186
+ -0.02616480408857058,
187
+ -0.7239231897495403
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9773069620132446,
193
+ "position": [
194
+ -0.10520290787280828,
195
+ -0.02388735581189394,
196
+ 0.0009864056191872805
197
+ ],
198
+ "orientation": {
199
+ "w": 0.038982957948727706,
200
+ "xyz": [
201
+ -0.701581491841978,
202
+ -0.021170038987905482,
203
+ -0.7112071208470866
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.977277398109436,
209
+ "position": [
210
+ -0.10705825890363485,
211
+ -0.022854612208902836,
212
+ 0.002554837235948071
213
+ ],
214
+ "orientation": {
215
+ "w": 0.6960425285156678,
216
+ "xyz": [
217
+ -0.009834222579639245,
218
+ 0.7170040675106982,
219
+ 0.036513747231478454
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9769489169120789,
225
+ "position": [
226
+ -0.10487053002179891,
227
+ -0.02150410506874323,
228
+ -0.003661241993540898
229
+ ],
230
+ "orientation": {
231
+ "w": 0.06244916123653338,
232
+ "xyz": [
233
+ -0.6920354513271781,
234
+ -0.044109598700056374,
235
+ -0.7178031622037914
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9769154787063599,
241
+ "position": [
242
+ 0.10613520239530772,
243
+ -0.029619022272527218,
244
+ -0.008260045578936115
245
+ ],
246
+ "orientation": {
247
+ "w": 0.7180304499380427,
248
+ "xyz": [
249
+ -0.010614600754594512,
250
+ -0.6954662537304606,
251
+ -0.025422296015719197
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9766837954521179,
257
+ "position": [
258
+ -0.1029571687704447,
259
+ -0.03269664291292429,
260
+ 0.003194229066139087
261
+ ],
262
+ "orientation": {
263
+ "w": 0.6918294952983273,
264
+ "xyz": [
265
+ -0.00208110305850123,
266
+ 0.7214446817379282,
267
+ 0.0297521366859692
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9765223264694214,
273
+ "position": [
274
+ -0.10936430300534994,
275
+ -0.025861061178147793,
276
+ -0.004299436142900959
277
+ ],
278
+ "orientation": {
279
+ "w": 0.7063255707942842,
280
+ "xyz": [
281
+ -0.027963333807563998,
282
+ 0.7056354762006434,
283
+ 0.048998109469502664
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9763948917388916,
289
+ "position": [
290
+ 0.10334978793798655,
291
+ -0.04256238881498575,
292
+ 0.002661848528077826
293
+ ],
294
+ "orientation": {
295
+ "w": 0.07181246669171253,
296
+ "xyz": [
297
+ -0.7094206767499079,
298
+ 0.03111682740347066,
299
+ 0.7004263102423388
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9763603806495667,
305
+ "position": [
306
+ -0.10232766176523,
307
+ -0.032701398245990276,
308
+ -0.0023997178359422833
309
+ ],
310
+ "orientation": {
311
+ "w": 0.6964740948536348,
312
+ "xyz": [
313
+ -0.09336592987139294,
314
+ 0.7012892858202092,
315
+ 0.11999989971179695
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9762977361679077,
321
+ "position": [
322
+ -0.10390138830007345,
323
+ -0.02835616935044527,
324
+ -0.003091819497058168
325
+ ],
326
+ "orientation": {
327
+ "w": 0.10544458522667509,
328
+ "xyz": [
329
+ -0.6871714043009444,
330
+ -0.09265993470003686,
331
+ -0.7128050484240603
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9762725234031677,
337
+ "position": [
338
+ -0.10105969215692312,
339
+ -0.04679256770759821,
340
+ 0.0034584534296300262
341
+ ],
342
+ "orientation": {
343
+ "w": 0.685363244590505,
344
+ "xyz": [
345
+ -0.11249715750448665,
346
+ 0.7048620362459801,
347
+ 0.1441912701135439
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "finger hole rim",
355
+ "mask_color": "Violet",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "pinch near the hole rim to reorient the dispenser precisely",
360
+ "confidence": 0.59
361
+ },
362
+ {
363
+ "scenario": "use a small gripper at the ring edge to help stabilize the body during manipulation",
364
+ "confidence": 0.48
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "define finger hole boundary",
369
+ "improve handling control",
370
+ "reinforce opening edge",
371
+ "provide localized grip reference"
372
+ ],
373
+ "semantic_description": "Small raised circular rim around the center finger hole, appearing as a purple plastic ring with a smooth hard finish around the recessed opening in the middle of the body.",
374
+ "id": 20,
375
+ "grasp_group": {
376
+ "grasp_20": {
377
+ "confidence": 0.717958390712738,
378
+ "position": [
379
+ 0.030115218656646903,
380
+ 0.10660795401781797,
381
+ -0.021613184740999714
382
+ ],
383
+ "orientation": {
384
+ "w": 0.7141730902041583,
385
+ "xyz": [
386
+ 0.40089947033668055,
387
+ -0.4564449281982399,
388
+ 0.3476987768660047
389
+ ]
390
+ }
391
+ },
392
+ "grasp_21": {
393
+ "confidence": 0.5803501009941101,
394
+ "position": [
395
+ -0.0993326028710726,
396
+ -0.007892492460086942,
397
+ 0.029294203588506207
398
+ ],
399
+ "orientation": {
400
+ "w": 0.6419902277700963,
401
+ "xyz": [
402
+ -0.2531921868044445,
403
+ 0.7236947437506286,
404
+ -0.002860394482537255
405
+ ]
406
+ }
407
+ },
408
+ "grasp_22": {
409
+ "confidence": 0.9554361701011658,
410
+ "position": [
411
+ -0.10376601125062734,
412
+ 0.001305929385125637,
413
+ -0.004746173421153799
414
+ ],
415
+ "orientation": {
416
+ "w": 0.7059650860329171,
417
+ "xyz": [
418
+ 0.004946999980741838,
419
+ 0.7080201188478786,
420
+ 0.017214406767658685
421
+ ]
422
+ }
423
+ },
424
+ "grasp_23": {
425
+ "confidence": 0.9448738694190979,
426
+ "position": [
427
+ -0.10333612765134603,
428
+ 0.010174118913710117,
429
+ -0.008369232906261459
430
+ ],
431
+ "orientation": {
432
+ "w": 0.7135934156995011,
433
+ "xyz": [
434
+ 0.022660181277504125,
435
+ 0.7000064349055664,
436
+ -0.016184694794423093
437
+ ]
438
+ }
439
+ },
440
+ "grasp_24": {
441
+ "confidence": 0.9400267601013184,
442
+ "position": [
443
+ -0.09477193112434179,
444
+ 0.05457263719290495,
445
+ -0.01784845851943828
446
+ ],
447
+ "orientation": {
448
+ "w": 0.7369598383068149,
449
+ "xyz": [
450
+ 0.17489551629903757,
451
+ 0.630985381105063,
452
+ -0.16780704375259423
453
+ ]
454
+ }
455
+ },
456
+ "grasp_25": {
457
+ "confidence": 0.9231359958648682,
458
+ "position": [
459
+ -0.06905118579925329,
460
+ 0.09367447625845671,
461
+ 0.0001206952438224107
462
+ ],
463
+ "orientation": {
464
+ "w": 0.6472736713951269,
465
+ "xyz": [
466
+ 0.29525847349430745,
467
+ 0.6427991903965941,
468
+ -0.2840218811534919
469
+ ]
470
+ }
471
+ },
472
+ "grasp_27": {
473
+ "confidence": 0.8577783107757568,
474
+ "position": [
475
+ 0.040779312896120246,
476
+ 0.10619295667856932,
477
+ 0.002077150478726253
478
+ ],
479
+ "orientation": {
480
+ "w": 0.6032820133311202,
481
+ "xyz": [
482
+ 0.3507805278225921,
483
+ -0.6203892491256005,
484
+ 0.357939957620029
485
+ ]
486
+ }
487
+ },
488
+ "grasp_28": {
489
+ "confidence": 0.356859028339386,
490
+ "position": [
491
+ -0.09060703421891958,
492
+ 0.05052431207150221,
493
+ -0.002484976692358032
494
+ ],
495
+ "orientation": {
496
+ "w": 0.6850217259151018,
497
+ "xyz": [
498
+ 0.1883834889277494,
499
+ 0.6824964848786259,
500
+ -0.1716258845629738
501
+ ]
502
+ }
503
+ },
504
+ "grasp_29": {
505
+ "confidence": 0.9631823301315308,
506
+ "position": [
507
+ -0.08808486367524893,
508
+ 0.07827405910938978,
509
+ -0.004160699812928215
510
+ ],
511
+ "orientation": {
512
+ "w": 0.6735662548543669,
513
+ "xyz": [
514
+ 0.20977072758547094,
515
+ 0.6777185977267096,
516
+ -0.20736982534849585
517
+ ]
518
+ }
519
+ },
520
+ "grasp_30": {
521
+ "confidence": 0.9627262353897095,
522
+ "position": [
523
+ -0.09027269686521322,
524
+ 0.07581389974802732,
525
+ -0.0015669777349103242
526
+ ],
527
+ "orientation": {
528
+ "w": 0.6760965734207786,
529
+ "xyz": [
530
+ 0.20375276975095538,
531
+ 0.6800290967671144,
532
+ -0.19732881132160668
533
+ ]
534
+ }
535
+ },
536
+ "grasp_31": {
537
+ "confidence": 0.9613447785377502,
538
+ "position": [
539
+ -0.08938542957366735,
540
+ 0.07543772738426924,
541
+ -0.005064169323304668
542
+ ],
543
+ "orientation": {
544
+ "w": 0.6893202593925335,
545
+ "xyz": [
546
+ 0.21151567015305175,
547
+ 0.6675058514649893,
548
+ -0.1858349792980713
549
+ ]
550
+ }
551
+ },
552
+ "grasp_32": {
553
+ "confidence": 0.9597340226173401,
554
+ "position": [
555
+ -0.08633565361560613,
556
+ 0.0800060136243701,
557
+ 0.0015334167692344636
558
+ ],
559
+ "orientation": {
560
+ "w": 0.6642030143898713,
561
+ "xyz": [
562
+ 0.2183423448605302,
563
+ 0.683506082118421,
564
+ -0.2097150729521847
565
+ ]
566
+ }
567
+ },
568
+ "grasp_33": {
569
+ "confidence": 0.9539486169815063,
570
+ "position": [
571
+ -0.0850704779750231,
572
+ 0.08065092843025923,
573
+ 0.0014838895003776997
574
+ ],
575
+ "orientation": {
576
+ "w": 0.22551978763151984,
577
+ "xyz": [
578
+ 0.6647402671600554,
579
+ -0.2147745022134978,
580
+ 0.6790678285720484
581
+ ]
582
+ }
583
+ },
584
+ "grasp_34": {
585
+ "confidence": 0.9538056254386902,
586
+ "position": [
587
+ -0.10555304045738012,
588
+ 0.02947318460792303,
589
+ 0.010807876096805558
590
+ ],
591
+ "orientation": {
592
+ "w": 0.6746942313793177,
593
+ "xyz": [
594
+ 0.11749206988653758,
595
+ 0.7265443319831346,
596
+ -0.05582688707450895
597
+ ]
598
+ }
599
+ },
600
+ "grasp_35": {
601
+ "confidence": 0.9526131749153137,
602
+ "position": [
603
+ -0.1023526063090685,
604
+ -0.007165382849052548,
605
+ -0.007820649450877681
606
+ ],
607
+ "orientation": {
608
+ "w": 0.7182926689574246,
609
+ "xyz": [
610
+ -0.045007502591419925,
611
+ 0.6932320047690139,
612
+ 0.03820149207082839
613
+ ]
614
+ }
615
+ },
616
+ "grasp_36": {
617
+ "confidence": 0.9499910473823547,
618
+ "position": [
619
+ -0.09901145304502279,
620
+ 0.05690998863428831,
621
+ -0.007556290278444067
622
+ ],
623
+ "orientation": {
624
+ "w": 0.6944639383305382,
625
+ "xyz": [
626
+ 0.18216532881341,
627
+ 0.67575461301176,
628
+ -0.16700698886593815
629
+ ]
630
+ }
631
+ },
632
+ "grasp_37": {
633
+ "confidence": 0.9493985176086426,
634
+ "position": [
635
+ -0.09960158373178274,
636
+ 0.05730119626969099,
637
+ 0.0019314166565891355
638
+ ],
639
+ "orientation": {
640
+ "w": 0.6830721188418006,
641
+ "xyz": [
642
+ 0.18464310527858044,
643
+ 0.6874566596649919,
644
+ -0.16347093079904687
645
+ ]
646
+ }
647
+ },
648
+ "grasp_38": {
649
+ "confidence": 0.9469618797302246,
650
+ "position": [
651
+ -0.08139404858411581,
652
+ 0.07809908222407103,
653
+ -0.02570869997725822
654
+ ],
655
+ "orientation": {
656
+ "w": 0.7340068314000301,
657
+ "xyz": [
658
+ 0.18543465665711314,
659
+ 0.598691458797108,
660
+ -0.2615654731265908
661
+ ]
662
+ }
663
+ }
664
+ }
665
+ },
666
+ {
667
+ "part_name": "dispensing tip",
668
+ "mask_color": "Gray",
669
+ "graspable": false,
670
+ "grasp_scenarios": [],
671
+ "functional_labels": [
672
+ "dispense correction tape",
673
+ "contact paper surface",
674
+ "guide tape onto substrate",
675
+ "define application direction"
676
+ ],
677
+ "semantic_description": "Small exposed applicator tip at the narrow front end, appearing dark gray with a small lighter edge, made of hard plastic or metal-like material and projecting slightly from the shell.",
678
+ "id": 15,
679
+ "grasp_group": {}
680
+ },
681
+ {
682
+ "part_name": "front accent insert",
683
+ "mask_color": "Crimson",
684
+ "graspable": false,
685
+ "grasp_scenarios": [],
686
+ "functional_labels": [
687
+ "front visual accent",
688
+ "mark applicator-end corner"
689
+ ],
690
+ "semantic_description": "Very small red insert on the outer corner near the front tip, visible as a tiny colored accent at the applicator end.",
691
+ "id": 16,
692
+ "grasp_group": {}
693
+ },
694
+ {
695
+ "part_name": "printed logo text",
696
+ "mask_color": "Olive",
697
+ "graspable": false,
698
+ "grasp_scenarios": [],
699
+ "functional_labels": [
700
+ "brand marking",
701
+ "visual identification",
702
+ "show product labeling"
703
+ ],
704
+ "semantic_description": "Printed logo letter portions on the casing face, appearing as flat green colored graphic text with a smooth printed finish on the blue plastic body.",
705
+ "id": 14,
706
+ "grasp_group": {}
707
+ },
708
+ {
709
+ "part_name": "printed logo text",
710
+ "mask_color": "Jade",
711
+ "graspable": false,
712
+ "grasp_scenarios": [],
713
+ "functional_labels": [
714
+ "brand marking",
715
+ "visual identification",
716
+ "show product labeling"
717
+ ],
718
+ "semantic_description": "Printed logo letter portions within the multicolored brand text on the casing face, appearing as flat cyan or turquoise printed graphics on the blue plastic body.",
719
+ "id": 19,
720
+ "grasp_group": {}
721
+ }
722
+ ],
723
+ "quality_check": {
724
+ "success": false,
725
+ "message": "Several semantic descriptions use mask colors instead of real colors; hole rim and logo colors are incorrect."
726
+ }
727
+ }
dataset/desktop_supplies/office_stationery/81bed718b05a55fb926950ed347e2e2e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:52d771f66cb320a070bdc89d8cc52bafac2a15d73c9f69be81c16a752706fbfa
3
+ size 3804596
dataset/desktop_supplies/office_stationery/81bed718b05a55fb926950ed347e2e2e/correction_tape_027.urdf CHANGED
@@ -50,16 +50,17 @@
50
  </link>
51
  <custom_data>
52
  <affordance>
53
- <part_count>0</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
57
- <mesh filename="None" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
63
  </quality>
64
  </custom_data>
65
  </robot>
 
50
  </link>
51
  <custom_data>
52
  <affordance>
53
+ <part_count>6</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
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>NO: {"summary":"segmentation includes printed text as parts and splits the dispenser tip inconsistently","merge_groups":[]}</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>