Add asset desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9/affordance/affordance_annot.json +672 -0
- dataset/desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9/notebook_020.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6410,3 +6410,4 @@ dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/affo
|
|
| 6410 |
dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6411 |
dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6412 |
dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6410 |
dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6411 |
dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6412 |
dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6413 |
+
dataset/desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,672 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "notebook cover and page block",
|
| 5 |
+
"mask_color": "Brown",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the notebook body from the sides to pick it up",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the notebook body to reposition it on a desk",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the closed notebook body to stabilize it while moving the elastic strap",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the pages",
|
| 23 |
+
"provide writing surface support",
|
| 24 |
+
"form the main body",
|
| 25 |
+
"protect stored notes",
|
| 26 |
+
"main grasp surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large compact rectangular notebook body with black textured leather-like covers, white page edges, rounded corners, and a fairly thick form making up most of the object. A white logo is visible on the front cover in some views.",
|
| 29 |
+
"id": 11,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9870118498802185,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.005352161359041929,
|
| 35 |
+
-0.15994826797395945,
|
| 36 |
+
0.00019284237350802869
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.4967499102244275,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.4918559461051377,
|
| 42 |
+
-0.5066581209322146,
|
| 43 |
+
-0.5045937013741653
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9864860773086548,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.00847252318635583,
|
| 51 |
+
-0.15932764951139688,
|
| 52 |
+
-0.0012195007439004257
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5019286148312322,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.49760530963915045,
|
| 58 |
+
-0.4945568304346868,
|
| 59 |
+
-0.5058361028069488
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_22": {
|
| 64 |
+
"confidence": 0.9863790273666382,
|
| 65 |
+
"position": [
|
| 66 |
+
0.005995275918394327,
|
| 67 |
+
-0.16009917203336954,
|
| 68 |
+
-0.001302901961025782
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5050178065065974,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.49400585458635826,
|
| 74 |
+
-0.4980345161631583,
|
| 75 |
+
-0.5028686224609713
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_23": {
|
| 80 |
+
"confidence": 0.9859398603439331,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.004334729630500078,
|
| 83 |
+
-0.15923795942217112,
|
| 84 |
+
-0.004433129986864515
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5059455666866437,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.49140923906730105,
|
| 90 |
+
-0.4944492665633857,
|
| 91 |
+
-0.5079920925608555
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_24": {
|
| 96 |
+
"confidence": 0.9858646392822266,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.007439013104885817,
|
| 99 |
+
-0.1583793694153428,
|
| 100 |
+
0.0011453665065346286
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.50231981005642,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.4984899168350608,
|
| 106 |
+
-0.5017922072064988,
|
| 107 |
+
-0.49738032935117815
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_25": {
|
| 112 |
+
"confidence": 0.9857532382011414,
|
| 113 |
+
"position": [
|
| 114 |
+
0.005848516244441271,
|
| 115 |
+
-0.1591312075033784,
|
| 116 |
+
-0.002629647569847293
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.5037816381333928,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.4938672548254364,
|
| 122 |
+
-0.4951842944041641,
|
| 123 |
+
-0.507042118828675
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_26": {
|
| 128 |
+
"confidence": 0.9853899478912354,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.016882302705198526,
|
| 131 |
+
-0.16026847902685404,
|
| 132 |
+
-0.00043126144737470895
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.5027464420815949,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.4903952077060455,
|
| 138 |
+
-0.5030472256822994,
|
| 139 |
+
-0.5036884393815123
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_27": {
|
| 144 |
+
"confidence": 0.9853087067604065,
|
| 145 |
+
"position": [
|
| 146 |
+
0.00498989038169384,
|
| 147 |
+
-0.15814118925482035,
|
| 148 |
+
-0.003244272040319629
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.5072158565926026,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.4895586012437094,
|
| 154 |
+
-0.5000371924287229,
|
| 155 |
+
-0.5030181477415452
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_28": {
|
| 160 |
+
"confidence": 0.9851685762405396,
|
| 161 |
+
"position": [
|
| 162 |
+
0.008401469327509403,
|
| 163 |
+
-0.1597877973690629,
|
| 164 |
+
-0.0032075434719445184
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.5028879181875348,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.4984829649783121,
|
| 170 |
+
-0.48366975168951887,
|
| 171 |
+
-0.5144725907840346
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_29": {
|
| 176 |
+
"confidence": 0.9850917458534241,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.013395743910223246,
|
| 179 |
+
-0.15833158139139414,
|
| 180 |
+
5.877917283214629e-05
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.4975817570106084,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.5039598217061679,
|
| 186 |
+
0.5000146840760626,
|
| 187 |
+
0.498419711592989
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_30": {
|
| 192 |
+
"confidence": 0.9849837422370911,
|
| 193 |
+
"position": [
|
| 194 |
+
0.0008068717725109309,
|
| 195 |
+
-0.15772507432848215,
|
| 196 |
+
5.8943405747413635e-06
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.5086809468139372,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.49636751768188575,
|
| 202 |
+
0.5027858804043888,
|
| 203 |
+
0.4920054270074496
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_31": {
|
| 208 |
+
"confidence": 0.9849366545677185,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.009010276291519403,
|
| 211 |
+
-0.15798089746385813,
|
| 212 |
+
0.002520338093745522
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.5053484349991744,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.48895847921289276,
|
| 218 |
+
-0.5102142661379551,
|
| 219 |
+
-0.49520093646822544
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_32": {
|
| 224 |
+
"confidence": 0.984902560710907,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.0009958341252058744,
|
| 227 |
+
-0.15768287423998117,
|
| 228 |
+
-0.001640739690628834
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.5052582226434497,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.49599918600594856,
|
| 234 |
+
0.5025931071435524,
|
| 235 |
+
0.4960837677090517
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_33": {
|
| 240 |
+
"confidence": 0.9847139716148376,
|
| 241 |
+
"position": [
|
| 242 |
+
0.012777714524418116,
|
| 243 |
+
-0.15953650418668985,
|
| 244 |
+
-0.0032331303955288604
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.5103045098754482,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.4935300463012108,
|
| 250 |
+
0.49468521280876665,
|
| 251 |
+
0.5013022449850478
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_34": {
|
| 256 |
+
"confidence": 0.9846543073654175,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.008766599465161562,
|
| 259 |
+
-0.1572490567341447,
|
| 260 |
+
-0.0019207361183362082
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.5035184904399028,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.4945106564756666,
|
| 266 |
+
-0.49803635688192704,
|
| 267 |
+
-0.5038731265317736
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_35": {
|
| 272 |
+
"confidence": 0.984641969203949,
|
| 273 |
+
"position": [
|
| 274 |
+
0.008670751936733723,
|
| 275 |
+
-0.15807876829057932,
|
| 276 |
+
-0.0011072282359236851
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.5054317852720396,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.4993110518209306,
|
| 282 |
+
0.49655470894322895,
|
| 283 |
+
0.49865880619166825
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_36": {
|
| 288 |
+
"confidence": 0.9846352338790894,
|
| 289 |
+
"position": [
|
| 290 |
+
0.022844273131340742,
|
| 291 |
+
-0.15701206866651773,
|
| 292 |
+
-0.00294657151971478
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.45111610066683283,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.5465073629817209,
|
| 298 |
+
0.442431843965735,
|
| 299 |
+
0.5496162564653602
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_37": {
|
| 304 |
+
"confidence": 0.9843144416809082,
|
| 305 |
+
"position": [
|
| 306 |
+
-0.007450439501553774,
|
| 307 |
+
-0.1571424538269639,
|
| 308 |
+
-0.0014184051688062027
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.5017266488931769,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.4965907301745232,
|
| 314 |
+
-0.49969514009372384,
|
| 315 |
+
-0.5019689068676176
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_38": {
|
| 320 |
+
"confidence": 0.9839463233947754,
|
| 321 |
+
"position": [
|
| 322 |
+
0.007296162191778421,
|
| 323 |
+
-0.15760565642267466,
|
| 324 |
+
-0.0015640517958672717
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.5043450960695742,
|
| 328 |
+
"xyz": [
|
| 329 |
+
-0.4962104965887328,
|
| 330 |
+
-0.4969526744121282,
|
| 331 |
+
-0.5024432371326828
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_39": {
|
| 336 |
+
"confidence": 0.9838169813156128,
|
| 337 |
+
"position": [
|
| 338 |
+
0.0004502047086134553,
|
| 339 |
+
-0.15650273207575083,
|
| 340 |
+
-0.0026973842905135825
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.4813119707573508,
|
| 344 |
+
"xyz": [
|
| 345 |
+
-0.5202270914827527,
|
| 346 |
+
0.47314792382448523,
|
| 347 |
+
0.5232911257356178
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"part_name": "elastic closure band and ring-binding edge",
|
| 355 |
+
"mask_color": "Pink",
|
| 356 |
+
"graspable": true,
|
| 357 |
+
"grasp_scenarios": [
|
| 358 |
+
{
|
| 359 |
+
"scenario": "pinch and pull the elastic band to open or secure the notebook",
|
| 360 |
+
"confidence": 0.9
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"scenario": "lightly hold the ring-binding edge to stabilize the notebook during page turning or reorientation",
|
| 364 |
+
"confidence": 0.42
|
| 365 |
+
}
|
| 366 |
+
],
|
| 367 |
+
"functional_labels": [
|
| 368 |
+
"keep the notebook closed",
|
| 369 |
+
"secure the covers",
|
| 370 |
+
"provide a pull point",
|
| 371 |
+
"bind the pages",
|
| 372 |
+
"allow pages to turn around the ring-binding edge"
|
| 373 |
+
],
|
| 374 |
+
"semantic_description": "Combined segmented part including a narrow black elastic fabric band wrapped around the notebook, with a small pull tab visible in some views, and a row of small silver metal ring loops along one side forming the binding edge.",
|
| 375 |
+
"id": 8,
|
| 376 |
+
"grasp_group": {
|
| 377 |
+
"grasp_0": {
|
| 378 |
+
"confidence": 0.9824491739273071,
|
| 379 |
+
"position": [
|
| 380 |
+
-0.143026786390692,
|
| 381 |
+
0.04218559619039297,
|
| 382 |
+
0.0018830361514119431
|
| 383 |
+
],
|
| 384 |
+
"orientation": {
|
| 385 |
+
"w": 0.0037826959555984857,
|
| 386 |
+
"xyz": [
|
| 387 |
+
0.7043020600195843,
|
| 388 |
+
0.019277520556062022,
|
| 389 |
+
0.7096285483720955
|
| 390 |
+
]
|
| 391 |
+
}
|
| 392 |
+
},
|
| 393 |
+
"grasp_1": {
|
| 394 |
+
"confidence": 0.982047438621521,
|
| 395 |
+
"position": [
|
| 396 |
+
0.03140464751049876,
|
| 397 |
+
-0.1642738515511155,
|
| 398 |
+
-0.0028582379018189386
|
| 399 |
+
],
|
| 400 |
+
"orientation": {
|
| 401 |
+
"w": 0.5094665421195678,
|
| 402 |
+
"xyz": [
|
| 403 |
+
-0.48663091104081596,
|
| 404 |
+
0.5039121292218259,
|
| 405 |
+
0.4997066788661545
|
| 406 |
+
]
|
| 407 |
+
}
|
| 408 |
+
},
|
| 409 |
+
"grasp_2": {
|
| 410 |
+
"confidence": 0.9819982647895813,
|
| 411 |
+
"position": [
|
| 412 |
+
-0.09774519735947251,
|
| 413 |
+
0.14547484274953604,
|
| 414 |
+
0.002953437084215693
|
| 415 |
+
],
|
| 416 |
+
"orientation": {
|
| 417 |
+
"w": 0.3514426377490586,
|
| 418 |
+
"xyz": [
|
| 419 |
+
0.6078768017957471,
|
| 420 |
+
-0.34402625359875505,
|
| 421 |
+
0.6233937784782289
|
| 422 |
+
]
|
| 423 |
+
}
|
| 424 |
+
},
|
| 425 |
+
"grasp_3": {
|
| 426 |
+
"confidence": 0.9809251427650452,
|
| 427 |
+
"position": [
|
| 428 |
+
0.03229842847213149,
|
| 429 |
+
-0.163747095502913,
|
| 430 |
+
-0.0018109519296558574
|
| 431 |
+
],
|
| 432 |
+
"orientation": {
|
| 433 |
+
"w": 0.5030210848509195,
|
| 434 |
+
"xyz": [
|
| 435 |
+
-0.4968371849946415,
|
| 436 |
+
-0.49476881917265514,
|
| 437 |
+
-0.5052983429386054
|
| 438 |
+
]
|
| 439 |
+
}
|
| 440 |
+
},
|
| 441 |
+
"grasp_4": {
|
| 442 |
+
"confidence": 0.9809060096740723,
|
| 443 |
+
"position": [
|
| 444 |
+
-0.09400058025494218,
|
| 445 |
+
0.14025408681482077,
|
| 446 |
+
0.003470920884865336
|
| 447 |
+
],
|
| 448 |
+
"orientation": {
|
| 449 |
+
"w": 0.36811066095270356,
|
| 450 |
+
"xyz": [
|
| 451 |
+
0.6036050850110444,
|
| 452 |
+
-0.3531478789991179,
|
| 453 |
+
0.6127332357561477
|
| 454 |
+
]
|
| 455 |
+
}
|
| 456 |
+
},
|
| 457 |
+
"grasp_5": {
|
| 458 |
+
"confidence": 0.9809056520462036,
|
| 459 |
+
"position": [
|
| 460 |
+
-0.09533478552475572,
|
| 461 |
+
0.14649879094213247,
|
| 462 |
+
0.0019490019622026011
|
| 463 |
+
],
|
| 464 |
+
"orientation": {
|
| 465 |
+
"w": 0.6114328276580223,
|
| 466 |
+
"xyz": [
|
| 467 |
+
0.35441257427855877,
|
| 468 |
+
0.6178954681535932,
|
| 469 |
+
-0.3445965973288359
|
| 470 |
+
]
|
| 471 |
+
}
|
| 472 |
+
},
|
| 473 |
+
"grasp_6": {
|
| 474 |
+
"confidence": 0.9799293875694275,
|
| 475 |
+
"position": [
|
| 476 |
+
0.05448400368914008,
|
| 477 |
+
-0.161908277310431,
|
| 478 |
+
-0.0013536687038140371
|
| 479 |
+
],
|
| 480 |
+
"orientation": {
|
| 481 |
+
"w": 0.4586421179843066,
|
| 482 |
+
"xyz": [
|
| 483 |
+
-0.5360131183746122,
|
| 484 |
+
0.44105709151894135,
|
| 485 |
+
0.5548026555109892
|
| 486 |
+
]
|
| 487 |
+
}
|
| 488 |
+
},
|
| 489 |
+
"grasp_7": {
|
| 490 |
+
"confidence": 0.9796334505081177,
|
| 491 |
+
"position": [
|
| 492 |
+
-0.1305695646442473,
|
| 493 |
+
0.01616064738482237,
|
| 494 |
+
0.0010786125640152022
|
| 495 |
+
],
|
| 496 |
+
"orientation": {
|
| 497 |
+
"w": 0.1974732793579386,
|
| 498 |
+
"xyz": [
|
| 499 |
+
0.6770268791281873,
|
| 500 |
+
-0.18576893208730505,
|
| 501 |
+
0.6841993954606437
|
| 502 |
+
]
|
| 503 |
+
}
|
| 504 |
+
},
|
| 505 |
+
"grasp_9": {
|
| 506 |
+
"confidence": 0.9775787591934204,
|
| 507 |
+
"position": [
|
| 508 |
+
-0.14444943005219102,
|
| 509 |
+
0.05935753043740988,
|
| 510 |
+
0.0012916299019707367
|
| 511 |
+
],
|
| 512 |
+
"orientation": {
|
| 513 |
+
"w": 0.6953020959103143,
|
| 514 |
+
"xyz": [
|
| 515 |
+
0.014403447224473504,
|
| 516 |
+
0.7185575491562621,
|
| 517 |
+
0.004752334302434178
|
| 518 |
+
]
|
| 519 |
+
}
|
| 520 |
+
},
|
| 521 |
+
"grasp_10": {
|
| 522 |
+
"confidence": 0.9772939085960388,
|
| 523 |
+
"position": [
|
| 524 |
+
-0.09466394269838929,
|
| 525 |
+
0.14109267946332693,
|
| 526 |
+
0.001474845499615185
|
| 527 |
+
],
|
| 528 |
+
"orientation": {
|
| 529 |
+
"w": 0.6133663356642544,
|
| 530 |
+
"xyz": [
|
| 531 |
+
0.3686611126943956,
|
| 532 |
+
0.6025573559273998,
|
| 533 |
+
-0.353263860419541
|
| 534 |
+
]
|
| 535 |
+
}
|
| 536 |
+
},
|
| 537 |
+
"grasp_11": {
|
| 538 |
+
"confidence": 0.9767228960990906,
|
| 539 |
+
"position": [
|
| 540 |
+
-0.09660352254286408,
|
| 541 |
+
-0.14648277405649424,
|
| 542 |
+
-0.0018203631771029904
|
| 543 |
+
],
|
| 544 |
+
"orientation": {
|
| 545 |
+
"w": 0.6138722961640555,
|
| 546 |
+
"xyz": [
|
| 547 |
+
-0.3448419748810854,
|
| 548 |
+
0.6225616920802125,
|
| 549 |
+
0.34155783685432367
|
| 550 |
+
]
|
| 551 |
+
}
|
| 552 |
+
},
|
| 553 |
+
"grasp_12": {
|
| 554 |
+
"confidence": 0.9766092896461487,
|
| 555 |
+
"position": [
|
| 556 |
+
0.03247925778850913,
|
| 557 |
+
-0.15542394760996103,
|
| 558 |
+
-0.005537348872167058
|
| 559 |
+
],
|
| 560 |
+
"orientation": {
|
| 561 |
+
"w": 0.5081325401289468,
|
| 562 |
+
"xyz": [
|
| 563 |
+
-0.4947804779587909,
|
| 564 |
+
0.49121791272805015,
|
| 565 |
+
0.5056664538092998
|
| 566 |
+
]
|
| 567 |
+
}
|
| 568 |
+
},
|
| 569 |
+
"grasp_14": {
|
| 570 |
+
"confidence": 0.9742528200149536,
|
| 571 |
+
"position": [
|
| 572 |
+
-0.04381446773186326,
|
| 573 |
+
0.15875267144292593,
|
| 574 |
+
0.0014339142217068002
|
| 575 |
+
],
|
| 576 |
+
"orientation": {
|
| 577 |
+
"w": 0.485912675783586,
|
| 578 |
+
"xyz": [
|
| 579 |
+
0.5112109578854604,
|
| 580 |
+
0.502521467248576,
|
| 581 |
+
-0.5000244024095261
|
| 582 |
+
]
|
| 583 |
+
}
|
| 584 |
+
},
|
| 585 |
+
"grasp_15": {
|
| 586 |
+
"confidence": 0.9740355014801025,
|
| 587 |
+
"position": [
|
| 588 |
+
-0.14534579450264573,
|
| 589 |
+
-0.03662299830466509,
|
| 590 |
+
0.001651369544561021
|
| 591 |
+
],
|
| 592 |
+
"orientation": {
|
| 593 |
+
"w": 0.6986291264166203,
|
| 594 |
+
"xyz": [
|
| 595 |
+
0.012366335806638344,
|
| 596 |
+
0.7153742400685732,
|
| 597 |
+
0.0020283262506309006
|
| 598 |
+
]
|
| 599 |
+
}
|
| 600 |
+
},
|
| 601 |
+
"grasp_16": {
|
| 602 |
+
"confidence": 0.9738302826881409,
|
| 603 |
+
"position": [
|
| 604 |
+
-0.041836502496153116,
|
| 605 |
+
0.15958776231855154,
|
| 606 |
+
0.0013062344369245693
|
| 607 |
+
],
|
| 608 |
+
"orientation": {
|
| 609 |
+
"w": 0.47727981223071864,
|
| 610 |
+
"xyz": [
|
| 611 |
+
0.5129465374017067,
|
| 612 |
+
0.5033290629836513,
|
| 613 |
+
-0.5057170008617559
|
| 614 |
+
]
|
| 615 |
+
}
|
| 616 |
+
},
|
| 617 |
+
"grasp_17": {
|
| 618 |
+
"confidence": 0.9729499220848083,
|
| 619 |
+
"position": [
|
| 620 |
+
0.04301640531048179,
|
| 621 |
+
0.15791576262563467,
|
| 622 |
+
0.0006334473582683131
|
| 623 |
+
],
|
| 624 |
+
"orientation": {
|
| 625 |
+
"w": 0.4821244049261393,
|
| 626 |
+
"xyz": [
|
| 627 |
+
0.5285369725444782,
|
| 628 |
+
0.4738098739078812,
|
| 629 |
+
-0.5135259781311278
|
| 630 |
+
]
|
| 631 |
+
}
|
| 632 |
+
},
|
| 633 |
+
"grasp_18": {
|
| 634 |
+
"confidence": 0.9723953604698181,
|
| 635 |
+
"position": [
|
| 636 |
+
0.03982747485861182,
|
| 637 |
+
0.16451577004045248,
|
| 638 |
+
0.010375195110100321
|
| 639 |
+
],
|
| 640 |
+
"orientation": {
|
| 641 |
+
"w": 0.48548661066133175,
|
| 642 |
+
"xyz": [
|
| 643 |
+
0.5137234222556645,
|
| 644 |
+
-0.5204633597478133,
|
| 645 |
+
0.4790708584901812
|
| 646 |
+
]
|
| 647 |
+
}
|
| 648 |
+
},
|
| 649 |
+
"grasp_19": {
|
| 650 |
+
"confidence": 0.9723338484764099,
|
| 651 |
+
"position": [
|
| 652 |
+
0.04906989028677344,
|
| 653 |
+
0.156421042047441,
|
| 654 |
+
0.0009797466191230342
|
| 655 |
+
],
|
| 656 |
+
"orientation": {
|
| 657 |
+
"w": 0.46409344293809673,
|
| 658 |
+
"xyz": [
|
| 659 |
+
0.5368402238911247,
|
| 660 |
+
0.4625322399696522,
|
| 661 |
+
-0.5314920293128077
|
| 662 |
+
]
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
}
|
| 666 |
+
}
|
| 667 |
+
],
|
| 668 |
+
"quality_check": {
|
| 669 |
+
"success": false,
|
| 670 |
+
"message": "Main body color/material description is wrong; mask groups strap with rings, not ring-binding edge alone."
|
| 671 |
+
}
|
| 672 |
+
}
|
dataset/desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:efc27ad4e4358b1761116f4cea05b8472bda24d92d9b6d327adc858b84673074
|
| 3 |
+
size 3805376
|
dataset/desktop_supplies/office_stationery/9139eb619104552f8de1b1f0feb8a8f9/notebook_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>NO: {"summary":"Cover, strap, rings, and page edges are merged inconsistently; notebook parts are not functionally separated.","merge_groups":[]}</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>NO: {"summary":"Cover, strap, rings, and page edges are merged inconsistently; notebook parts are not functionally separated.","merge_groups":[]}</PartSegChecker>
|