Add asset desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01/affordance/affordance_annot.json +692 -0
- dataset/desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01/glue_stick_036.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6396,4 +6396,4 @@ dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affo
|
|
| 6396 |
dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6397 |
dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6398 |
dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6399 |
-
dataset/desktop_supplies/office_stationery/
|
|
|
|
| 6396 |
dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6397 |
dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6398 |
dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6399 |
+
dataset/desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,692 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glue stick body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body to pick up and move the glue stick",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while the other manipulator removes or replaces the cap",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to apply glue by rubbing the stick on paper",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain the glue mechanism",
|
| 24 |
+
"support glue application",
|
| 25 |
+
"provide structural body",
|
| 26 |
+
"stabilize during cap removal"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Tall cylindrical body with a white paper label over plastic, smooth mostly matte sides, hard surface, printed black text and graphics, and a red rounded base at the bottom.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9886090755462646,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.09207246146979742,
|
| 35 |
+
-0.045972275830081344,
|
| 36 |
+
-0.03872947790659964
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5966073091858201,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5987561886301898,
|
| 42 |
+
0.37405523676866137,
|
| 43 |
+
-0.3816194767684747
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9883208274841309,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.08322351865353994,
|
| 51 |
+
-0.05391835728960359,
|
| 52 |
+
-0.049597721779718995
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7060409946652201,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5134345331234624,
|
| 58 |
+
0.2963587399201061,
|
| 59 |
+
-0.38737913124148116
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.98826003074646,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.09554974429192953,
|
| 67 |
+
-0.029858985266855598,
|
| 68 |
+
-0.010639638872817159
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5663113932134379,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.5640969575577435,
|
| 74 |
+
0.41564693903451,
|
| 75 |
+
-0.4339627293466512
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9882417321205139,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.09798343174043112,
|
| 83 |
+
-0.023261814660600066,
|
| 84 |
+
-0.04539231979288161
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5759320201692111,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.530221788581624,
|
| 90 |
+
0.41893812942315556,
|
| 91 |
+
-0.46006304651921615
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.988166868686676,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.09741602532449178,
|
| 99 |
+
-0.02987998286562288,
|
| 100 |
+
-0.011279859812930226
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5550197107177763,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5725276584999444,
|
| 106 |
+
0.42592661664234055,
|
| 107 |
+
-0.42749469961969744
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9879853129386902,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.09229937635245733,
|
| 115 |
+
-0.038201629466584563,
|
| 116 |
+
-0.005625641206279397
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.5633303998408005,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.6014385555130122,
|
| 122 |
+
0.3960573783704445,
|
| 123 |
+
-0.40505441312983576
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9875698685646057,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.08682305805268697,
|
| 131 |
+
-0.05125392908530557,
|
| 132 |
+
-0.016977675491943955
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.6067375001631485,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.6105352428774549,
|
| 138 |
+
0.3535827365013706,
|
| 139 |
+
-0.36619062187410417
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9874990582466125,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.08058424733462743,
|
| 147 |
+
-0.0608138472803148,
|
| 148 |
+
-0.059543907875195146
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.3590767733471389,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.2987159031144481,
|
| 154 |
+
0.57857222698856,
|
| 155 |
+
0.668645540048406
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.9874624609947205,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.07491149447741918,
|
| 163 |
+
-0.049327994979194045,
|
| 164 |
+
-0.08133224793709815
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.7555169263570152,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.4321525475695253,
|
| 170 |
+
0.2444360132437169,
|
| 171 |
+
-0.4274217882218158
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.9874409437179565,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.07950278065982275,
|
| 179 |
+
-0.036926812774709106,
|
| 180 |
+
-0.09499204554595053
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.47619490651617113,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.26552966737648953,
|
| 186 |
+
0.4155414552929866,
|
| 187 |
+
0.7280506202757967
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9872640371322632,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.08803947709384374,
|
| 195 |
+
-0.046240731424859405,
|
| 196 |
+
-0.0367674867156893
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.582864396960554,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.6118415002027998,
|
| 202 |
+
0.3772943848841954,
|
| 203 |
+
-0.3789037087707821
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.9872461557388306,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.08960507504525594,
|
| 211 |
+
-0.04200813109355295,
|
| 212 |
+
-0.041195169324055314
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.6400383838753049,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.5381255113208827,
|
| 218 |
+
0.3503130241285618,
|
| 219 |
+
-0.4219627784032942
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9872418642044067,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.09526560149970464,
|
| 227 |
+
-0.04337206045465791,
|
| 228 |
+
-0.02671652310527861
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.5803461175074338,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.5981762942749479,
|
| 234 |
+
0.38447076474754394,
|
| 235 |
+
-0.3969455074893505
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.9872276782989502,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.08525842867675237,
|
| 243 |
+
-0.05931137809830034,
|
| 244 |
+
-0.03082235180772841
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.6108840790476676,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.634403666900417,
|
| 250 |
+
0.33992118154653905,
|
| 251 |
+
-0.32985787807083383
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.9871392846107483,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.07998911730828695,
|
| 259 |
+
-0.061727333164981246,
|
| 260 |
+
-0.014487004140391946
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.622128205327049,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.6399043993009277,
|
| 266 |
+
0.31638676589293346,
|
| 267 |
+
-0.32152491390197796
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_15": {
|
| 272 |
+
"confidence": 0.9866800904273987,
|
| 273 |
+
"position": [
|
| 274 |
+
-0.08829514376702718,
|
| 275 |
+
-0.012618538274637103,
|
| 276 |
+
-0.0881542454008013
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.642230383192491,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.37160357800830984,
|
| 282 |
+
0.3293631420426574,
|
| 283 |
+
-0.5839270813891376
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_17": {
|
| 288 |
+
"confidence": 0.9865896701812744,
|
| 289 |
+
"position": [
|
| 290 |
+
0.028639913798542693,
|
| 291 |
+
0.08997637470884001,
|
| 292 |
+
-0.06562859215773642
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.1314201734900416,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.08005729243721836,
|
| 298 |
+
-0.5436509816505056,
|
| 299 |
+
0.8250837400397072
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_18": {
|
| 304 |
+
"confidence": 0.9864880442619324,
|
| 305 |
+
"position": [
|
| 306 |
+
-0.0801006674009841,
|
| 307 |
+
-0.05992452735381448,
|
| 308 |
+
-0.005054311593994498
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.6124388136208404,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.643160158745644,
|
| 314 |
+
0.32741179456740743,
|
| 315 |
+
-0.3225914235548206
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_19": {
|
| 320 |
+
"confidence": 0.9864728450775146,
|
| 321 |
+
"position": [
|
| 322 |
+
-0.0672120570379775,
|
| 323 |
+
-0.057036347038319946,
|
| 324 |
+
-0.08539738901890814
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.37703469114872573,
|
| 328 |
+
"xyz": [
|
| 329 |
+
0.2161882453712782,
|
| 330 |
+
0.44498098407871667,
|
| 331 |
+
0.7830066462310584
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
}
|
| 336 |
+
},
|
| 337 |
+
{
|
| 338 |
+
"part_name": "cap",
|
| 339 |
+
"mask_color": "Orange",
|
| 340 |
+
"graspable": true,
|
| 341 |
+
"grasp_scenarios": [
|
| 342 |
+
{
|
| 343 |
+
"scenario": "grasp the cap to pull it off and open the glue stick",
|
| 344 |
+
"confidence": 0.93
|
| 345 |
+
},
|
| 346 |
+
{
|
| 347 |
+
"scenario": "grasp the cap to place it back on and close the glue stick",
|
| 348 |
+
"confidence": 0.9
|
| 349 |
+
},
|
| 350 |
+
{
|
| 351 |
+
"scenario": "hold the ribbed cap to stabilize the object briefly during reorientation",
|
| 352 |
+
"confidence": 0.62
|
| 353 |
+
}
|
| 354 |
+
],
|
| 355 |
+
"functional_labels": [
|
| 356 |
+
"cover the glue tip",
|
| 357 |
+
"protect from drying out",
|
| 358 |
+
"enable opening and closing",
|
| 359 |
+
"provide pull-off grip",
|
| 360 |
+
"seal the container"
|
| 361 |
+
],
|
| 362 |
+
"semantic_description": "Short red plastic cap at the top with a ribbed sidewall, rounded top, hard slightly glossy finish, and fine vertical texture for traction.",
|
| 363 |
+
"id": 4,
|
| 364 |
+
"grasp_group": {
|
| 365 |
+
"grasp_20": {
|
| 366 |
+
"confidence": 0.9748650193214417,
|
| 367 |
+
"position": [
|
| 368 |
+
0.059074051008792594,
|
| 369 |
+
0.07980159362477934,
|
| 370 |
+
0.03749371669255197
|
| 371 |
+
],
|
| 372 |
+
"orientation": {
|
| 373 |
+
"w": 0.21710728632191637,
|
| 374 |
+
"xyz": [
|
| 375 |
+
-0.21923289889464453,
|
| 376 |
+
-0.6780587331959491,
|
| 377 |
+
0.6671114723978956
|
| 378 |
+
]
|
| 379 |
+
}
|
| 380 |
+
},
|
| 381 |
+
"grasp_21": {
|
| 382 |
+
"confidence": 0.9732723236083984,
|
| 383 |
+
"position": [
|
| 384 |
+
0.036344553605886176,
|
| 385 |
+
0.08684966405553496,
|
| 386 |
+
0.07638786337338388
|
| 387 |
+
],
|
| 388 |
+
"orientation": {
|
| 389 |
+
"w": 0.11362713717459086,
|
| 390 |
+
"xyz": [
|
| 391 |
+
-0.1690311914630025,
|
| 392 |
+
-0.8275837276707565,
|
| 393 |
+
0.5230893840489204
|
| 394 |
+
]
|
| 395 |
+
}
|
| 396 |
+
},
|
| 397 |
+
"grasp_22": {
|
| 398 |
+
"confidence": 0.9732226729393005,
|
| 399 |
+
"position": [
|
| 400 |
+
-0.04935992948594503,
|
| 401 |
+
-0.09284978667574251,
|
| 402 |
+
0.03380643925629556
|
| 403 |
+
],
|
| 404 |
+
"orientation": {
|
| 405 |
+
"w": 0.18950106907479528,
|
| 406 |
+
"xyz": [
|
| 407 |
+
0.17101718874485372,
|
| 408 |
+
0.6893504866121902,
|
| 409 |
+
0.6779663506257916
|
| 410 |
+
]
|
| 411 |
+
}
|
| 412 |
+
},
|
| 413 |
+
"grasp_23": {
|
| 414 |
+
"confidence": 0.9732179045677185,
|
| 415 |
+
"position": [
|
| 416 |
+
0.03617371924337931,
|
| 417 |
+
0.08464815159959471,
|
| 418 |
+
0.07773428759537637
|
| 419 |
+
],
|
| 420 |
+
"orientation": {
|
| 421 |
+
"w": 0.09930412272068984,
|
| 422 |
+
"xyz": [
|
| 423 |
+
-0.18140497807820208,
|
| 424 |
+
-0.8373142073578587,
|
| 425 |
+
0.5060986497668235
|
| 426 |
+
]
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"grasp_24": {
|
| 430 |
+
"confidence": 0.972917914390564,
|
| 431 |
+
"position": [
|
| 432 |
+
0.04055638171848841,
|
| 433 |
+
0.08268348565025008,
|
| 434 |
+
0.07672872743569314
|
| 435 |
+
],
|
| 436 |
+
"orientation": {
|
| 437 |
+
"w": 0.1001037130513381,
|
| 438 |
+
"xyz": [
|
| 439 |
+
-0.1878894949980563,
|
| 440 |
+
-0.8442994500324468,
|
| 441 |
+
0.49176744806627687
|
| 442 |
+
]
|
| 443 |
+
}
|
| 444 |
+
},
|
| 445 |
+
"grasp_25": {
|
| 446 |
+
"confidence": 0.9722716212272644,
|
| 447 |
+
"position": [
|
| 448 |
+
0.06278210438904352,
|
| 449 |
+
0.08266168525142348,
|
| 450 |
+
0.03673414862714708
|
| 451 |
+
],
|
| 452 |
+
"orientation": {
|
| 453 |
+
"w": 0.2263929425130671,
|
| 454 |
+
"xyz": [
|
| 455 |
+
-0.22174137423702772,
|
| 456 |
+
-0.6635649905434434,
|
| 457 |
+
0.6776861381619292
|
| 458 |
+
]
|
| 459 |
+
}
|
| 460 |
+
},
|
| 461 |
+
"grasp_26": {
|
| 462 |
+
"confidence": 0.9722015261650085,
|
| 463 |
+
"position": [
|
| 464 |
+
0.07079489834723063,
|
| 465 |
+
0.07116923918647444,
|
| 466 |
+
0.036151077365502715
|
| 467 |
+
],
|
| 468 |
+
"orientation": {
|
| 469 |
+
"w": 0.2677891008546672,
|
| 470 |
+
"xyz": [
|
| 471 |
+
-0.26021472009577573,
|
| 472 |
+
-0.6583389266216302,
|
| 473 |
+
0.6535802587315541
|
| 474 |
+
]
|
| 475 |
+
}
|
| 476 |
+
},
|
| 477 |
+
"grasp_27": {
|
| 478 |
+
"confidence": 0.9715138077735901,
|
| 479 |
+
"position": [
|
| 480 |
+
-0.05160011790576391,
|
| 481 |
+
-0.08356984267311418,
|
| 482 |
+
0.0314644870813936
|
| 483 |
+
],
|
| 484 |
+
"orientation": {
|
| 485 |
+
"w": 0.20125428534758913,
|
| 486 |
+
"xyz": [
|
| 487 |
+
0.19436783537434627,
|
| 488 |
+
0.687881571293572,
|
| 489 |
+
0.6697289011800295
|
| 490 |
+
]
|
| 491 |
+
}
|
| 492 |
+
},
|
| 493 |
+
"grasp_28": {
|
| 494 |
+
"confidence": 0.9711635708808899,
|
| 495 |
+
"position": [
|
| 496 |
+
0.030320826248498634,
|
| 497 |
+
0.08616070141715682,
|
| 498 |
+
0.0837067177053541
|
| 499 |
+
],
|
| 500 |
+
"orientation": {
|
| 501 |
+
"w": 0.0870572261997416,
|
| 502 |
+
"xyz": [
|
| 503 |
+
-0.1472888487819913,
|
| 504 |
+
-0.8431796446443629,
|
| 505 |
+
0.5096813918991826
|
| 506 |
+
]
|
| 507 |
+
}
|
| 508 |
+
},
|
| 509 |
+
"grasp_29": {
|
| 510 |
+
"confidence": 0.9709801077842712,
|
| 511 |
+
"position": [
|
| 512 |
+
-0.03298821367206983,
|
| 513 |
+
-0.09617878059225404,
|
| 514 |
+
0.047128472244367
|
| 515 |
+
],
|
| 516 |
+
"orientation": {
|
| 517 |
+
"w": 0.12763678203036066,
|
| 518 |
+
"xyz": [
|
| 519 |
+
0.1263829104117309,
|
| 520 |
+
0.7036754352876917,
|
| 521 |
+
0.6874424292996995
|
| 522 |
+
]
|
| 523 |
+
}
|
| 524 |
+
},
|
| 525 |
+
"grasp_30": {
|
| 526 |
+
"confidence": 0.9708950519561768,
|
| 527 |
+
"position": [
|
| 528 |
+
0.10049332238850184,
|
| 529 |
+
0.013220154397913575,
|
| 530 |
+
0.027519227704033256
|
| 531 |
+
],
|
| 532 |
+
"orientation": {
|
| 533 |
+
"w": 0.45826486613411643,
|
| 534 |
+
"xyz": [
|
| 535 |
+
-0.47019853568581677,
|
| 536 |
+
-0.5399385777102723,
|
| 537 |
+
0.5266621135094137
|
| 538 |
+
]
|
| 539 |
+
}
|
| 540 |
+
},
|
| 541 |
+
"grasp_31": {
|
| 542 |
+
"confidence": 0.9707006812095642,
|
| 543 |
+
"position": [
|
| 544 |
+
-0.02812223948421888,
|
| 545 |
+
-0.0942669392593416,
|
| 546 |
+
0.06958865723572671
|
| 547 |
+
],
|
| 548 |
+
"orientation": {
|
| 549 |
+
"w": 0.099525234103659,
|
| 550 |
+
"xyz": [
|
| 551 |
+
0.12617359781759907,
|
| 552 |
+
0.7985953243303794,
|
| 553 |
+
0.5800176367560139
|
| 554 |
+
]
|
| 555 |
+
}
|
| 556 |
+
},
|
| 557 |
+
"grasp_32": {
|
| 558 |
+
"confidence": 0.9705386161804199,
|
| 559 |
+
"position": [
|
| 560 |
+
-0.02807435460272245,
|
| 561 |
+
-0.08621459761934602,
|
| 562 |
+
0.0866550540085882
|
| 563 |
+
],
|
| 564 |
+
"orientation": {
|
| 565 |
+
"w": 0.0826754799422805,
|
| 566 |
+
"xyz": [
|
| 567 |
+
0.14046621191621067,
|
| 568 |
+
0.8646321466701598,
|
| 569 |
+
0.47523179530706416
|
| 570 |
+
]
|
| 571 |
+
}
|
| 572 |
+
},
|
| 573 |
+
"grasp_33": {
|
| 574 |
+
"confidence": 0.9703280329704285,
|
| 575 |
+
"position": [
|
| 576 |
+
-0.0981949090200942,
|
| 577 |
+
-0.021636304727962852,
|
| 578 |
+
0.0385649090167135
|
| 579 |
+
],
|
| 580 |
+
"orientation": {
|
| 581 |
+
"w": 0.5429684108381407,
|
| 582 |
+
"xyz": [
|
| 583 |
+
-0.5509025022244992,
|
| 584 |
+
0.44206651062405733,
|
| 585 |
+
-0.454168402753164
|
| 586 |
+
]
|
| 587 |
+
}
|
| 588 |
+
},
|
| 589 |
+
"grasp_34": {
|
| 590 |
+
"confidence": 0.9703177809715271,
|
| 591 |
+
"position": [
|
| 592 |
+
-0.09184582970920019,
|
| 593 |
+
-0.038465696669391036,
|
| 594 |
+
0.060532293980941176
|
| 595 |
+
],
|
| 596 |
+
"orientation": {
|
| 597 |
+
"w": 0.3716699595305677,
|
| 598 |
+
"xyz": [
|
| 599 |
+
0.4198276325579151,
|
| 600 |
+
0.6359919562269303,
|
| 601 |
+
0.530207913688588
|
| 602 |
+
]
|
| 603 |
+
}
|
| 604 |
+
},
|
| 605 |
+
"grasp_35": {
|
| 606 |
+
"confidence": 0.9699273705482483,
|
| 607 |
+
"position": [
|
| 608 |
+
-0.0349215536552947,
|
| 609 |
+
-0.09127480099277818,
|
| 610 |
+
0.03552098176442087
|
| 611 |
+
],
|
| 612 |
+
"orientation": {
|
| 613 |
+
"w": 0.13892058090553522,
|
| 614 |
+
"xyz": [
|
| 615 |
+
0.13668670329126037,
|
| 616 |
+
0.7178754892095649,
|
| 617 |
+
0.6683356935974343
|
| 618 |
+
]
|
| 619 |
+
}
|
| 620 |
+
},
|
| 621 |
+
"grasp_36": {
|
| 622 |
+
"confidence": 0.9699115753173828,
|
| 623 |
+
"position": [
|
| 624 |
+
-0.04002843864145689,
|
| 625 |
+
-0.09007291058378541,
|
| 626 |
+
0.03612098819576204
|
| 627 |
+
],
|
| 628 |
+
"orientation": {
|
| 629 |
+
"w": 0.66656645561909,
|
| 630 |
+
"xyz": [
|
| 631 |
+
-0.7125193041806269,
|
| 632 |
+
0.15485580107144792,
|
| 633 |
+
-0.15500026544454246
|
| 634 |
+
]
|
| 635 |
+
}
|
| 636 |
+
},
|
| 637 |
+
"grasp_37": {
|
| 638 |
+
"confidence": 0.9695438742637634,
|
| 639 |
+
"position": [
|
| 640 |
+
-0.023548983706859872,
|
| 641 |
+
-0.0951304019458803,
|
| 642 |
+
0.040686595952138305
|
| 643 |
+
],
|
| 644 |
+
"orientation": {
|
| 645 |
+
"w": 0.6834690830596125,
|
| 646 |
+
"xyz": [
|
| 647 |
+
-0.7190283640658871,
|
| 648 |
+
0.09158640548736019,
|
| 649 |
+
-0.086487886436723
|
| 650 |
+
]
|
| 651 |
+
}
|
| 652 |
+
},
|
| 653 |
+
"grasp_38": {
|
| 654 |
+
"confidence": 0.9695321917533875,
|
| 655 |
+
"position": [
|
| 656 |
+
-0.019636834709672257,
|
| 657 |
+
-0.09828860620336854,
|
| 658 |
+
0.032549371710047126
|
| 659 |
+
],
|
| 660 |
+
"orientation": {
|
| 661 |
+
"w": 0.07293782663097394,
|
| 662 |
+
"xyz": [
|
| 663 |
+
0.08332142956718334,
|
| 664 |
+
0.705884230131096,
|
| 665 |
+
0.6996178002834554
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
},
|
| 669 |
+
"grasp_39": {
|
| 670 |
+
"confidence": 0.9693626165390015,
|
| 671 |
+
"position": [
|
| 672 |
+
0.07182865895447321,
|
| 673 |
+
0.06929733296556151,
|
| 674 |
+
0.04243020317517221
|
| 675 |
+
],
|
| 676 |
+
"orientation": {
|
| 677 |
+
"w": 0.27075671272188506,
|
| 678 |
+
"xyz": [
|
| 679 |
+
-0.2757042768138973,
|
| 680 |
+
-0.6609000910463468,
|
| 681 |
+
0.6433420737970539
|
| 682 |
+
]
|
| 683 |
+
}
|
| 684 |
+
}
|
| 685 |
+
}
|
| 686 |
+
}
|
| 687 |
+
],
|
| 688 |
+
"quality_check": {
|
| 689 |
+
"success": true,
|
| 690 |
+
"message": "YES"
|
| 691 |
+
}
|
| 692 |
+
}
|
dataset/desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:577efeb4ef9d63989cb28da5256d4f3af0617a0b68699a54b7e09d8e6ef3bf7f
|
| 3 |
+
size 3779564
|
dataset/desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01/glue_stick_036.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>
|