xinjjj commited on
Commit
113cc96
·
verified ·
1 Parent(s): b9119e9

Add asset desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624

Browse files
.gitattributes CHANGED
@@ -8218,3 +8218,4 @@ dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affo
8218
  dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8219
  dataset/desktop_supplies/office_stationery/e7b82f1e5288564895659ebc23b435c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8220
  dataset/desktop_supplies/office_stationery/e936c97e42d95c2eb5052eaf6dd911ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8218
  dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8219
  dataset/desktop_supplies/office_stationery/e7b82f1e5288564895659ebc23b435c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8220
  dataset/desktop_supplies/office_stationery/e936c97e42d95c2eb5052eaf6dd911ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8221
+ dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/affordance_annot.json ADDED
@@ -0,0 +1,810 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cover",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the notebook by pinching a cover edge or corner to pick it up",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "hold the cover to stabilize the notebook while opening, closing, or repositioning it",
14
+ "confidence": 0.86
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "protect pages",
19
+ "provide rigid writing support",
20
+ "form the outer body",
21
+ "support opening and closing"
22
+ ],
23
+ "semantic_description": "Large tan cardboard cover with a matte finish and smooth hard surface, rounded rectangular shape, forming the outer front and back faces of the notebook.",
24
+ "id": 7,
25
+ "grasp_group": {
26
+ "grasp_23": {
27
+ "confidence": 0.9657333493232727,
28
+ "position": [
29
+ -0.002454947680234909,
30
+ -0.15739465109072626,
31
+ 0.007464188587618992
32
+ ],
33
+ "orientation": {
34
+ "w": 0.4750903905900865,
35
+ "xyz": [
36
+ -0.5209635605434958,
37
+ -0.5033644889164569,
38
+ -0.4995100405924564
39
+ ]
40
+ }
41
+ },
42
+ "grasp_24": {
43
+ "confidence": 0.9645634889602661,
44
+ "position": [
45
+ 0.00518223294056952,
46
+ -0.15726504079066217,
47
+ -0.0011728295648936182
48
+ ],
49
+ "orientation": {
50
+ "w": 0.4847304299378542,
51
+ "xyz": [
52
+ -0.5083196155929744,
53
+ -0.4871399545701455,
54
+ -0.5189819297018633
55
+ ]
56
+ }
57
+ },
58
+ "grasp_25": {
59
+ "confidence": 0.9642890691757202,
60
+ "position": [
61
+ 0.012591555481776595,
62
+ -0.1528859322424978,
63
+ 0.0020524367864709347
64
+ ],
65
+ "orientation": {
66
+ "w": 0.47284985420051523,
67
+ "xyz": [
68
+ -0.5255720367780576,
69
+ 0.4840049842140346,
70
+ 0.5156803513762062
71
+ ]
72
+ }
73
+ },
74
+ "grasp_26": {
75
+ "confidence": 0.9626522064208984,
76
+ "position": [
77
+ 0.01151400781236589,
78
+ -0.15281989029608667,
79
+ -0.0007342953467741609
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5092748130789055,
83
+ "xyz": [
84
+ -0.4819562480614016,
85
+ -0.5117342253358714,
86
+ -0.4964729824853699
87
+ ]
88
+ }
89
+ },
90
+ "grasp_28": {
91
+ "confidence": 0.9614038467407227,
92
+ "position": [
93
+ 0.008820685790851712,
94
+ -0.15515593043528497,
95
+ 0.0018167632806580514
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4484609707515914,
99
+ "xyz": [
100
+ -0.5581612610938593,
101
+ 0.44800663779016103,
102
+ 0.5353772658813676
103
+ ]
104
+ }
105
+ },
106
+ "grasp_29": {
107
+ "confidence": 0.961315929889679,
108
+ "position": [
109
+ 0.012575572123751044,
110
+ -0.15131408325396478,
111
+ 0.008344748493982479
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5797572465755199,
115
+ "xyz": [
116
+ -0.3878765795661301,
117
+ -0.6247063577591612,
118
+ -0.35096333233335675
119
+ ]
120
+ }
121
+ },
122
+ "grasp_30": {
123
+ "confidence": 0.9612836241722107,
124
+ "position": [
125
+ 0.0066632835660129786,
126
+ -0.15822948864661157,
127
+ -0.0022060256742406636
128
+ ],
129
+ "orientation": {
130
+ "w": 0.47658260297628585,
131
+ "xyz": [
132
+ -0.5099257568747669,
133
+ -0.4819070849235355,
134
+ -0.5297266337617393
135
+ ]
136
+ }
137
+ },
138
+ "grasp_31": {
139
+ "confidence": 0.9607231616973877,
140
+ "position": [
141
+ 0.01453361171297729,
142
+ -0.15234835795126855,
143
+ -0.0006605735688935965
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5167446009572485,
147
+ "xyz": [
148
+ -0.47196632882255546,
149
+ -0.5199834607087206,
150
+ -0.489734624494405
151
+ ]
152
+ }
153
+ },
154
+ "grasp_32": {
155
+ "confidence": 0.9606658220291138,
156
+ "position": [
157
+ -0.031504985177889466,
158
+ 0.15543740638531744,
159
+ -0.006097629695432261
160
+ ],
161
+ "orientation": {
162
+ "w": 0.5231439920361712,
163
+ "xyz": [
164
+ 0.4817843854375645,
165
+ -0.49269709976859233,
166
+ 0.5014516301944032
167
+ ]
168
+ }
169
+ },
170
+ "grasp_33": {
171
+ "confidence": 0.9601007699966431,
172
+ "position": [
173
+ 0.004597373073920608,
174
+ -0.15903018764220178,
175
+ -0.0036343734536785632
176
+ ],
177
+ "orientation": {
178
+ "w": 0.4850282658224474,
179
+ "xyz": [
180
+ -0.5059685632477258,
181
+ -0.492275378982688,
182
+ -0.5161476006005956
183
+ ]
184
+ }
185
+ },
186
+ "grasp_34": {
187
+ "confidence": 0.9598686695098877,
188
+ "position": [
189
+ 0.03925308561883867,
190
+ -0.15529793850146234,
191
+ -0.003565479797543958
192
+ ],
193
+ "orientation": {
194
+ "w": 0.5900584820446659,
195
+ "xyz": [
196
+ -0.3948841107661842,
197
+ -0.5805162725440222,
198
+ -0.3986206017545242
199
+ ]
200
+ }
201
+ },
202
+ "grasp_35": {
203
+ "confidence": 0.9591399431228638,
204
+ "position": [
205
+ 0.005395873682573438,
206
+ -0.1597046887036413,
207
+ 0.007860477518988773
208
+ ],
209
+ "orientation": {
210
+ "w": 0.4785081859169522,
211
+ "xyz": [
212
+ -0.5284284600726178,
213
+ -0.4912540352075525,
214
+ -0.5004625375470636
215
+ ]
216
+ }
217
+ },
218
+ "grasp_36": {
219
+ "confidence": 0.9583706855773926,
220
+ "position": [
221
+ 0.01850800565443933,
222
+ -0.15507705858908594,
223
+ -0.004310532036470249
224
+ ],
225
+ "orientation": {
226
+ "w": 0.4881456826702915,
227
+ "xyz": [
228
+ -0.5158185792756722,
229
+ 0.47847927613660934,
230
+ 0.516432539710821
231
+ ]
232
+ }
233
+ },
234
+ "grasp_39": {
235
+ "confidence": 0.9573377370834351,
236
+ "position": [
237
+ -0.016696263337507844,
238
+ 0.16060581454075873,
239
+ -0.004113032977329567
240
+ ],
241
+ "orientation": {
242
+ "w": 0.5192064104995396,
243
+ "xyz": [
244
+ 0.4822587399991081,
245
+ -0.5019675533298221,
246
+ 0.49586266888598124
247
+ ]
248
+ }
249
+ },
250
+ "grasp_40": {
251
+ "confidence": 0.9567430019378662,
252
+ "position": [
253
+ 0.01823669276200235,
254
+ -0.16169040254317224,
255
+ -1.1672964319586754e-05
256
+ ],
257
+ "orientation": {
258
+ "w": 0.4913534406570531,
259
+ "xyz": [
260
+ -0.515857391822715,
261
+ -0.48698345490912176,
262
+ -0.5052821610754902
263
+ ]
264
+ }
265
+ },
266
+ "grasp_41": {
267
+ "confidence": 0.956576943397522,
268
+ "position": [
269
+ -0.006377762416377664,
270
+ -0.16134503833018243,
271
+ 0.0026008991699200124
272
+ ],
273
+ "orientation": {
274
+ "w": 0.5079779980651846,
275
+ "xyz": [
276
+ -0.4983002699140517,
277
+ 0.51754128903844,
278
+ 0.4751907076382081
279
+ ]
280
+ }
281
+ },
282
+ "grasp_42": {
283
+ "confidence": 0.9564858078956604,
284
+ "position": [
285
+ 0.015736213652417064,
286
+ -0.15662163845263422,
287
+ 0.0011106596502941102
288
+ ],
289
+ "orientation": {
290
+ "w": 0.5895078558168417,
291
+ "xyz": [
292
+ -0.39728988963584944,
293
+ -0.5916291938975947,
294
+ -0.38028427321077407
295
+ ]
296
+ }
297
+ }
298
+ }
299
+ },
300
+ {
301
+ "part_name": "elastic strap",
302
+ "mask_color": "Lime Green",
303
+ "graspable": true,
304
+ "grasp_scenarios": [
305
+ {
306
+ "scenario": "grasp the elastic strap and pull it away from the cover to open the notebook",
307
+ "confidence": 0.93
308
+ },
309
+ {
310
+ "scenario": "hold the strap while stretching it over the cover during closure",
311
+ "confidence": 0.78
312
+ }
313
+ ],
314
+ "functional_labels": [
315
+ "keep notebook closed",
316
+ "secure the covers",
317
+ "provide a pull point",
318
+ "assist opening and closing"
319
+ ],
320
+ "semantic_description": "Wide multicolored elastic band with a soft woven texture, wrapping around one edge of the notebook as a closure strap.",
321
+ "id": 9,
322
+ "grasp_group": {
323
+ "grasp_45": {
324
+ "confidence": 0.9287596344947815,
325
+ "position": [
326
+ 0.14938044524751604,
327
+ 0.0622540193144232,
328
+ 0.0169226820289623
329
+ ],
330
+ "orientation": {
331
+ "w": 0.18302115805438066,
332
+ "xyz": [
333
+ 0.7353418061097882,
334
+ 0.17390473452571875,
335
+ -0.6289140062052739
336
+ ]
337
+ }
338
+ },
339
+ "grasp_47": {
340
+ "confidence": 0.9232614636421204,
341
+ "position": [
342
+ 0.15742783225141466,
343
+ 0.05598201253451407,
344
+ -0.006730893190251663
345
+ ],
346
+ "orientation": {
347
+ "w": 0.16373610429772548,
348
+ "xyz": [
349
+ 0.6813388893030887,
350
+ 0.14970869983541735,
351
+ -0.6975350251178981
352
+ ]
353
+ }
354
+ },
355
+ "grasp_52": {
356
+ "confidence": 0.9184110760688782,
357
+ "position": [
358
+ 0.15802462375722826,
359
+ -0.015680223470553756,
360
+ -0.00655438334797509
361
+ ],
362
+ "orientation": {
363
+ "w": 0.7108283780686918,
364
+ "xyz": [
365
+ -0.01132314359157799,
366
+ -0.7031363630304273,
367
+ -0.013930482252260217
368
+ ]
369
+ }
370
+ },
371
+ "grasp_54": {
372
+ "confidence": 0.9163482189178467,
373
+ "position": [
374
+ 0.1491671649273485,
375
+ 0.04509821557439864,
376
+ -0.002618349884869531
377
+ ],
378
+ "orientation": {
379
+ "w": 0.17526596212043255,
380
+ "xyz": [
381
+ 0.6871301187534621,
382
+ 0.1579915428370149,
383
+ -0.687148248062841
384
+ ]
385
+ }
386
+ },
387
+ "grasp_57": {
388
+ "confidence": 0.9142307043075562,
389
+ "position": [
390
+ 0.1616159228142351,
391
+ -0.0005541089922189713,
392
+ 0.004662455496145412
393
+ ],
394
+ "orientation": {
395
+ "w": 0.6914265050687592,
396
+ "xyz": [
397
+ -0.04016988852809714,
398
+ -0.7212391684376644,
399
+ -0.011394299249512357
400
+ ]
401
+ }
402
+ },
403
+ "grasp_58": {
404
+ "confidence": 0.9139257073402405,
405
+ "position": [
406
+ 0.15080818510614336,
407
+ 0.040926598245278,
408
+ -0.00011388387065380812
409
+ ],
410
+ "orientation": {
411
+ "w": 0.18114039463331394,
412
+ "xyz": [
413
+ 0.6900366983398841,
414
+ 0.17132840006796168,
415
+ -0.6794733929348756
416
+ ]
417
+ }
418
+ },
419
+ "grasp_62": {
420
+ "confidence": 0.9085968732833862,
421
+ "position": [
422
+ 0.15767981088720262,
423
+ 0.05967475124634802,
424
+ -0.006402135390089825
425
+ ],
426
+ "orientation": {
427
+ "w": 0.1785420283871175,
428
+ "xyz": [
429
+ 0.6914620632053476,
430
+ 0.15037012543322792,
431
+ -0.6836605770588302
432
+ ]
433
+ }
434
+ }
435
+ }
436
+ },
437
+ {
438
+ "part_name": "binding rings",
439
+ "mask_color": "Orange",
440
+ "graspable": true,
441
+ "grasp_scenarios": [
442
+ {
443
+ "scenario": "grasp the ring area lightly to steady or reposition the notebook",
444
+ "confidence": 0.4
445
+ },
446
+ {
447
+ "scenario": "pinch a ring carefully for fine manipulation",
448
+ "confidence": 0.28
449
+ }
450
+ ],
451
+ "functional_labels": [
452
+ "bind pages and covers",
453
+ "act as hinge points",
454
+ "allow pages to flip",
455
+ "connect notebook sections"
456
+ ],
457
+ "semantic_description": "Several small white looped rings with a smooth hard surface, aligned along one side edge as the notebook binding.",
458
+ "id": 4,
459
+ "grasp_group": {
460
+ "grasp_0": {
461
+ "confidence": 0.9517439007759094,
462
+ "position": [
463
+ -0.14791972958482802,
464
+ -0.0539678146596998,
465
+ -0.000818645057734102
466
+ ],
467
+ "orientation": {
468
+ "w": 0.028794557393113596,
469
+ "xyz": [
470
+ 0.7046099557542149,
471
+ -0.014694272554479748,
472
+ 0.7088580690594364
473
+ ]
474
+ }
475
+ },
476
+ "grasp_1": {
477
+ "confidence": 0.9468564987182617,
478
+ "position": [
479
+ -0.1477613600436598,
480
+ -0.020020423224195838,
481
+ 0.003952598635805771
482
+ ],
483
+ "orientation": {
484
+ "w": 0.026287108314309738,
485
+ "xyz": [
486
+ 0.7096111138369386,
487
+ -0.012136908024678372,
488
+ 0.7039984023555533
489
+ ]
490
+ }
491
+ },
492
+ "grasp_4": {
493
+ "confidence": 0.9267247915267944,
494
+ "position": [
495
+ -0.14967134618200362,
496
+ -0.01639660424552858,
497
+ -0.0038208563637454063
498
+ ],
499
+ "orientation": {
500
+ "w": 0.7020617696656527,
501
+ "xyz": [
502
+ 0.028253431617701993,
503
+ 0.7106799495598178,
504
+ -0.03528490427095889
505
+ ]
506
+ }
507
+ },
508
+ "grasp_5": {
509
+ "confidence": 0.9223255515098572,
510
+ "position": [
511
+ -0.15721058868803084,
512
+ -0.03335018432699144,
513
+ -0.0075137825042475015
514
+ ],
515
+ "orientation": {
516
+ "w": 0.7115869844409134,
517
+ "xyz": [
518
+ 0.02639074344225197,
519
+ 0.7015697911985374,
520
+ -0.027337159920022922
521
+ ]
522
+ }
523
+ },
524
+ "grasp_6": {
525
+ "confidence": 0.9198352694511414,
526
+ "position": [
527
+ -0.15261508547700942,
528
+ 0.08007999905385077,
529
+ -0.002471219311701134
530
+ ],
531
+ "orientation": {
532
+ "w": 0.7059954277284511,
533
+ "xyz": [
534
+ 0.07579609589717785,
535
+ 0.6994796824509604,
536
+ -0.08095419514497973
537
+ ]
538
+ }
539
+ },
540
+ "grasp_7": {
541
+ "confidence": 0.9054113626480103,
542
+ "position": [
543
+ -0.15092450403608382,
544
+ 0.04820484691299498,
545
+ -0.007158341846661642
546
+ ],
547
+ "orientation": {
548
+ "w": 0.7036517819706416,
549
+ "xyz": [
550
+ 0.017145590581089432,
551
+ 0.7101693665308163,
552
+ -0.015481256227641486
553
+ ]
554
+ }
555
+ },
556
+ "grasp_8": {
557
+ "confidence": 0.8957433700561523,
558
+ "position": [
559
+ -0.15939398133195937,
560
+ 0.06356340297497809,
561
+ -0.004315846861572936
562
+ ],
563
+ "orientation": {
564
+ "w": 0.7046080189297382,
565
+ "xyz": [
566
+ 0.015644886490804595,
567
+ 0.7089318588858515,
568
+ -0.026427195145364613
569
+ ]
570
+ }
571
+ },
572
+ "grasp_9": {
573
+ "confidence": 0.7964064478874207,
574
+ "position": [
575
+ -0.15506988787092268,
576
+ -0.03145610145293176,
577
+ 0.033790299174143
578
+ ],
579
+ "orientation": {
580
+ "w": 0.6068816405475747,
581
+ "xyz": [
582
+ 0.029173054970719547,
583
+ 0.793021331271599,
584
+ -0.044280643380388736
585
+ ]
586
+ }
587
+ },
588
+ "grasp_10": {
589
+ "confidence": 0.7611870169639587,
590
+ "position": [
591
+ -0.14906473481096327,
592
+ 0.047430731588974595,
593
+ -0.04614114252035506
594
+ ],
595
+ "orientation": {
596
+ "w": 0.8218529528974866,
597
+ "xyz": [
598
+ 0.02010747689227164,
599
+ 0.5693283744260427,
600
+ -0.004314540544246425
601
+ ]
602
+ }
603
+ },
604
+ "grasp_11": {
605
+ "confidence": 0.7108885049819946,
606
+ "position": [
607
+ -0.14999531232751906,
608
+ -0.0676576232071966,
609
+ 0.039970872428966686
610
+ ],
611
+ "orientation": {
612
+ "w": 0.577498853128444,
613
+ "xyz": [
614
+ -0.0886118084886959,
615
+ 0.8054069819988734,
616
+ 0.09981290186724917
617
+ ]
618
+ }
619
+ },
620
+ "grasp_12": {
621
+ "confidence": 0.9390925168991089,
622
+ "position": [
623
+ -0.14479070925153792,
624
+ 0.0076940173748880625,
625
+ -0.0018450477218721062
626
+ ],
627
+ "orientation": {
628
+ "w": 0.14371131292655226,
629
+ "xyz": [
630
+ 0.6891422832456269,
631
+ -0.115767470983273,
632
+ 0.700733804409398
633
+ ]
634
+ }
635
+ },
636
+ "grasp_14": {
637
+ "confidence": 0.9199323058128357,
638
+ "position": [
639
+ -0.14751328551210463,
640
+ -0.019740663236007094,
641
+ -0.006371479510562494
642
+ ],
643
+ "orientation": {
644
+ "w": 0.7088447041664744,
645
+ "xyz": [
646
+ 0.023698332665676374,
647
+ 0.7042784710508125,
648
+ -0.031135343555830912
649
+ ]
650
+ }
651
+ },
652
+ "grasp_15": {
653
+ "confidence": 0.9162834286689758,
654
+ "position": [
655
+ -0.14513449394144118,
656
+ -0.09824709943495691,
657
+ -0.009457950975047424
658
+ ],
659
+ "orientation": {
660
+ "w": 0.13950373982006928,
661
+ "xyz": [
662
+ -0.6712796593746275,
663
+ -0.1561841670903481,
664
+ -0.7110055073179058
665
+ ]
666
+ }
667
+ },
668
+ "grasp_16": {
669
+ "confidence": 0.909352719783783,
670
+ "position": [
671
+ -0.14273050450719893,
672
+ -0.07062829635106027,
673
+ 0.012328115728450939
674
+ ],
675
+ "orientation": {
676
+ "w": 0.6542586557027665,
677
+ "xyz": [
678
+ -0.09236084694882916,
679
+ 0.7400063458781065,
680
+ 0.12572069618418744
681
+ ]
682
+ }
683
+ },
684
+ "grasp_18": {
685
+ "confidence": 0.9446818828582764,
686
+ "position": [
687
+ -0.13558942102827132,
688
+ -0.10240520141087472,
689
+ 0.001831127068726346
690
+ ],
691
+ "orientation": {
692
+ "w": 0.6805258788233253,
693
+ "xyz": [
694
+ -0.16825018193407568,
695
+ 0.6922713794424615,
696
+ 0.17127971781773463
697
+ ]
698
+ }
699
+ },
700
+ "grasp_19": {
701
+ "confidence": 0.9312236309051514,
702
+ "position": [
703
+ -0.14065939211286604,
704
+ -0.07824902585707605,
705
+ 0.0016476511664222926
706
+ ],
707
+ "orientation": {
708
+ "w": 0.6992917825672078,
709
+ "xyz": [
710
+ -0.13326141268616498,
711
+ 0.6880069977288216,
712
+ 0.14099209126414616
713
+ ]
714
+ }
715
+ }
716
+ }
717
+ },
718
+ {
719
+ "part_name": "page block",
720
+ "mask_color": "Maroon",
721
+ "graspable": true,
722
+ "grasp_scenarios": [
723
+ {
724
+ "scenario": "grasp the exposed page block side to pick up or steady the notebook",
725
+ "confidence": 0.74
726
+ },
727
+ {
728
+ "scenario": "pinch the page edges to separate or flip pages",
729
+ "confidence": 0.62
730
+ }
731
+ ],
732
+ "functional_labels": [
733
+ "provide writing pages",
734
+ "store notes",
735
+ "flip for reading",
736
+ "form the interior paper stack"
737
+ ],
738
+ "semantic_description": "Thick white stack of paper pages with a matte finish and fine smooth texture, visible along the side edges inside the covers.",
739
+ "id": 12,
740
+ "grasp_group": {
741
+ "grasp_66": {
742
+ "confidence": 0.038114406168460846,
743
+ "position": [
744
+ -0.12788590812124312,
745
+ 0.04897566535510123,
746
+ 0.038016950216842815
747
+ ],
748
+ "orientation": {
749
+ "w": 0.3965303070581032,
750
+ "xyz": [
751
+ 0.624906797275545,
752
+ 0.5423028047846984,
753
+ 0.39769696783591013
754
+ ]
755
+ }
756
+ }
757
+ }
758
+ },
759
+ {
760
+ "part_name": "cover edge trim",
761
+ "mask_color": "Teal",
762
+ "graspable": false,
763
+ "grasp_scenarios": [],
764
+ "functional_labels": [
765
+ "finish cover perimeter",
766
+ "protect edge",
767
+ "visually outline the cover"
768
+ ],
769
+ "semantic_description": "Thin tan-brown edge layer running around the cover perimeter, visible as a narrow smooth border between the tan cover faces and surrounding edges.",
770
+ "id": 10,
771
+ "grasp_group": {}
772
+ },
773
+ {
774
+ "part_name": "strap tab",
775
+ "mask_color": "Cyan",
776
+ "graspable": true,
777
+ "grasp_scenarios": [
778
+ {
779
+ "scenario": "pinch the small tab/pad attached to the elastic strap to pull the strap free",
780
+ "confidence": 0.8
781
+ }
782
+ ],
783
+ "functional_labels": [
784
+ "provide a pull tab",
785
+ "reinforce the strap end",
786
+ "assist opening"
787
+ ],
788
+ "semantic_description": "Small light cyan semicircular pad attached near the end of the elastic strap, with a smooth surface and rounded shape at the notebook edge.",
789
+ "id": 6,
790
+ "grasp_group": {}
791
+ },
792
+ {
793
+ "part_name": "small cover mark",
794
+ "mask_color": "Purple",
795
+ "graspable": false,
796
+ "grasp_scenarios": [],
797
+ "functional_labels": [
798
+ "decorative graphic",
799
+ "surface marking"
800
+ ],
801
+ "semantic_description": "Tiny dark teal printed mark on the tan cover surface, flat and small, located near the center area of the cover.",
802
+ "id": 5,
803
+ "grasp_group": {}
804
+ }
805
+ ],
806
+ "quality_check": {
807
+ "success": false,
808
+ "message": "Several semantic descriptions use mask colors, and edge trim identity/appearance is incorrect."
809
+ }
810
+ }
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:53007a7cf28cc9de12306e92c3e420bdbad092f94e7794cc084fe8a78ee9135d
3
+ size 3795248
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/notebook_015.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>YES</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>YES</PartSegChecker>