Add asset desktop_supplies/office_stationery/94994d7e83d45ef4941aebb288d9946b
Browse files
.gitattributes
CHANGED
|
@@ -6418,3 +6418,4 @@ dataset/desktop_supplies/office_stationery/92e609c34ad15d818f6183e6218ef0f4/affo
|
|
| 6418 |
dataset/desktop_supplies/office_stationery/9365d5ef84f150b4a1961d45fe139645/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6419 |
dataset/desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6420 |
dataset/desktop_supplies/office_stationery/9474ba578ba4599085232bd088f63ba7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6418 |
dataset/desktop_supplies/office_stationery/9365d5ef84f150b4a1961d45fe139645/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6419 |
dataset/desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6420 |
dataset/desktop_supplies/office_stationery/9474ba578ba4599085232bd088f63ba7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6421 |
+
dataset/desktop_supplies/office_stationery/94994d7e83d45ef4941aebb288d9946b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/94994d7e83d45ef4941aebb288d9946b/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,461 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "end plug",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"close the rear end of the marker",
|
| 10 |
+
"finish the rear cap end",
|
| 11 |
+
"provide minor impact protection"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Small rounded blue plastic end piece with a smooth slightly glossy finish at the very back of the marker cap and no distinct markings.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "writing tip",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": false,
|
| 21 |
+
"grasp_scenarios": [],
|
| 22 |
+
"functional_labels": [
|
| 23 |
+
"apply ink",
|
| 24 |
+
"write on surfaces",
|
| 25 |
+
"make marks",
|
| 26 |
+
"provide precise contact point"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Small dark blue felt-like conical tip with a matte fibrous texture at the front of the marker, forming the writing point.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {}
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"part_name": "barrel",
|
| 34 |
+
"mask_color": "Blue",
|
| 35 |
+
"graspable": true,
|
| 36 |
+
"grasp_scenarios": [
|
| 37 |
+
{
|
| 38 |
+
"scenario": "grasp the barrel at its center to pick up and hold the marker for transport",
|
| 39 |
+
"confidence": 0.95
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"scenario": "hold the barrel to orient the writing tip toward a target surface",
|
| 43 |
+
"confidence": 0.92
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"scenario": "stabilize the marker by pinching the barrel while handling or repositioning the marker",
|
| 47 |
+
"confidence": 0.89
|
| 48 |
+
}
|
| 49 |
+
],
|
| 50 |
+
"functional_labels": [
|
| 51 |
+
"main grasp surface",
|
| 52 |
+
"house the ink reservoir",
|
| 53 |
+
"support writing manipulation",
|
| 54 |
+
"connect front and back parts"
|
| 55 |
+
],
|
| 56 |
+
"semantic_description": "Long cylindrical translucent light gray plastic barrel with a smooth glossy hard surface, forming the central body between the blue rear cap and blue front grip section.",
|
| 57 |
+
"id": 2,
|
| 58 |
+
"grasp_group": {
|
| 59 |
+
"grasp_0": {
|
| 60 |
+
"confidence": 0.10484036058187485,
|
| 61 |
+
"position": [
|
| 62 |
+
-0.09282982465811074,
|
| 63 |
+
0.016498838289408013,
|
| 64 |
+
0.0489807766280137
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.42747478377360454,
|
| 68 |
+
"xyz": [
|
| 69 |
+
0.5675857110014287,
|
| 70 |
+
0.6573072160504103,
|
| 71 |
+
0.25111549859132887
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_3": {
|
| 76 |
+
"confidence": 0.6457728743553162,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.09681674954481423,
|
| 79 |
+
-0.053495553584070876,
|
| 80 |
+
0.015415357833262533
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.6412873650236952,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.311714246341956,
|
| 86 |
+
0.6949407056256466,
|
| 87 |
+
0.09296321720423023
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_4": {
|
| 92 |
+
"confidence": 0.6059501767158508,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.10366893676109612,
|
| 95 |
+
-0.04146533951279707,
|
| 96 |
+
0.03219763602828607
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.584934219487766,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.410862667236315,
|
| 102 |
+
0.6977051413103379,
|
| 103 |
+
-0.04744853351601325
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_6": {
|
| 108 |
+
"confidence": 0.5151639580726624,
|
| 109 |
+
"position": [
|
| 110 |
+
-0.09527829405851662,
|
| 111 |
+
-0.04873497903463431,
|
| 112 |
+
-0.021931690687779337
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.35559919477353247,
|
| 116 |
+
"xyz": [
|
| 117 |
+
-0.6218882530044203,
|
| 118 |
+
-0.04773534083996833,
|
| 119 |
+
-0.6960786957567491
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_9": {
|
| 124 |
+
"confidence": 0.3985576331615448,
|
| 125 |
+
"position": [
|
| 126 |
+
-0.09618934360332787,
|
| 127 |
+
0.025686048640636727,
|
| 128 |
+
0.050744001229759306
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.15580391933137416,
|
| 132 |
+
"xyz": [
|
| 133 |
+
-0.6895187792528861,
|
| 134 |
+
0.5317066237333813,
|
| 135 |
+
-0.4664515602467651
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_12": {
|
| 140 |
+
"confidence": 0.28320592641830444,
|
| 141 |
+
"position": [
|
| 142 |
+
-0.09983407822437584,
|
| 143 |
+
0.050310636608628556,
|
| 144 |
+
0.0036811939789913595
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.15781578663082962,
|
| 148 |
+
"xyz": [
|
| 149 |
+
0.6942950646876174,
|
| 150 |
+
-0.21024449366154618,
|
| 151 |
+
0.6699595461858195
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_13": {
|
| 156 |
+
"confidence": 0.2731112837791443,
|
| 157 |
+
"position": [
|
| 158 |
+
0.08897518995217979,
|
| 159 |
+
0.04583444326999597,
|
| 160 |
+
0.018513571878429502
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.6334143664021098,
|
| 164 |
+
"xyz": [
|
| 165 |
+
0.3033331026016603,
|
| 166 |
+
-0.7102001380264543,
|
| 167 |
+
0.04889819269328346
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_18": {
|
| 172 |
+
"confidence": 0.9863811135292053,
|
| 173 |
+
"position": [
|
| 174 |
+
0.035104336915537715,
|
| 175 |
+
0.08932852253201418,
|
| 176 |
+
0.0016158640501089394
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.378720541060095,
|
| 180 |
+
"xyz": [
|
| 181 |
+
0.6158051373304584,
|
| 182 |
+
0.35346674163551683,
|
| 183 |
+
-0.5936463991082026
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
"grasp_19": {
|
| 188 |
+
"confidence": 0.9842358827590942,
|
| 189 |
+
"position": [
|
| 190 |
+
0.02736373501829803,
|
| 191 |
+
0.08881712958100252,
|
| 192 |
+
0.01264616142725572
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
| 195 |
+
"w": 0.33720250832754506,
|
| 196 |
+
"xyz": [
|
| 197 |
+
0.6329523250369236,
|
| 198 |
+
0.3986535649671421,
|
| 199 |
+
-0.5716127690551999
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"part_name": "rear cap",
|
| 207 |
+
"mask_color": "Orange",
|
| 208 |
+
"graspable": true,
|
| 209 |
+
"grasp_scenarios": [
|
| 210 |
+
{
|
| 211 |
+
"scenario": "grasp the rear cap to pick up the marker from the back end",
|
| 212 |
+
"confidence": 0.86
|
| 213 |
+
},
|
| 214 |
+
{
|
| 215 |
+
"scenario": "hold the rear cap while orienting or repositioning the marker",
|
| 216 |
+
"confidence": 0.78
|
| 217 |
+
},
|
| 218 |
+
{
|
| 219 |
+
"scenario": "use the capped rear end as a secondary grasp point during storage or retrieval",
|
| 220 |
+
"confidence": 0.67
|
| 221 |
+
}
|
| 222 |
+
],
|
| 223 |
+
"functional_labels": [
|
| 224 |
+
"rear housing section",
|
| 225 |
+
"provide a mounting area for the pocket clip",
|
| 226 |
+
"extend the marker body",
|
| 227 |
+
"protect the rear barrel interface"
|
| 228 |
+
],
|
| 229 |
+
"semantic_description": "Blue plastic rear cap/body section with a smooth glossy finish and white printed branding, medium-sized and attached at the back end of the marker.",
|
| 230 |
+
"id": 4,
|
| 231 |
+
"grasp_group": {
|
| 232 |
+
"grasp_22": {
|
| 233 |
+
"confidence": 0.909967303276062,
|
| 234 |
+
"position": [
|
| 235 |
+
0.12760449829511344,
|
| 236 |
+
-0.005326904618414119,
|
| 237 |
+
0.005436840408947319
|
| 238 |
+
],
|
| 239 |
+
"orientation": {
|
| 240 |
+
"w": 0.5474872742182038,
|
| 241 |
+
"xyz": [
|
| 242 |
+
-0.475439292649818,
|
| 243 |
+
-0.5372115598283177,
|
| 244 |
+
0.43083512340637664
|
| 245 |
+
]
|
| 246 |
+
}
|
| 247 |
+
},
|
| 248 |
+
"grasp_23": {
|
| 249 |
+
"confidence": 0.9051226377487183,
|
| 250 |
+
"position": [
|
| 251 |
+
0.12802915158681571,
|
| 252 |
+
-0.0035005305253434926,
|
| 253 |
+
0.00470620853593573
|
| 254 |
+
],
|
| 255 |
+
"orientation": {
|
| 256 |
+
"w": 0.5504331173165894,
|
| 257 |
+
"xyz": [
|
| 258 |
+
-0.468095725482017,
|
| 259 |
+
-0.5366826608619784,
|
| 260 |
+
0.43575394051771077
|
| 261 |
+
]
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"grasp_24": {
|
| 265 |
+
"confidence": 0.8951666951179504,
|
| 266 |
+
"position": [
|
| 267 |
+
0.12603181484155357,
|
| 268 |
+
-2.814785693772137e-05,
|
| 269 |
+
-0.0033423284185118973
|
| 270 |
+
],
|
| 271 |
+
"orientation": {
|
| 272 |
+
"w": 0.532161548759164,
|
| 273 |
+
"xyz": [
|
| 274 |
+
-0.4916397162353196,
|
| 275 |
+
-0.5052862089199559,
|
| 276 |
+
0.4688073405116445
|
| 277 |
+
]
|
| 278 |
+
}
|
| 279 |
+
},
|
| 280 |
+
"grasp_26": {
|
| 281 |
+
"confidence": 0.8858864903450012,
|
| 282 |
+
"position": [
|
| 283 |
+
0.13196495058946311,
|
| 284 |
+
1.3349199434742332e-05,
|
| 285 |
+
0.004873248224612325
|
| 286 |
+
],
|
| 287 |
+
"orientation": {
|
| 288 |
+
"w": 0.48540228781462924,
|
| 289 |
+
"xyz": [
|
| 290 |
+
-0.5280455214791934,
|
| 291 |
+
-0.4848976999723502,
|
| 292 |
+
0.5004265848170093
|
| 293 |
+
]
|
| 294 |
+
}
|
| 295 |
+
},
|
| 296 |
+
"grasp_29": {
|
| 297 |
+
"confidence": 0.8639265298843384,
|
| 298 |
+
"position": [
|
| 299 |
+
0.12735935929231346,
|
| 300 |
+
0.0002671305337571539,
|
| 301 |
+
-0.0015705619589425623
|
| 302 |
+
],
|
| 303 |
+
"orientation": {
|
| 304 |
+
"w": 0.7145209299394971,
|
| 305 |
+
"xyz": [
|
| 306 |
+
-0.11628343129071333,
|
| 307 |
+
-0.6812114095118446,
|
| 308 |
+
0.10903678203496346
|
| 309 |
+
]
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"grasp_31": {
|
| 313 |
+
"confidence": 0.8570093512535095,
|
| 314 |
+
"position": [
|
| 315 |
+
0.13185375812463462,
|
| 316 |
+
-0.002891170821385458,
|
| 317 |
+
0.0022681918344460428
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.7066429736106197,
|
| 321 |
+
"xyz": [
|
| 322 |
+
0.02919683686099361,
|
| 323 |
+
-0.7033572785527635,
|
| 324 |
+
-0.07135678854113797
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_34": {
|
| 329 |
+
"confidence": 0.8327304124832153,
|
| 330 |
+
"position": [
|
| 331 |
+
0.12195436540059745,
|
| 332 |
+
0.009764766989974305,
|
| 333 |
+
0.00930716231232509
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.6856614655033596,
|
| 337 |
+
"xyz": [
|
| 338 |
+
-0.06199047647535518,
|
| 339 |
+
-0.7193672640050995,
|
| 340 |
+
0.09239196408758237
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
}
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
{
|
| 347 |
+
"part_name": "front grip section",
|
| 348 |
+
"mask_color": "Pink",
|
| 349 |
+
"graspable": true,
|
| 350 |
+
"grasp_scenarios": [
|
| 351 |
+
{
|
| 352 |
+
"scenario": "grasp the front section near the tip for precise writing orientation",
|
| 353 |
+
"confidence": 0.88
|
| 354 |
+
},
|
| 355 |
+
{
|
| 356 |
+
"scenario": "pinch the front section to stabilize the marker during inspection or placement",
|
| 357 |
+
"confidence": 0.76
|
| 358 |
+
}
|
| 359 |
+
],
|
| 360 |
+
"functional_labels": [
|
| 361 |
+
"support precise grip",
|
| 362 |
+
"position the writing tip",
|
| 363 |
+
"connect barrel to tip"
|
| 364 |
+
],
|
| 365 |
+
"semantic_description": "Short blue plastic tapered front section with a smooth slightly glossy hard surface near the tip, narrower than the main barrel.",
|
| 366 |
+
"id": 8,
|
| 367 |
+
"grasp_group": {
|
| 368 |
+
"grasp_58": {
|
| 369 |
+
"confidence": 0.8908776044845581,
|
| 370 |
+
"position": [
|
| 371 |
+
0.1260842967312783,
|
| 372 |
+
0.0007859210018068552,
|
| 373 |
+
0.00377552438294515
|
| 374 |
+
],
|
| 375 |
+
"orientation": {
|
| 376 |
+
"w": 0.4564758070177057,
|
| 377 |
+
"xyz": [
|
| 378 |
+
0.5460758410551046,
|
| 379 |
+
-0.4438662030886127,
|
| 380 |
+
-0.5444389838900159
|
| 381 |
+
]
|
| 382 |
+
}
|
| 383 |
+
}
|
| 384 |
+
}
|
| 385 |
+
},
|
| 386 |
+
{
|
| 387 |
+
"part_name": "tip collar",
|
| 388 |
+
"mask_color": "Yellow",
|
| 389 |
+
"graspable": false,
|
| 390 |
+
"grasp_scenarios": [],
|
| 391 |
+
"functional_labels": [
|
| 392 |
+
"support the writing tip",
|
| 393 |
+
"transition from grip to nib",
|
| 394 |
+
"help align the tip assembly"
|
| 395 |
+
],
|
| 396 |
+
"semantic_description": "Tiny yellow plastic conical collar with a smooth appearance surrounding the base of the nib at the very front of the marker.",
|
| 397 |
+
"id": 3,
|
| 398 |
+
"grasp_group": {}
|
| 399 |
+
},
|
| 400 |
+
{
|
| 401 |
+
"part_name": "pocket clip",
|
| 402 |
+
"mask_color": "Purple",
|
| 403 |
+
"graspable": true,
|
| 404 |
+
"grasp_scenarios": [
|
| 405 |
+
{
|
| 406 |
+
"scenario": "delicately pinch the clip to steady the marker during retrieval from a pocket-like holder",
|
| 407 |
+
"confidence": 0.34
|
| 408 |
+
},
|
| 409 |
+
{
|
| 410 |
+
"scenario": "grasp the clip area together with the rear cap for retrieval or repositioning",
|
| 411 |
+
"confidence": 0.41
|
| 412 |
+
}
|
| 413 |
+
],
|
| 414 |
+
"functional_labels": [
|
| 415 |
+
"clip to pocket",
|
| 416 |
+
"retain marker on fabric or notebook",
|
| 417 |
+
"aid orientation of the rear cap"
|
| 418 |
+
],
|
| 419 |
+
"semantic_description": "Slim curved blue plastic clip integrated into the rear cap, with a smooth glossy hard surface and elongated shape running along the cap side.",
|
| 420 |
+
"id": 5,
|
| 421 |
+
"grasp_group": {
|
| 422 |
+
"grasp_51": {
|
| 423 |
+
"confidence": 0.8837019801139832,
|
| 424 |
+
"position": [
|
| 425 |
+
0.10832018288783729,
|
| 426 |
+
0.0413916546094697,
|
| 427 |
+
0.03617698739981279
|
| 428 |
+
],
|
| 429 |
+
"orientation": {
|
| 430 |
+
"w": 0.07119072541494653,
|
| 431 |
+
"xyz": [
|
| 432 |
+
-0.6974439945903774,
|
| 433 |
+
-0.4290454930626184,
|
| 434 |
+
0.5695820572203493
|
| 435 |
+
]
|
| 436 |
+
}
|
| 437 |
+
},
|
| 438 |
+
"grasp_52": {
|
| 439 |
+
"confidence": 0.8296542167663574,
|
| 440 |
+
"position": [
|
| 441 |
+
0.07752614351920784,
|
| 442 |
+
0.07426239058258943,
|
| 443 |
+
0.05694060440873727
|
| 444 |
+
],
|
| 445 |
+
"orientation": {
|
| 446 |
+
"w": 0.47342387008082043,
|
| 447 |
+
"xyz": [
|
| 448 |
+
0.5245816748278501,
|
| 449 |
+
-0.6913192733906235,
|
| 450 |
+
0.1508693736686368
|
| 451 |
+
]
|
| 452 |
+
}
|
| 453 |
+
}
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
],
|
| 457 |
+
"quality_check": {
|
| 458 |
+
"success": false,
|
| 459 |
+
"message": "Several semantic colors are wrong; tip collar color mismatched; rear part is body end/cap section, not fully accurate as described."
|
| 460 |
+
}
|
| 461 |
+
}
|
dataset/desktop_supplies/office_stationery/94994d7e83d45ef4941aebb288d9946b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3c0d398c39d0e8cd92e299d0ef5f71b72d3826b5a8612ec2fed8c2e812452238
|
| 3 |
+
size 1945776
|