Add asset desktop_supplies/decorations/933cdd8b8da952b0918112183735f127
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/933cdd8b8da952b0918112183735f127.urdf +1 -0
- dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/affordance/affordance_annot.json +499 -0
- dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
|
@@ -6133,3 +6133,4 @@ dataset/desktop_supplies/decorations/8e7efaf5765655318a458ae329101289/affordance
|
|
| 6133 |
dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6134 |
dataset/desktop_supplies/decorations/91b44b51dc6d51c6945c43a8bd546d30/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6135 |
dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6133 |
dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6134 |
dataset/desktop_supplies/decorations/91b44b51dc6d51c6945c43a8bd546d30/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6135 |
dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6136 |
+
dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/933cdd8b8da952b0918112183735f127.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|
dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,499 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main back panel with side arms",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad side edges of the main panel to pick up or reposition the stand",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold one of the side arm extensions to steady the stand during placement",
|
| 14 |
+
"confidence": 0.61
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide the main body of the stand",
|
| 19 |
+
"support a phone or small device from behind",
|
| 20 |
+
"connect to the lower support features",
|
| 21 |
+
"provide structure for the folding stand"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large dark gray plastic back panel with a smooth matte finish and rounded corners, forming most of the stand. In some views it includes short horizontal side arm extensions near the upper-middle area.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9653419256210327,
|
| 28 |
+
"position": [
|
| 29 |
+
0.05486969370394945,
|
| 30 |
+
0.17182634997880086,
|
| 31 |
+
0.04749190152506344
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.657549525744894,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6326049706524648,
|
| 37 |
+
0.28988247233210307,
|
| 38 |
+
-0.28880395518947893
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.9647538661956787,
|
| 44 |
+
"position": [
|
| 45 |
+
0.07413910422474146,
|
| 46 |
+
0.16757813323056325,
|
| 47 |
+
0.08118613527039997
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.546620518685679,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.7359208954681905,
|
| 53 |
+
0.2463283914907266,
|
| 54 |
+
-0.3145612304634628
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_22": {
|
| 59 |
+
"confidence": 0.9646698832511902,
|
| 60 |
+
"position": [
|
| 61 |
+
0.05492245499044657,
|
| 62 |
+
0.16605423617875203,
|
| 63 |
+
0.04926193968276493
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.6634282835125692,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.636013160463147,
|
| 69 |
+
0.2836095707837408,
|
| 70 |
+
-0.2737074783653291
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_23": {
|
| 75 |
+
"confidence": 0.9645828008651733,
|
| 76 |
+
"position": [
|
| 77 |
+
0.1241209963336587,
|
| 78 |
+
0.11872695613419637,
|
| 79 |
+
0.1254193829081487
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.24172990323570123,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.8811442443339195,
|
| 85 |
+
0.13983041392607004,
|
| 86 |
+
-0.3815742783523657
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_24": {
|
| 91 |
+
"confidence": 0.9644834995269775,
|
| 92 |
+
"position": [
|
| 93 |
+
0.052643240429461,
|
| 94 |
+
0.1629092865041457,
|
| 95 |
+
0.05178250835160725
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.2727268100385154,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.29238089732115735,
|
| 101 |
+
-0.6201038296494921,
|
| 102 |
+
0.6749849912567866
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_25": {
|
| 107 |
+
"confidence": 0.9642966985702515,
|
| 108 |
+
"position": [
|
| 109 |
+
0.060046267695724964,
|
| 110 |
+
0.17290860641514882,
|
| 111 |
+
0.053158980765147135
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.27179629072562117,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.27926244071587947,
|
| 117 |
+
-0.6328700990375701,
|
| 118 |
+
0.6690401357896104
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_26": {
|
| 123 |
+
"confidence": 0.9637044668197632,
|
| 124 |
+
"position": [
|
| 125 |
+
0.047693551518023014,
|
| 126 |
+
0.1674862079671584,
|
| 127 |
+
0.047603038110537454
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.6579197947566249,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.6379034057895047,
|
| 133 |
+
0.29091102047350004,
|
| 134 |
+
-0.2749392054920834
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_27": {
|
| 139 |
+
"confidence": 0.9636339545249939,
|
| 140 |
+
"position": [
|
| 141 |
+
0.05747893173247576,
|
| 142 |
+
0.1640033595613204,
|
| 143 |
+
0.05514171064714901
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.27324339806307635,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.2748871877070541,
|
| 149 |
+
-0.6341953582222947,
|
| 150 |
+
0.6690077182355567
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_28": {
|
| 155 |
+
"confidence": 0.9634624123573303,
|
| 156 |
+
"position": [
|
| 157 |
+
0.12312751356512308,
|
| 158 |
+
0.1289483033469878,
|
| 159 |
+
0.11662105188588612
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.315514656598564,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.8513214615241834,
|
| 165 |
+
0.15566752572976816,
|
| 166 |
+
-0.38919133090678
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_29": {
|
| 171 |
+
"confidence": 0.9628137350082397,
|
| 172 |
+
"position": [
|
| 173 |
+
0.12120512966066599,
|
| 174 |
+
0.1193733238033019,
|
| 175 |
+
0.1256344364664983
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.259590822904945,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.8780677358804547,
|
| 181 |
+
0.14961808988366543,
|
| 182 |
+
-0.37312743540092164
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_30": {
|
| 187 |
+
"confidence": 0.9625297784805298,
|
| 188 |
+
"position": [
|
| 189 |
+
0.1362267890945077,
|
| 190 |
+
0.09476024884497747,
|
| 191 |
+
0.12855838701943867
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.4127579921391545,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.1120580684268714,
|
| 197 |
+
-0.8777191710430108,
|
| 198 |
+
0.216062227169078
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_31": {
|
| 203 |
+
"confidence": 0.9623262882232666,
|
| 204 |
+
"position": [
|
| 205 |
+
0.04703373555094004,
|
| 206 |
+
0.17136156786000356,
|
| 207 |
+
0.04683594123343937
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.6568194475677736,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.6402616761647296,
|
| 213 |
+
0.2910881851654441,
|
| 214 |
+
-0.271883923372795
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_32": {
|
| 219 |
+
"confidence": 0.9622105360031128,
|
| 220 |
+
"position": [
|
| 221 |
+
0.13151878211647272,
|
| 222 |
+
0.1051034503034316,
|
| 223 |
+
0.13447019920567982
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.23826183183298472,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.8866311656968329,
|
| 229 |
+
0.1205787362974427,
|
| 230 |
+
-0.3775940198938243
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_33": {
|
| 235 |
+
"confidence": 0.9621789455413818,
|
| 236 |
+
"position": [
|
| 237 |
+
0.05995807144790888,
|
| 238 |
+
0.17189559567486867,
|
| 239 |
+
0.048148234345717356
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.2812522326770862,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.26985847348145736,
|
| 245 |
+
-0.6281178164608869,
|
| 246 |
+
0.6734549684639795
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_34": {
|
| 251 |
+
"confidence": 0.9621588587760925,
|
| 252 |
+
"position": [
|
| 253 |
+
0.057700381614267826,
|
| 254 |
+
0.16693195927655324,
|
| 255 |
+
0.053685334481997415
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.6547588580803431,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.6375881740416999,
|
| 261 |
+
0.29326798371886664,
|
| 262 |
+
-0.2806528956076648
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_35": {
|
| 267 |
+
"confidence": 0.9618470668792725,
|
| 268 |
+
"position": [
|
| 269 |
+
0.11891602072864771,
|
| 270 |
+
0.13377477455651388,
|
| 271 |
+
0.11557326183537953
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.34508666591772463,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.8529668017363712,
|
| 277 |
+
0.11716532313780803,
|
| 278 |
+
-0.37367782272357014
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_36": {
|
| 283 |
+
"confidence": 0.9618167877197266,
|
| 284 |
+
"position": [
|
| 285 |
+
0.12643103394657373,
|
| 286 |
+
0.12258987355744466,
|
| 287 |
+
0.12069208637694828
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.24694348398642185,
|
| 291 |
+
"xyz": [
|
| 292 |
+
0.8781534680186414,
|
| 293 |
+
0.11953513899401946,
|
| 294 |
+
-0.3918886995935978
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_37": {
|
| 299 |
+
"confidence": 0.9617003202438354,
|
| 300 |
+
"position": [
|
| 301 |
+
0.14097933564335108,
|
| 302 |
+
0.08459091413533315,
|
| 303 |
+
0.13022746608476155
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.4319278004103299,
|
| 307 |
+
"xyz": [
|
| 308 |
+
0.0966782895828629,
|
| 309 |
+
-0.8855147492608971,
|
| 310 |
+
0.14126327334957456
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
"grasp_38": {
|
| 315 |
+
"confidence": 0.9614333510398865,
|
| 316 |
+
"position": [
|
| 317 |
+
0.13518785033375025,
|
| 318 |
+
0.09400175738846883,
|
| 319 |
+
0.13660635516862385
|
| 320 |
+
],
|
| 321 |
+
"orientation": {
|
| 322 |
+
"w": 0.407550745105666,
|
| 323 |
+
"xyz": [
|
| 324 |
+
0.0810591368101723,
|
| 325 |
+
-0.8915426111042646,
|
| 326 |
+
0.18023201460560911
|
| 327 |
+
]
|
| 328 |
+
}
|
| 329 |
+
},
|
| 330 |
+
"grasp_39": {
|
| 331 |
+
"confidence": 0.9612812995910645,
|
| 332 |
+
"position": [
|
| 333 |
+
0.056366038508713245,
|
| 334 |
+
0.1712479018024169,
|
| 335 |
+
0.052992102660937235
|
| 336 |
+
],
|
| 337 |
+
"orientation": {
|
| 338 |
+
"w": 0.6575915385985862,
|
| 339 |
+
"xyz": [
|
| 340 |
+
0.6237573623617539,
|
| 341 |
+
0.2995825413131056,
|
| 342 |
+
-0.2979100908049837
|
| 343 |
+
]
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"part_name": "bottom support ledge",
|
| 350 |
+
"mask_color": "Yellow",
|
| 351 |
+
"graspable": true,
|
| 352 |
+
"grasp_scenarios": [
|
| 353 |
+
{
|
| 354 |
+
"scenario": "pinch the lower front ledge to lift or slightly reposition the stand",
|
| 355 |
+
"confidence": 0.57
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"scenario": "use the ledge as a contact point to steady the stand while placing it on a surface",
|
| 359 |
+
"confidence": 0.63
|
| 360 |
+
}
|
| 361 |
+
],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"hold the phone at the bottom edge",
|
| 364 |
+
"prevent the phone from sliding off",
|
| 365 |
+
"provide a front stop",
|
| 366 |
+
"support device weight"
|
| 367 |
+
],
|
| 368 |
+
"semantic_description": "Small dark gray plastic lip or shelf with a smooth matte finish, protruding from the lower front edge of the stand where the device rests.",
|
| 369 |
+
"id": 3,
|
| 370 |
+
"grasp_group": {
|
| 371 |
+
"grasp_44": {
|
| 372 |
+
"confidence": 0.5045111775398254,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.17619660403579473,
|
| 375 |
+
-0.07402080070460215,
|
| 376 |
+
-0.056019860348897055
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.07949854253093758,
|
| 380 |
+
"xyz": [
|
| 381 |
+
-0.7418243413423246,
|
| 382 |
+
-0.0806728958803824,
|
| 383 |
+
-0.6609602954775394
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_51": {
|
| 388 |
+
"confidence": 0.451064795255661,
|
| 389 |
+
"position": [
|
| 390 |
+
-0.1670210501179099,
|
| 391 |
+
0.029930865799542516,
|
| 392 |
+
-0.02980398855288513
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.0950954439284702,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.8203802458115675,
|
| 398 |
+
-0.07946565628493008,
|
| 399 |
+
0.5582278372648612
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_52": {
|
| 404 |
+
"confidence": 0.4075150191783905,
|
| 405 |
+
"position": [
|
| 406 |
+
-0.16318040993064642,
|
| 407 |
+
-0.04099572595441714,
|
| 408 |
+
-0.024940523348050192
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.08536815427819756,
|
| 412 |
+
"xyz": [
|
| 413 |
+
-0.8251122360943602,
|
| 414 |
+
-0.05469972644150667,
|
| 415 |
+
-0.555796739833658
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_57": {
|
| 420 |
+
"confidence": 0.7995539307594299,
|
| 421 |
+
"position": [
|
| 422 |
+
-0.17310742940753698,
|
| 423 |
+
-0.005747819843236357,
|
| 424 |
+
-0.08108111753244884
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.10730210245698074,
|
| 428 |
+
"xyz": [
|
| 429 |
+
-0.6549192302295918,
|
| 430 |
+
-0.02188164155025718,
|
| 431 |
+
-0.7477220435742528
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_59": {
|
| 436 |
+
"confidence": 0.536663293838501,
|
| 437 |
+
"position": [
|
| 438 |
+
-0.17123964335769415,
|
| 439 |
+
-0.026764396170619875,
|
| 440 |
+
-0.047344996622996405
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.09929024476103748,
|
| 444 |
+
"xyz": [
|
| 445 |
+
-0.7738296010821148,
|
| 446 |
+
0.02675728278466727,
|
| 447 |
+
-0.6249905948111295
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
}
|
| 451 |
+
}
|
| 452 |
+
},
|
| 453 |
+
{
|
| 454 |
+
"part_name": "folding kickstand arm and lower support block",
|
| 455 |
+
"mask_color": "Red",
|
| 456 |
+
"graspable": true,
|
| 457 |
+
"grasp_scenarios": [
|
| 458 |
+
{
|
| 459 |
+
"scenario": "grasp the folding rear arm to open or fold the stand",
|
| 460 |
+
"confidence": 0.84
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"scenario": "hold the lower support block/body area to stabilize the stand during setup",
|
| 464 |
+
"confidence": 0.68
|
| 465 |
+
}
|
| 466 |
+
],
|
| 467 |
+
"functional_labels": [
|
| 468 |
+
"prop the stand at an angle",
|
| 469 |
+
"support the structure from behind",
|
| 470 |
+
"form the lower support body",
|
| 471 |
+
"stabilize the stand during use"
|
| 472 |
+
],
|
| 473 |
+
"semantic_description": "Dark gray plastic support assembly with a matte smooth surface, including a rectangular lower support block/body and a thin angled folding kickstand arm visible behind the main panel in side views.",
|
| 474 |
+
"id": 0,
|
| 475 |
+
"grasp_group": {
|
| 476 |
+
"grasp_16": {
|
| 477 |
+
"confidence": 0.8060809373855591,
|
| 478 |
+
"position": [
|
| 479 |
+
0.08323222491890192,
|
| 480 |
+
-0.06764048855984583,
|
| 481 |
+
-0.14911667539854534
|
| 482 |
+
],
|
| 483 |
+
"orientation": {
|
| 484 |
+
"w": 0.10231637855490244,
|
| 485 |
+
"xyz": [
|
| 486 |
+
-0.2710237507309105,
|
| 487 |
+
0.24195156305462973,
|
| 488 |
+
0.926032897015317
|
| 489 |
+
]
|
| 490 |
+
}
|
| 491 |
+
}
|
| 492 |
+
}
|
| 493 |
+
}
|
| 494 |
+
],
|
| 495 |
+
"quality_check": {
|
| 496 |
+
"success": false,
|
| 497 |
+
"message": "Blue/yellow/red part identities are swapped; main panel, top hook, and rear/base support descriptions do not match masks."
|
| 498 |
+
}
|
| 499 |
+
}
|
dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dfcf6ee2ee0c990442da640a9186828a76d23cf3c2c74e3dcfa7c2e017df9f3a
|
| 3 |
+
size 1371448
|