Add asset desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924
Browse files
.gitattributes
CHANGED
|
@@ -6662,3 +6662,4 @@ dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/affordanc
|
|
| 6662 |
dataset/desktop_supplies/office_tools/cfd2f293d8525b83a9477cbe7ea38bf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6663 |
dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6664 |
dataset/desktop_supplies/office_tools/d17249b9e95e53c9b484dc8da213931d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6662 |
dataset/desktop_supplies/office_tools/cfd2f293d8525b83a9477cbe7ea38bf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6663 |
dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6664 |
dataset/desktop_supplies/office_tools/d17249b9e95e53c9b484dc8da213931d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6665 |
+
dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1006 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top and side edges of the lid to lift or open the case",
|
| 10 |
+
"confidence": 0.82
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid from above to stabilize the case during handling",
|
| 14 |
+
"confidence": 0.68
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the contents",
|
| 19 |
+
"close the box opening",
|
| 20 |
+
"protect stored contents",
|
| 21 |
+
"provide a top handling surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large translucent light-gray plastic lid with a smooth matte-to-satin surface, rounded rectangular shape, and a shallow circular embossed logo near one corner.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9397362470626831,
|
| 28 |
+
"position": [
|
| 29 |
+
0.006046281196177006,
|
| 30 |
+
0.1401128124562092,
|
| 31 |
+
0.021798105910420418
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.021780988993929055,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.026815584380762512,
|
| 37 |
+
-0.7402872853341915,
|
| 38 |
+
0.6714024487036799
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.9284954071044922,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.009458362124860287,
|
| 46 |
+
0.14527290576370433,
|
| 47 |
+
0.017334390431642532
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.015549584203706862,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.039703677855504396,
|
| 53 |
+
-0.725755234889514,
|
| 54 |
+
0.6866302989428191
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_22": {
|
| 59 |
+
"confidence": 0.9251662492752075,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.004583912901580334,
|
| 62 |
+
0.13865676039131358,
|
| 63 |
+
0.02520062029361725
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.0017985863179407631,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.025818211429260336,
|
| 69 |
+
-0.7473307230774735,
|
| 70 |
+
0.6639480216028593
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_23": {
|
| 75 |
+
"confidence": 0.8998448252677917,
|
| 76 |
+
"position": [
|
| 77 |
+
0.0028475732542574406,
|
| 78 |
+
0.14600969367893413,
|
| 79 |
+
0.01112650241702795
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.7004212067209974,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.7135124585710908,
|
| 85 |
+
0.017039037561093373,
|
| 86 |
+
-0.004447003297832388
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_24": {
|
| 91 |
+
"confidence": 0.8769625425338745,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.0006380823906511068,
|
| 94 |
+
0.1387748818960972,
|
| 95 |
+
0.012644569389522076
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.6928643735422089,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.7207208973386999,
|
| 101 |
+
0.018719721634477215,
|
| 102 |
+
0.01224418381065982
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_25": {
|
| 107 |
+
"confidence": 0.872097373008728,
|
| 108 |
+
"position": [
|
| 109 |
+
0.00032091926550492644,
|
| 110 |
+
0.14662865811260417,
|
| 111 |
+
0.012596001848578453
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.7043541642497233,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.7097705011105163,
|
| 117 |
+
-0.00011187972200443763,
|
| 118 |
+
0.010537292836776345
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_26": {
|
| 123 |
+
"confidence": 0.8614410758018494,
|
| 124 |
+
"position": [
|
| 125 |
+
0.0037562032230198383,
|
| 126 |
+
0.12225518637569621,
|
| 127 |
+
0.0651727207005024
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.4808462403983132,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.8764200977969726,
|
| 133 |
+
0.02551493643859959,
|
| 134 |
+
-0.004867575462883917
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_27": {
|
| 139 |
+
"confidence": 0.852489709854126,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.0029983692802488804,
|
| 142 |
+
0.13787914329441264,
|
| 143 |
+
0.01147441752254963
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.7039710087921137,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.709492350804583,
|
| 149 |
+
-0.005910939820582772,
|
| 150 |
+
0.03178810658780642
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_29": {
|
| 155 |
+
"confidence": 0.8488122820854187,
|
| 156 |
+
"position": [
|
| 157 |
+
0.005617150105535984,
|
| 158 |
+
0.12160545849474147,
|
| 159 |
+
0.06376724317669868
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.4873362154647352,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.8730871588467922,
|
| 165 |
+
0.012913447803099831,
|
| 166 |
+
-0.007447752626266951
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_30": {
|
| 171 |
+
"confidence": 0.8452779650688171,
|
| 172 |
+
"position": [
|
| 173 |
+
0.005237443372607231,
|
| 174 |
+
0.13128053658874705,
|
| 175 |
+
0.06290782615542412
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.4969577777655088,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.8674555531749999,
|
| 181 |
+
0.018150729217485395,
|
| 182 |
+
-0.014979366244798549
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_31": {
|
| 187 |
+
"confidence": 0.8288010358810425,
|
| 188 |
+
"position": [
|
| 189 |
+
0.005193529184907675,
|
| 190 |
+
0.1335295390454121,
|
| 191 |
+
0.018673855811357498
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.03242575172951572,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.006878561755573925,
|
| 197 |
+
-0.719237703983801,
|
| 198 |
+
0.6939728965752628
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_32": {
|
| 203 |
+
"confidence": 0.8268358707427979,
|
| 204 |
+
"position": [
|
| 205 |
+
0.011532500386238098,
|
| 206 |
+
0.146357293066103,
|
| 207 |
+
0.01135309785604477
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.7112167845536922,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.7029311933794744,
|
| 213 |
+
-0.006396030203776326,
|
| 214 |
+
-0.004184918260577296
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_34": {
|
| 219 |
+
"confidence": 0.7669386863708496,
|
| 220 |
+
"position": [
|
| 221 |
+
0.00043753557838499546,
|
| 222 |
+
0.135848636564333,
|
| 223 |
+
0.014031586237251759
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.7047751760113511,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.709099047407061,
|
| 229 |
+
0.02154910013349076,
|
| 230 |
+
0.0024755863960124677
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_35": {
|
| 235 |
+
"confidence": 0.738919198513031,
|
| 236 |
+
"position": [
|
| 237 |
+
0.0002407084684818983,
|
| 238 |
+
0.1353070687619038,
|
| 239 |
+
0.01567775197327137
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.7025447905924008,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.711192359014983,
|
| 245 |
+
0.025220380300514655,
|
| 246 |
+
0.0004220280567432854
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_36": {
|
| 251 |
+
"confidence": 0.5886205434799194,
|
| 252 |
+
"position": [
|
| 253 |
+
0.017537572421133518,
|
| 254 |
+
0.13236583286197856,
|
| 255 |
+
0.019582757726311684
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.6868405783615057,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.7242339046114321,
|
| 261 |
+
-0.0600892455178782,
|
| 262 |
+
-0.01116037187568107
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_38": {
|
| 267 |
+
"confidence": 0.8877905607223511,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.005017699208110571,
|
| 270 |
+
0.13290044182213023,
|
| 271 |
+
0.061001166701316833
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.49771829651622623,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.866941509899335,
|
| 277 |
+
0.022400340030467147,
|
| 278 |
+
0.01367993029830247
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_39": {
|
| 283 |
+
"confidence": 0.84039306640625,
|
| 284 |
+
"position": [
|
| 285 |
+
-0.0017982549034059048,
|
| 286 |
+
0.11487910413416103,
|
| 287 |
+
0.06689870730042458
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.02466161825063523,
|
| 291 |
+
"xyz": [
|
| 292 |
+
0.0369102696271751,
|
| 293 |
+
-0.8770410134454429,
|
| 294 |
+
0.4783602171124802
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
{
|
| 301 |
+
"part_name": "box base",
|
| 302 |
+
"mask_color": "Red",
|
| 303 |
+
"graspable": true,
|
| 304 |
+
"grasp_scenarios": [
|
| 305 |
+
{
|
| 306 |
+
"scenario": "grasp the container body from the sides to pick up and carry the case",
|
| 307 |
+
"confidence": 0.93
|
| 308 |
+
},
|
| 309 |
+
{
|
| 310 |
+
"scenario": "hold the base while opening or closing the lid",
|
| 311 |
+
"confidence": 0.88
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"functional_labels": [
|
| 315 |
+
"contain the stored items",
|
| 316 |
+
"support the whole box",
|
| 317 |
+
"provide the main grasp surface",
|
| 318 |
+
"stabilize contents during storage and transport"
|
| 319 |
+
],
|
| 320 |
+
"semantic_description": "Deep translucent light-gray plastic lower body with smooth hard surfaces, rounded corners, and a rectangular tub shape forming the main container.",
|
| 321 |
+
"id": 0,
|
| 322 |
+
"grasp_group": {
|
| 323 |
+
"grasp_1": {
|
| 324 |
+
"confidence": 0.9735510945320129,
|
| 325 |
+
"position": [
|
| 326 |
+
0.0032643049489706755,
|
| 327 |
+
0.03609965258510783,
|
| 328 |
+
-0.10497473552823067
|
| 329 |
+
],
|
| 330 |
+
"orientation": {
|
| 331 |
+
"w": 0.9994986056707305,
|
| 332 |
+
"xyz": [
|
| 333 |
+
0.026289463079632466,
|
| 334 |
+
0.0126845782641678,
|
| 335 |
+
0.012267961016831601
|
| 336 |
+
]
|
| 337 |
+
}
|
| 338 |
+
},
|
| 339 |
+
"grasp_2": {
|
| 340 |
+
"confidence": 0.9734159708023071,
|
| 341 |
+
"position": [
|
| 342 |
+
0.0018997202860191464,
|
| 343 |
+
0.02227296942146495,
|
| 344 |
+
-0.10598314926028252
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
+
"w": 0.9997238881146122,
|
| 348 |
+
"xyz": [
|
| 349 |
+
0.007444176714735367,
|
| 350 |
+
0.017580470320241015,
|
| 351 |
+
0.013698862338232044
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
},
|
| 355 |
+
"grasp_3": {
|
| 356 |
+
"confidence": 0.9732717871665955,
|
| 357 |
+
"position": [
|
| 358 |
+
0.0008219041919801384,
|
| 359 |
+
0.03138432913692668,
|
| 360 |
+
-0.10586385801434517
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.999909112334308,
|
| 364 |
+
"xyz": [
|
| 365 |
+
0.004072970259140046,
|
| 366 |
+
0.012669385777934639,
|
| 367 |
+
-0.002159779640166664
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_4": {
|
| 372 |
+
"confidence": 0.9726756811141968,
|
| 373 |
+
"position": [
|
| 374 |
+
0.009160862304270267,
|
| 375 |
+
0.033053121354896575,
|
| 376 |
+
-0.1069372110068798
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.9994936354901534,
|
| 380 |
+
"xyz": [
|
| 381 |
+
0.010982757695920107,
|
| 382 |
+
-0.02442905174454224,
|
| 383 |
+
-0.017177691315555063
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_5": {
|
| 388 |
+
"confidence": 0.9724997878074646,
|
| 389 |
+
"position": [
|
| 390 |
+
0.001958700886461884,
|
| 391 |
+
0.03119654842885211,
|
| 392 |
+
-0.10523979738354683
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.9997386037472658,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.020983823841367995,
|
| 398 |
+
0.0076160795204684995,
|
| 399 |
+
0.004939498679022882
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_6": {
|
| 404 |
+
"confidence": 0.9721778631210327,
|
| 405 |
+
"position": [
|
| 406 |
+
0.002983438200317323,
|
| 407 |
+
0.03610063606174663,
|
| 408 |
+
-0.10386969521641731
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.9997674864814187,
|
| 412 |
+
"xyz": [
|
| 413 |
+
0.020260013779972705,
|
| 414 |
+
0.005982020435457591,
|
| 415 |
+
0.004326690163444677
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_7": {
|
| 420 |
+
"confidence": 0.971578061580658,
|
| 421 |
+
"position": [
|
| 422 |
+
0.008643252775073051,
|
| 423 |
+
0.023016613733489066,
|
| 424 |
+
-0.10774112120270729
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.9996243888079676,
|
| 428 |
+
"xyz": [
|
| 429 |
+
0.019805917060254925,
|
| 430 |
+
-0.01568206511449788,
|
| 431 |
+
0.010624489796901568
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_8": {
|
| 436 |
+
"confidence": 0.9712996482849121,
|
| 437 |
+
"position": [
|
| 438 |
+
0.002932981005869806,
|
| 439 |
+
-0.01642896159319207,
|
| 440 |
+
-0.09872324392199516
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.9713304263157561,
|
| 444 |
+
"xyz": [
|
| 445 |
+
-0.23756875084354848,
|
| 446 |
+
0.007596069796958704,
|
| 447 |
+
0.0045377593069453265
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_9": {
|
| 452 |
+
"confidence": 0.9712514877319336,
|
| 453 |
+
"position": [
|
| 454 |
+
-0.001272641820833087,
|
| 455 |
+
0.021858353924471885,
|
| 456 |
+
-0.10515237972140312
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.9997664518424378,
|
| 460 |
+
"xyz": [
|
| 461 |
+
0.006940505311543236,
|
| 462 |
+
0.020136726596844512,
|
| 463 |
+
-0.003658332730421666
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_10": {
|
| 468 |
+
"confidence": 0.9711861610412598,
|
| 469 |
+
"position": [
|
| 470 |
+
0.006876133382320404,
|
| 471 |
+
0.02118772902758792,
|
| 472 |
+
-0.10231983289122581
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.9998456526278529,
|
| 476 |
+
"xyz": [
|
| 477 |
+
0.017004093134875428,
|
| 478 |
+
-0.004272108357811999,
|
| 479 |
+
0.0011317367285293574
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"grasp_11": {
|
| 484 |
+
"confidence": 0.9705489873886108,
|
| 485 |
+
"position": [
|
| 486 |
+
-0.0024585898499935865,
|
| 487 |
+
0.03429699578555301,
|
| 488 |
+
-0.10453634336590767
|
| 489 |
+
],
|
| 490 |
+
"orientation": {
|
| 491 |
+
"w": 0.999560997898113,
|
| 492 |
+
"xyz": [
|
| 493 |
+
0.01563546801390683,
|
| 494 |
+
0.02418611213611166,
|
| 495 |
+
0.006955257051612599
|
| 496 |
+
]
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"grasp_12": {
|
| 500 |
+
"confidence": 0.9701967239379883,
|
| 501 |
+
"position": [
|
| 502 |
+
0.01871961820870638,
|
| 503 |
+
-0.007239181722979993,
|
| 504 |
+
-0.1005844734609127
|
| 505 |
+
],
|
| 506 |
+
"orientation": {
|
| 507 |
+
"w": 0.05726060033904325,
|
| 508 |
+
"xyz": [
|
| 509 |
+
0.07784732355816996,
|
| 510 |
+
-0.16877258712754772,
|
| 511 |
+
-0.9809061278725483
|
| 512 |
+
]
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"grasp_13": {
|
| 516 |
+
"confidence": 0.9699420928955078,
|
| 517 |
+
"position": [
|
| 518 |
+
-3.019929863512516e-06,
|
| 519 |
+
0.013465757307130843,
|
| 520 |
+
-0.10445035621523857
|
| 521 |
+
],
|
| 522 |
+
"orientation": {
|
| 523 |
+
"w": 0.999819055103693,
|
| 524 |
+
"xyz": [
|
| 525 |
+
0.010992792002552569,
|
| 526 |
+
0.014508955843301141,
|
| 527 |
+
0.005523203407861011
|
| 528 |
+
]
|
| 529 |
+
}
|
| 530 |
+
},
|
| 531 |
+
"grasp_14": {
|
| 532 |
+
"confidence": 0.9699239134788513,
|
| 533 |
+
"position": [
|
| 534 |
+
-0.005563706159591675,
|
| 535 |
+
0.00690680491970852,
|
| 536 |
+
-0.1035325713455677
|
| 537 |
+
],
|
| 538 |
+
"orientation": {
|
| 539 |
+
"w": 0.9994094487144313,
|
| 540 |
+
"xyz": [
|
| 541 |
+
0.005070766441120425,
|
| 542 |
+
0.032953467684701865,
|
| 543 |
+
0.00831324939895909
|
| 544 |
+
]
|
| 545 |
+
}
|
| 546 |
+
},
|
| 547 |
+
"grasp_15": {
|
| 548 |
+
"confidence": 0.9694263339042664,
|
| 549 |
+
"position": [
|
| 550 |
+
-0.0011344412341713905,
|
| 551 |
+
0.03388391697080806,
|
| 552 |
+
-0.10553362593054771
|
| 553 |
+
],
|
| 554 |
+
"orientation": {
|
| 555 |
+
"w": 0.9983229877376721,
|
| 556 |
+
"xyz": [
|
| 557 |
+
0.054976943520740035,
|
| 558 |
+
0.01603963639039796,
|
| 559 |
+
0.008454460367700528
|
| 560 |
+
]
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
"grasp_16": {
|
| 564 |
+
"confidence": 0.969147801399231,
|
| 565 |
+
"position": [
|
| 566 |
+
0.002803486888296902,
|
| 567 |
+
0.013606478285510093,
|
| 568 |
+
-0.10744934156537056
|
| 569 |
+
],
|
| 570 |
+
"orientation": {
|
| 571 |
+
"w": 0.9996287710595458,
|
| 572 |
+
"xyz": [
|
| 573 |
+
0.025493686839107178,
|
| 574 |
+
0.0046216079167437085,
|
| 575 |
+
0.008428092405444319
|
| 576 |
+
]
|
| 577 |
+
}
|
| 578 |
+
},
|
| 579 |
+
"grasp_17": {
|
| 580 |
+
"confidence": 0.9684516191482544,
|
| 581 |
+
"position": [
|
| 582 |
+
-0.0017976649105548859,
|
| 583 |
+
0.030708544712979347,
|
| 584 |
+
-0.10835292562842369
|
| 585 |
+
],
|
| 586 |
+
"orientation": {
|
| 587 |
+
"w": 0.9995622110231143,
|
| 588 |
+
"xyz": [
|
| 589 |
+
0.022211031199313076,
|
| 590 |
+
0.019289072126458584,
|
| 591 |
+
-0.0031603930368333485
|
| 592 |
+
]
|
| 593 |
+
}
|
| 594 |
+
},
|
| 595 |
+
"grasp_18": {
|
| 596 |
+
"confidence": 0.9682992696762085,
|
| 597 |
+
"position": [
|
| 598 |
+
-0.007036254741251469,
|
| 599 |
+
0.02244933770271018,
|
| 600 |
+
-0.10865960642695427
|
| 601 |
+
],
|
| 602 |
+
"orientation": {
|
| 603 |
+
"w": 0.9989441146405514,
|
| 604 |
+
"xyz": [
|
| 605 |
+
-0.0021929027913957138,
|
| 606 |
+
0.04238825906959154,
|
| 607 |
+
0.017580742174342346
|
| 608 |
+
]
|
| 609 |
+
}
|
| 610 |
+
},
|
| 611 |
+
"grasp_19": {
|
| 612 |
+
"confidence": 0.967238187789917,
|
| 613 |
+
"position": [
|
| 614 |
+
-0.0028034294955432415,
|
| 615 |
+
0.011071936052758247,
|
| 616 |
+
-0.10966356471180916
|
| 617 |
+
],
|
| 618 |
+
"orientation": {
|
| 619 |
+
"w": 0.9993121745415156,
|
| 620 |
+
"xyz": [
|
| 621 |
+
0.013756922342243507,
|
| 622 |
+
0.03164477896992701,
|
| 623 |
+
0.013584287420468452
|
| 624 |
+
]
|
| 625 |
+
}
|
| 626 |
+
}
|
| 627 |
+
}
|
| 628 |
+
},
|
| 629 |
+
{
|
| 630 |
+
"part_name": "rim",
|
| 631 |
+
"mask_color": "Purple",
|
| 632 |
+
"graspable": false,
|
| 633 |
+
"grasp_scenarios": [],
|
| 634 |
+
"functional_labels": [
|
| 635 |
+
"form the edge interface between lid and base",
|
| 636 |
+
"help align the lid during closing",
|
| 637 |
+
"reinforce the perimeter"
|
| 638 |
+
],
|
| 639 |
+
"semantic_description": "Thin translucent light-gray plastic perimeter rim visible around the case edge, forming a narrow band between the lid and lower body.",
|
| 640 |
+
"id": 5,
|
| 641 |
+
"grasp_group": {}
|
| 642 |
+
},
|
| 643 |
+
{
|
| 644 |
+
"part_name": "front latch tab",
|
| 645 |
+
"mask_color": "Blue",
|
| 646 |
+
"graspable": true,
|
| 647 |
+
"grasp_scenarios": [
|
| 648 |
+
{
|
| 649 |
+
"scenario": "pinch or pull the front latch tab to open the case",
|
| 650 |
+
"confidence": 0.9
|
| 651 |
+
},
|
| 652 |
+
{
|
| 653 |
+
"scenario": "hold the latch tab while guiding the lid shut",
|
| 654 |
+
"confidence": 0.55
|
| 655 |
+
}
|
| 656 |
+
],
|
| 657 |
+
"functional_labels": [
|
| 658 |
+
"secure the lid closed",
|
| 659 |
+
"provide a pinch point for opening",
|
| 660 |
+
"assist closure at the front side"
|
| 661 |
+
],
|
| 662 |
+
"semantic_description": "Small translucent light-gray plastic latch tab projecting from the front edge, with a smooth hard surface and blocky shape sized for pinching.",
|
| 663 |
+
"id": 2,
|
| 664 |
+
"grasp_group": {
|
| 665 |
+
"grasp_40": {
|
| 666 |
+
"confidence": 0.9746628403663635,
|
| 667 |
+
"position": [
|
| 668 |
+
0.0017479069356340915,
|
| 669 |
+
-0.004666551190894097,
|
| 670 |
+
0.10313218459486961
|
| 671 |
+
],
|
| 672 |
+
"orientation": {
|
| 673 |
+
"w": 0.010485891472467822,
|
| 674 |
+
"xyz": [
|
| 675 |
+
-0.9999079801981041,
|
| 676 |
+
-0.0053003347371532086,
|
| 677 |
+
0.006781125854134787
|
| 678 |
+
]
|
| 679 |
+
}
|
| 680 |
+
},
|
| 681 |
+
"grasp_41": {
|
| 682 |
+
"confidence": 0.9737938642501831,
|
| 683 |
+
"position": [
|
| 684 |
+
0.010757150128483772,
|
| 685 |
+
0.006799855560529977,
|
| 686 |
+
0.10433818772435188
|
| 687 |
+
],
|
| 688 |
+
"orientation": {
|
| 689 |
+
"w": 0.0422644543279524,
|
| 690 |
+
"xyz": [
|
| 691 |
+
-0.005343609047319402,
|
| 692 |
+
-0.999026128592646,
|
| 693 |
+
0.011487216020421128
|
| 694 |
+
]
|
| 695 |
+
}
|
| 696 |
+
},
|
| 697 |
+
"grasp_42": {
|
| 698 |
+
"confidence": 0.9690672755241394,
|
| 699 |
+
"position": [
|
| 700 |
+
0.002968717133626342,
|
| 701 |
+
-0.00784481706796214,
|
| 702 |
+
0.10364184901118279
|
| 703 |
+
],
|
| 704 |
+
"orientation": {
|
| 705 |
+
"w": 0.008619038199705803,
|
| 706 |
+
"xyz": [
|
| 707 |
+
-0.009910400953080645,
|
| 708 |
+
-0.999913662890695,
|
| 709 |
+
-0.0004036062129084043
|
| 710 |
+
]
|
| 711 |
+
}
|
| 712 |
+
},
|
| 713 |
+
"grasp_43": {
|
| 714 |
+
"confidence": 0.9633598327636719,
|
| 715 |
+
"position": [
|
| 716 |
+
0.0011004401312675327,
|
| 717 |
+
0.03081994951935485,
|
| 718 |
+
0.10301953181624413
|
| 719 |
+
],
|
| 720 |
+
"orientation": {
|
| 721 |
+
"w": 0.11979655959674847,
|
| 722 |
+
"xyz": [
|
| 723 |
+
0.9927570101437543,
|
| 724 |
+
0.0023867190827927265,
|
| 725 |
+
-0.008752524849221479
|
| 726 |
+
]
|
| 727 |
+
}
|
| 728 |
+
},
|
| 729 |
+
"grasp_44": {
|
| 730 |
+
"confidence": 0.9627079963684082,
|
| 731 |
+
"position": [
|
| 732 |
+
-0.011103562079370022,
|
| 733 |
+
-0.00977652071742341,
|
| 734 |
+
0.10237402096390724
|
| 735 |
+
],
|
| 736 |
+
"orientation": {
|
| 737 |
+
"w": 0.05540721859046759,
|
| 738 |
+
"xyz": [
|
| 739 |
+
0.001928821234927143,
|
| 740 |
+
0.998461966298452,
|
| 741 |
+
-0.00014707869027650225
|
| 742 |
+
]
|
| 743 |
+
}
|
| 744 |
+
},
|
| 745 |
+
"grasp_45": {
|
| 746 |
+
"confidence": 0.947169303894043,
|
| 747 |
+
"position": [
|
| 748 |
+
0.0008911358017940074,
|
| 749 |
+
0.04256643244298175,
|
| 750 |
+
0.09293262287974358
|
| 751 |
+
],
|
| 752 |
+
"orientation": {
|
| 753 |
+
"w": 0.24207273401183285,
|
| 754 |
+
"xyz": [
|
| 755 |
+
0.9699786803095134,
|
| 756 |
+
0.022174327638155744,
|
| 757 |
+
-0.007102843574712386
|
| 758 |
+
]
|
| 759 |
+
}
|
| 760 |
+
},
|
| 761 |
+
"grasp_46": {
|
| 762 |
+
"confidence": 0.9431322813034058,
|
| 763 |
+
"position": [
|
| 764 |
+
0.0030233405996114016,
|
| 765 |
+
-0.05027022695867345,
|
| 766 |
+
0.08945531770586967
|
| 767 |
+
],
|
| 768 |
+
"orientation": {
|
| 769 |
+
"w": 0.003974026337512336,
|
| 770 |
+
"xyz": [
|
| 771 |
+
-0.004798394675443458,
|
| 772 |
+
-0.9614372130417742,
|
| 773 |
+
-0.2749539377817182
|
| 774 |
+
]
|
| 775 |
+
}
|
| 776 |
+
},
|
| 777 |
+
"grasp_47": {
|
| 778 |
+
"confidence": 0.940685510635376,
|
| 779 |
+
"position": [
|
| 780 |
+
-0.009129317477345467,
|
| 781 |
+
0.04674664029153064,
|
| 782 |
+
0.09191394224762917
|
| 783 |
+
],
|
| 784 |
+
"orientation": {
|
| 785 |
+
"w": 0.23840541082706507,
|
| 786 |
+
"xyz": [
|
| 787 |
+
0.970325128403065,
|
| 788 |
+
0.0344712299473548,
|
| 789 |
+
0.02106512719806212
|
| 790 |
+
]
|
| 791 |
+
}
|
| 792 |
+
},
|
| 793 |
+
"grasp_48": {
|
| 794 |
+
"confidence": 0.9380319714546204,
|
| 795 |
+
"position": [
|
| 796 |
+
-0.003669894766062498,
|
| 797 |
+
-0.024905323225539178,
|
| 798 |
+
0.09841009601950645
|
| 799 |
+
],
|
| 800 |
+
"orientation": {
|
| 801 |
+
"w": 0.0004866876299839354,
|
| 802 |
+
"xyz": [
|
| 803 |
+
0.013012629911916457,
|
| 804 |
+
0.9872685209852656,
|
| 805 |
+
0.15852855285245274
|
| 806 |
+
]
|
| 807 |
+
}
|
| 808 |
+
},
|
| 809 |
+
"grasp_49": {
|
| 810 |
+
"confidence": 0.9328004121780396,
|
| 811 |
+
"position": [
|
| 812 |
+
0.0043598085176199675,
|
| 813 |
+
0.038016973820049316,
|
| 814 |
+
0.09847386553883553
|
| 815 |
+
],
|
| 816 |
+
"orientation": {
|
| 817 |
+
"w": 0.0430175336695488,
|
| 818 |
+
"xyz": [
|
| 819 |
+
-0.006807908050748042,
|
| 820 |
+
-0.9833760321522623,
|
| 821 |
+
0.17628024158547814
|
| 822 |
+
]
|
| 823 |
+
}
|
| 824 |
+
},
|
| 825 |
+
"grasp_50": {
|
| 826 |
+
"confidence": 0.9162497520446777,
|
| 827 |
+
"position": [
|
| 828 |
+
-0.005367163103073835,
|
| 829 |
+
-0.054856469098012894,
|
| 830 |
+
0.08734510466456413
|
| 831 |
+
],
|
| 832 |
+
"orientation": {
|
| 833 |
+
"w": 0.2702885123079332,
|
| 834 |
+
"xyz": [
|
| 835 |
+
-0.9625361219162033,
|
| 836 |
+
-0.008769740430679351,
|
| 837 |
+
-0.019784483153695836
|
| 838 |
+
]
|
| 839 |
+
}
|
| 840 |
+
},
|
| 841 |
+
"grasp_51": {
|
| 842 |
+
"confidence": 0.9036487340927124,
|
| 843 |
+
"position": [
|
| 844 |
+
0.004402271239086986,
|
| 845 |
+
0.04405496531398967,
|
| 846 |
+
0.09278388693928719
|
| 847 |
+
],
|
| 848 |
+
"orientation": {
|
| 849 |
+
"w": 0.009717983788477715,
|
| 850 |
+
"xyz": [
|
| 851 |
+
0.0015034921673891947,
|
| 852 |
+
-0.967018214588424,
|
| 853 |
+
0.25451733331269616
|
| 854 |
+
]
|
| 855 |
+
}
|
| 856 |
+
},
|
| 857 |
+
"grasp_52": {
|
| 858 |
+
"confidence": 0.18851415812969208,
|
| 859 |
+
"position": [
|
| 860 |
+
-0.002310866490006447,
|
| 861 |
+
0.022842404257971793,
|
| 862 |
+
-0.08842309191823006
|
| 863 |
+
],
|
| 864 |
+
"orientation": {
|
| 865 |
+
"w": 0.05210133108191701,
|
| 866 |
+
"xyz": [
|
| 867 |
+
-0.006142133628640266,
|
| 868 |
+
0.15865524261972042,
|
| 869 |
+
-0.9859392676444422
|
| 870 |
+
]
|
| 871 |
+
}
|
| 872 |
+
},
|
| 873 |
+
"grasp_53": {
|
| 874 |
+
"confidence": 0.9750996828079224,
|
| 875 |
+
"position": [
|
| 876 |
+
0.002175878267735243,
|
| 877 |
+
0.013826717447955161,
|
| 878 |
+
0.10509059950709343
|
| 879 |
+
],
|
| 880 |
+
"orientation": {
|
| 881 |
+
"w": 0.013864027144477395,
|
| 882 |
+
"xyz": [
|
| 883 |
+
0.9998293399228143,
|
| 884 |
+
0.010841940258718777,
|
| 885 |
+
-0.005615346140082661
|
| 886 |
+
]
|
| 887 |
+
}
|
| 888 |
+
},
|
| 889 |
+
"grasp_54": {
|
| 890 |
+
"confidence": 0.9720925092697144,
|
| 891 |
+
"position": [
|
| 892 |
+
0.004809048259630799,
|
| 893 |
+
-0.007997182838153094,
|
| 894 |
+
0.10518351569771767
|
| 895 |
+
],
|
| 896 |
+
"orientation": {
|
| 897 |
+
"w": 0.015952942607778544,
|
| 898 |
+
"xyz": [
|
| 899 |
+
-0.9998303758435844,
|
| 900 |
+
0.0025160558834988987,
|
| 901 |
+
0.008853961001771476
|
| 902 |
+
]
|
| 903 |
+
}
|
| 904 |
+
},
|
| 905 |
+
"grasp_55": {
|
| 906 |
+
"confidence": 0.9700341820716858,
|
| 907 |
+
"position": [
|
| 908 |
+
0.005616774782538414,
|
| 909 |
+
0.000992664194200188,
|
| 910 |
+
0.10490524396300316
|
| 911 |
+
],
|
| 912 |
+
"orientation": {
|
| 913 |
+
"w": 0.02174440255030752,
|
| 914 |
+
"xyz": [
|
| 915 |
+
0.010807253114106295,
|
| 916 |
+
-0.9994656157099597,
|
| 917 |
+
-0.021883035698208007
|
| 918 |
+
]
|
| 919 |
+
}
|
| 920 |
+
},
|
| 921 |
+
"grasp_56": {
|
| 922 |
+
"confidence": 0.9653413891792297,
|
| 923 |
+
"position": [
|
| 924 |
+
0.0005759615451097488,
|
| 925 |
+
0.02832749002845958,
|
| 926 |
+
0.09997199848294258
|
| 927 |
+
],
|
| 928 |
+
"orientation": {
|
| 929 |
+
"w": 0.1509886854755274,
|
| 930 |
+
"xyz": [
|
| 931 |
+
0.9885212611662708,
|
| 932 |
+
0.0051108641012331535,
|
| 933 |
+
-0.0014185022934969855
|
| 934 |
+
]
|
| 935 |
+
}
|
| 936 |
+
},
|
| 937 |
+
"grasp_57": {
|
| 938 |
+
"confidence": 0.9646466970443726,
|
| 939 |
+
"position": [
|
| 940 |
+
0.0025363133754581213,
|
| 941 |
+
-0.005034208472352475,
|
| 942 |
+
0.10542869940400124
|
| 943 |
+
],
|
| 944 |
+
"orientation": {
|
| 945 |
+
"w": 0.016623282590480674,
|
| 946 |
+
"xyz": [
|
| 947 |
+
0.012114781186752686,
|
| 948 |
+
-0.9992879820671526,
|
| 949 |
+
-0.03162953443969047
|
| 950 |
+
]
|
| 951 |
+
}
|
| 952 |
+
},
|
| 953 |
+
"grasp_58": {
|
| 954 |
+
"confidence": 0.9628079533576965,
|
| 955 |
+
"position": [
|
| 956 |
+
0.01845219638198614,
|
| 957 |
+
-0.042313740763347596,
|
| 958 |
+
0.09175650402903557
|
| 959 |
+
],
|
| 960 |
+
"orientation": {
|
| 961 |
+
"w": 0.2235955190769402,
|
| 962 |
+
"xyz": [
|
| 963 |
+
-0.972269693575631,
|
| 964 |
+
-0.0018486871248190595,
|
| 965 |
+
0.06850743871271832
|
| 966 |
+
]
|
| 967 |
+
}
|
| 968 |
+
},
|
| 969 |
+
"grasp_59": {
|
| 970 |
+
"confidence": 0.9569911360740662,
|
| 971 |
+
"position": [
|
| 972 |
+
-0.0025551205035299063,
|
| 973 |
+
-0.0033848853199742734,
|
| 974 |
+
0.10313240811228752
|
| 975 |
+
],
|
| 976 |
+
"orientation": {
|
| 977 |
+
"w": 0.04411238199698173,
|
| 978 |
+
"xyz": [
|
| 979 |
+
-0.9990141258182209,
|
| 980 |
+
-0.004965577582647242,
|
| 981 |
+
-0.0004660573774608981
|
| 982 |
+
]
|
| 983 |
+
}
|
| 984 |
+
}
|
| 985 |
+
}
|
| 986 |
+
},
|
| 987 |
+
{
|
| 988 |
+
"part_name": "embossed logo mark",
|
| 989 |
+
"mask_color": "Yellow",
|
| 990 |
+
"graspable": false,
|
| 991 |
+
"grasp_scenarios": [],
|
| 992 |
+
"functional_labels": [
|
| 993 |
+
"brand marking",
|
| 994 |
+
"visual identification",
|
| 995 |
+
"top-side marking"
|
| 996 |
+
],
|
| 997 |
+
"semantic_description": "Small circular embossed logo feature on the lid top, light gray like the surrounding plastic, with subtle raised relief and smooth finish.",
|
| 998 |
+
"id": 3,
|
| 999 |
+
"grasp_group": {}
|
| 1000 |
+
}
|
| 1001 |
+
],
|
| 1002 |
+
"quality_check": {
|
| 1003 |
+
"success": true,
|
| 1004 |
+
"message": "YES"
|
| 1005 |
+
}
|
| 1006 |
+
}
|
dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8eccde92e0b0c09cd1936abfd9d9f88f08f6a2cd1343705e6fddad44c3dbfa20
|
| 3 |
+
size 3783808
|