xinjjj commited on
Commit
2c24062
·
verified ·
1 Parent(s): 7fb2f25

Add asset desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac

Browse files
.gitattributes CHANGED
@@ -6394,3 +6394,4 @@ dataset/desktop_supplies/office_stationery/8353c5dfb7ce575593c108dce00bbf8a/affo
6394
  dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6395
  dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6396
  dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6394
  dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6395
  dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6396
  dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6397
+ dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/affordance/affordance_annot.json ADDED
@@ -0,0 +1,953 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "notebook cover body",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the notebook body from the sides to pick it up",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the closed cover body to reposition it on a surface",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "stabilize the notebook while opening or closing it",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "protect pages",
23
+ "provide writing surface support",
24
+ "main grasp surface",
25
+ "support opening and closing",
26
+ "form the exterior cover"
27
+ ],
28
+ "semantic_description": "Large rectangular dark navy notebook cover body with a hard slightly padded textile or faux-leather exterior, fine ribbed texture, matte finish, rounded corners, and bright orange stitched trim accents including a vertical elastic band near the spine.",
29
+ "id": 3,
30
+ "grasp_group": {
31
+ "grasp_40": {
32
+ "confidence": 0.9767264127731323,
33
+ "position": [
34
+ 0.021547550277318805,
35
+ -0.18517040368169546,
36
+ -0.004291414748877287
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5076792215540178,
40
+ "xyz": [
41
+ -0.49184537392865635,
42
+ 0.5044249168769303,
43
+ 0.4958885352385034
44
+ ]
45
+ }
46
+ },
47
+ "grasp_41": {
48
+ "confidence": 0.9763656854629517,
49
+ "position": [
50
+ 0.04295726673444733,
51
+ -0.18553497549146414,
52
+ -0.008330969139933586
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5146568336605403,
56
+ "xyz": [
57
+ -0.4859854033266245,
58
+ 0.4954741305262248,
59
+ 0.5034400831273238
60
+ ]
61
+ }
62
+ },
63
+ "grasp_42": {
64
+ "confidence": 0.9762488007545471,
65
+ "position": [
66
+ 0.018891887681093067,
67
+ -0.18555096443742514,
68
+ -0.0058316378854215145
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5145475850981825,
72
+ "xyz": [
73
+ -0.4766882040958148,
74
+ 0.5111566799072896,
75
+ 0.49671721062561497
76
+ ]
77
+ }
78
+ },
79
+ "grasp_43": {
80
+ "confidence": 0.9758913516998291,
81
+ "position": [
82
+ 0.03667657630285248,
83
+ -0.18335685785859823,
84
+ -0.004346716683357954
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5126490362623592,
88
+ "xyz": [
89
+ -0.49083783615932103,
90
+ 0.497013950121572,
91
+ 0.4992457487032437
92
+ ]
93
+ }
94
+ },
95
+ "grasp_44": {
96
+ "confidence": 0.9755451083183289,
97
+ "position": [
98
+ 0.020748894603457302,
99
+ -0.1868749177083373,
100
+ -0.010996324941515923
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5221304824064369,
104
+ "xyz": [
105
+ -0.481384158640411,
106
+ 0.4959963936655427,
107
+ 0.49963649648805797
108
+ ]
109
+ }
110
+ },
111
+ "grasp_45": {
112
+ "confidence": 0.9755049347877502,
113
+ "position": [
114
+ 0.013597878569271415,
115
+ -0.18911414500325918,
116
+ -0.0014884795527905226
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5096148050739934,
120
+ "xyz": [
121
+ -0.4915928469055443,
122
+ 0.5012418177551101,
123
+ 0.49737899378064865
124
+ ]
125
+ }
126
+ },
127
+ "grasp_46": {
128
+ "confidence": 0.9754976034164429,
129
+ "position": [
130
+ 0.037664102332200855,
131
+ -0.1874683564528823,
132
+ -0.006629749666899443
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5129153700160486,
136
+ "xyz": [
137
+ -0.49467709619680084,
138
+ 0.48674872556943105,
139
+ 0.5052604000474764
140
+ ]
141
+ }
142
+ },
143
+ "grasp_47": {
144
+ "confidence": 0.9752900004386902,
145
+ "position": [
146
+ 0.026339583040680736,
147
+ -0.18764812406152487,
148
+ 0.0011880312813445926
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5139690075861032,
152
+ "xyz": [
153
+ -0.4897915579066504,
154
+ 0.5043902974575946,
155
+ 0.4914575433086484
156
+ ]
157
+ }
158
+ },
159
+ "grasp_48": {
160
+ "confidence": 0.974949061870575,
161
+ "position": [
162
+ 0.015437200607266277,
163
+ -0.18405754026025534,
164
+ -0.004949751775711775
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5040831091801499,
168
+ "xyz": [
169
+ -0.4919614295320831,
170
+ 0.5043115631975323,
171
+ 0.49954381000797476
172
+ ]
173
+ }
174
+ },
175
+ "grasp_49": {
176
+ "confidence": 0.9748477935791016,
177
+ "position": [
178
+ 0.017083791957702488,
179
+ -0.1833736514672637,
180
+ -0.006877938285470009
181
+ ],
182
+ "orientation": {
183
+ "w": 0.4945371382159633,
184
+ "xyz": [
185
+ -0.5004299825467529,
186
+ -0.4909036679276707,
187
+ -0.5138253013511309
188
+ ]
189
+ }
190
+ },
191
+ "grasp_50": {
192
+ "confidence": 0.974806547164917,
193
+ "position": [
194
+ 0.018609607534017414,
195
+ -0.1876616096124053,
196
+ -0.0087969359010458
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5032588954691093,
200
+ "xyz": [
201
+ -0.48854178097401735,
202
+ -0.48423869151879384,
203
+ -0.5230394841788845
204
+ ]
205
+ }
206
+ },
207
+ "grasp_51": {
208
+ "confidence": 0.9747558832168579,
209
+ "position": [
210
+ 0.009927709528710693,
211
+ -0.18920261319726706,
212
+ -0.0014242572942748666
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5117120574701386,
216
+ "xyz": [
217
+ -0.4936266767484496,
218
+ 0.5012893558055815,
219
+ 0.4931454714361515
220
+ ]
221
+ }
222
+ },
223
+ "grasp_52": {
224
+ "confidence": 0.9745825529098511,
225
+ "position": [
226
+ 0.051183825300540775,
227
+ -0.18567243870347738,
228
+ -0.0010758390417322516
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5054832542270661,
232
+ "xyz": [
233
+ -0.4906604585701119,
234
+ 0.49834788382233874,
235
+ 0.5053596548811348
236
+ ]
237
+ }
238
+ },
239
+ "grasp_53": {
240
+ "confidence": 0.9744195938110352,
241
+ "position": [
242
+ -0.01855471363523975,
243
+ -0.18721266742795706,
244
+ 0.004331450909376144
245
+ ],
246
+ "orientation": {
247
+ "w": 0.49426265677527315,
248
+ "xyz": [
249
+ -0.5100319887838942,
250
+ 0.49558800787182833,
251
+ 0.49996432171528654
252
+ ]
253
+ }
254
+ },
255
+ "grasp_54": {
256
+ "confidence": 0.9741148948669434,
257
+ "position": [
258
+ 0.019820442365016788,
259
+ -0.18529850896447897,
260
+ -0.0010597200016491115
261
+ ],
262
+ "orientation": {
263
+ "w": 0.4998690372004648,
264
+ "xyz": [
265
+ -0.49295975346202087,
266
+ -0.4893853904938539,
267
+ -0.5173234642717476
268
+ ]
269
+ }
270
+ },
271
+ "grasp_55": {
272
+ "confidence": 0.9740400314331055,
273
+ "position": [
274
+ 0.04984408424934372,
275
+ -0.18659800942987204,
276
+ -0.004270967096090317
277
+ ],
278
+ "orientation": {
279
+ "w": 0.4997482511255329,
280
+ "xyz": [
281
+ -0.48819935607027204,
282
+ 0.5026685665639994,
283
+ 0.5091535980605825
284
+ ]
285
+ }
286
+ },
287
+ "grasp_56": {
288
+ "confidence": 0.9740145802497864,
289
+ "position": [
290
+ 0.022267045394983143,
291
+ -0.18634312506765127,
292
+ -0.0012802586425095797
293
+ ],
294
+ "orientation": {
295
+ "w": 0.5003894230065632,
296
+ "xyz": [
297
+ -0.4937830390440376,
298
+ -0.48871309767846116,
299
+ -0.5166703435006854
300
+ ]
301
+ }
302
+ },
303
+ "grasp_57": {
304
+ "confidence": 0.9739561080932617,
305
+ "position": [
306
+ 0.03581673087319359,
307
+ -0.18375334795564413,
308
+ -0.0032295186538249254
309
+ ],
310
+ "orientation": {
311
+ "w": 0.4949423996463447,
312
+ "xyz": [
313
+ -0.5018200772614342,
314
+ -0.4901199054578024,
315
+ -0.5128265880038607
316
+ ]
317
+ }
318
+ },
319
+ "grasp_59": {
320
+ "confidence": 0.9738703966140747,
321
+ "position": [
322
+ 0.020223395840730518,
323
+ -0.18249667342752218,
324
+ -0.0032562059350311756
325
+ ],
326
+ "orientation": {
327
+ "w": 0.49470205670098466,
328
+ "xyz": [
329
+ -0.4999269168434772,
330
+ -0.48983278750413073,
331
+ -0.5151764680156932
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ },
337
+ {
338
+ "part_name": "front pocket panel",
339
+ "mask_color": "Orange",
340
+ "graspable": false,
341
+ "grasp_scenarios": [],
342
+ "functional_labels": [
343
+ "hold small flat items",
344
+ "organize accessories",
345
+ "cover front storage area",
346
+ "decorate the cover"
347
+ ],
348
+ "semantic_description": "Medium pentagonal front pocket panel on the cover, made of matching dark blue textured material with orange stitched edging, a matte finish, and a flat slightly raised shape.",
349
+ "id": 4,
350
+ "grasp_group": {}
351
+ },
352
+ {
353
+ "part_name": "pocket flap",
354
+ "mask_color": "Purple",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "pinch the flap to open the front pocket",
359
+ "confidence": 0.76
360
+ },
361
+ {
362
+ "scenario": "hold the flap to access or close stored items",
363
+ "confidence": 0.71
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "open pocket",
368
+ "close pocket",
369
+ "retain small contents",
370
+ "provide access point"
371
+ ],
372
+ "semantic_description": "Angular dark blue flap overlapping one side of the front pocket, with a flexible textured surface, matte finish, and stitched border matching the notebook exterior.",
373
+ "id": 5,
374
+ "grasp_group": {}
375
+ },
376
+ {
377
+ "part_name": "pocket trim",
378
+ "mask_color": "Magenta",
379
+ "graspable": false,
380
+ "grasp_scenarios": [],
381
+ "functional_labels": [
382
+ "reinforce pocket edge",
383
+ "outline pocket opening",
384
+ "decorative trim"
385
+ ],
386
+ "semantic_description": "Thin bright orange stitched trim tracing the pocket perimeter, appearing as narrow raised edging on the front cover.",
387
+ "id": 7,
388
+ "grasp_group": {}
389
+ },
390
+ {
391
+ "part_name": "vertical elastic band",
392
+ "mask_color": "Lime Green",
393
+ "graspable": true,
394
+ "grasp_scenarios": [
395
+ {
396
+ "scenario": "grasp and stretch the band to open or secure the notebook",
397
+ "confidence": 0.88
398
+ },
399
+ {
400
+ "scenario": "pull the elastic band aside to access the cover",
401
+ "confidence": 0.85
402
+ }
403
+ ],
404
+ "functional_labels": [
405
+ "keep notebook closed",
406
+ "provide tensioned closure",
407
+ "secure contents",
408
+ "aid opening"
409
+ ],
410
+ "semantic_description": "A narrow orange elastic strap running vertically near the spine, with a matte woven appearance, slight stretch, and ribbed texture against the dark blue cover.",
411
+ "id": 9,
412
+ "grasp_group": {
413
+ "grasp_84": {
414
+ "confidence": 0.8935644626617432,
415
+ "position": [
416
+ 0.1526074837311171,
417
+ 0.00853116624057293,
418
+ 0.02481124922633171
419
+ ],
420
+ "orientation": {
421
+ "w": 0.5961697730179385,
422
+ "xyz": [
423
+ -0.13365886872654184,
424
+ -0.7647789642617191,
425
+ -0.20452394572091911
426
+ ]
427
+ }
428
+ }
429
+ }
430
+ },
431
+ {
432
+ "part_name": "corner elastic loop",
433
+ "mask_color": "Red",
434
+ "graspable": true,
435
+ "grasp_scenarios": [
436
+ {
437
+ "scenario": "pinch the corner loop to help pull or orient the notebook",
438
+ "confidence": 0.48
439
+ },
440
+ {
441
+ "scenario": "hold the corner loop while sliding the notebook from a tight space",
442
+ "confidence": 0.42
443
+ }
444
+ ],
445
+ "functional_labels": [
446
+ "protect corner",
447
+ "aid pulling",
448
+ "provide small attachment point",
449
+ "indicate corner orientation"
450
+ ],
451
+ "semantic_description": "Small orange elastic loop at one cover corner, made of textile with a matte finish and soft ribbed texture.",
452
+ "id": 0,
453
+ "grasp_group": {
454
+ "grasp_0": {
455
+ "confidence": 0.9562146067619324,
456
+ "position": [
457
+ -0.15004170133033767,
458
+ -0.12154640909284353,
459
+ -0.0002985573810292408
460
+ ],
461
+ "orientation": {
462
+ "w": 0.6986458169458467,
463
+ "xyz": [
464
+ -0.16556389861961174,
465
+ 0.6762392070150668,
466
+ 0.16487314163798633
467
+ ]
468
+ }
469
+ },
470
+ "grasp_1": {
471
+ "confidence": 0.9412424564361572,
472
+ "position": [
473
+ -0.15570883644977584,
474
+ -0.07514218892902136,
475
+ -0.02813178487122059
476
+ ],
477
+ "orientation": {
478
+ "w": 0.7984015626305551,
479
+ "xyz": [
480
+ 0.02174026296755454,
481
+ 0.6016941328894427,
482
+ -0.006817345642611276
483
+ ]
484
+ }
485
+ },
486
+ "grasp_3": {
487
+ "confidence": 0.916759192943573,
488
+ "position": [
489
+ -0.16121794475475326,
490
+ -0.07958137150853872,
491
+ -0.00042436315561644733
492
+ ],
493
+ "orientation": {
494
+ "w": 0.7048394491469574,
495
+ "xyz": [
496
+ 0.016265468931509194,
497
+ 0.7089826616557061,
498
+ -0.01674428016494687
499
+ ]
500
+ }
501
+ },
502
+ "grasp_4": {
503
+ "confidence": 0.8967888951301575,
504
+ "position": [
505
+ -0.14717596961418167,
506
+ -0.025504346005618572,
507
+ -0.002327025169506669
508
+ ],
509
+ "orientation": {
510
+ "w": 0.6660924204667968,
511
+ "xyz": [
512
+ 0.20509318285515543,
513
+ 0.6890289673267265,
514
+ -0.19873790762632684
515
+ ]
516
+ }
517
+ },
518
+ "grasp_5": {
519
+ "confidence": 0.9655699133872986,
520
+ "position": [
521
+ -0.15055883122840896,
522
+ -0.06395015772432089,
523
+ 0.030043374747037888
524
+ ],
525
+ "orientation": {
526
+ "w": 0.07825288795095268,
527
+ "xyz": [
528
+ 0.7898843788403638,
529
+ -0.030857107608791234,
530
+ 0.6074594574959944
531
+ ]
532
+ }
533
+ },
534
+ "grasp_6": {
535
+ "confidence": 0.9557339549064636,
536
+ "position": [
537
+ -0.14909661008277908,
538
+ -0.12755887862294912,
539
+ 0.00015328964218497276
540
+ ],
541
+ "orientation": {
542
+ "w": 0.6881660482276241,
543
+ "xyz": [
544
+ -0.15751343349362312,
545
+ 0.6864135492662495,
546
+ 0.17450916227962085
547
+ ]
548
+ }
549
+ },
550
+ "grasp_7": {
551
+ "confidence": 0.9534674882888794,
552
+ "position": [
553
+ -0.15725983871379867,
554
+ -0.07773556467145681,
555
+ 0.0026054957415908575
556
+ ],
557
+ "orientation": {
558
+ "w": 0.7027835098290615,
559
+ "xyz": [
560
+ 0.024232700005711556,
561
+ 0.7109388073120668,
562
+ -0.008609693401895078
563
+ ]
564
+ }
565
+ },
566
+ "grasp_8": {
567
+ "confidence": 0.9646105170249939,
568
+ "position": [
569
+ -0.15486860467353836,
570
+ -0.07814618851989508,
571
+ 0.004323815926909447
572
+ ],
573
+ "orientation": {
574
+ "w": 0.6916091066756826,
575
+ "xyz": [
576
+ 0.019279378711399953,
577
+ 0.7219705115152646,
578
+ 0.007983083499108966
579
+ ]
580
+ }
581
+ },
582
+ "grasp_10": {
583
+ "confidence": 0.9467526078224182,
584
+ "position": [
585
+ -0.14985139860073105,
586
+ -0.12779202219098806,
587
+ 0.0034230612218379974
588
+ ],
589
+ "orientation": {
590
+ "w": 0.6851769683680738,
591
+ "xyz": [
592
+ -0.15445782088183888,
593
+ 0.6903581745117969,
594
+ 0.1734384457699887
595
+ ]
596
+ }
597
+ },
598
+ "grasp_13": {
599
+ "confidence": 0.9126238822937012,
600
+ "position": [
601
+ -0.12147760583320633,
602
+ -0.15608959551900625,
603
+ -0.0016706162132322788
604
+ ],
605
+ "orientation": {
606
+ "w": 0.31054869110835104,
607
+ "xyz": [
608
+ -0.6227996016565805,
609
+ -0.3173121016213255,
610
+ -0.6441996560011128
611
+ ]
612
+ }
613
+ },
614
+ "grasp_14": {
615
+ "confidence": 0.8862550854682922,
616
+ "position": [
617
+ -0.11879476351896301,
618
+ -0.15747212525457144,
619
+ 0.001518426463007927
620
+ ],
621
+ "orientation": {
622
+ "w": 0.6405143172208732,
623
+ "xyz": [
624
+ -0.31184537319375777,
625
+ 0.626419072893264,
626
+ 0.31637480583679156
627
+ ]
628
+ }
629
+ },
630
+ "grasp_15": {
631
+ "confidence": 0.8801631331443787,
632
+ "position": [
633
+ -0.11222408903995529,
634
+ -0.16320560034364462,
635
+ -0.0012892307713627815
636
+ ],
637
+ "orientation": {
638
+ "w": 0.6199124801786555,
639
+ "xyz": [
640
+ -0.35003840501899597,
641
+ 0.6144009113956376,
642
+ 0.3401369606595487
643
+ ]
644
+ }
645
+ }
646
+ }
647
+ },
648
+ {
649
+ "part_name": "corner elastic loop",
650
+ "mask_color": "Green",
651
+ "graspable": true,
652
+ "grasp_scenarios": [
653
+ {
654
+ "scenario": "pinch the corner loop to help pull or orient the notebook",
655
+ "confidence": 0.48
656
+ },
657
+ {
658
+ "scenario": "hold the corner loop while sliding the notebook from a tight space",
659
+ "confidence": 0.42
660
+ }
661
+ ],
662
+ "functional_labels": [
663
+ "protect corner",
664
+ "aid pulling",
665
+ "provide small attachment point",
666
+ "indicate corner orientation"
667
+ ],
668
+ "semantic_description": "Small orange elastic loop at another cover corner, made of textile with a matte finish and soft ribbed texture.",
669
+ "id": 1,
670
+ "grasp_group": {
671
+ "grasp_20": {
672
+ "confidence": 0.9597449898719788,
673
+ "position": [
674
+ -0.16123677982250229,
675
+ 0.08124726358801126,
676
+ 0.003272739704698324
677
+ ],
678
+ "orientation": {
679
+ "w": 0.6932785081262965,
680
+ "xyz": [
681
+ 0.019897559543821816,
682
+ 0.7203857491957076,
683
+ -0.0036564532152640254
684
+ ]
685
+ }
686
+ },
687
+ "grasp_21": {
688
+ "confidence": 0.958782970905304,
689
+ "position": [
690
+ -0.14532438112655655,
691
+ 0.1293908590450883,
692
+ 0.0044263144955039024
693
+ ],
694
+ "orientation": {
695
+ "w": 0.6661818608943296,
696
+ "xyz": [
697
+ 0.19870234922326974,
698
+ 0.6942829436314143,
699
+ -0.1862533189261883
700
+ ]
701
+ }
702
+ },
703
+ "grasp_22": {
704
+ "confidence": 0.9523054361343384,
705
+ "position": [
706
+ -0.15881852997699752,
707
+ 0.07697650883346796,
708
+ 0.021817561239004135
709
+ ],
710
+ "orientation": {
711
+ "w": 0.6628575433350146,
712
+ "xyz": [
713
+ 0.0073189934873945355,
714
+ 0.7486387475746571,
715
+ 0.010311896433228098
716
+ ]
717
+ }
718
+ },
719
+ "grasp_23": {
720
+ "confidence": 0.9437591433525085,
721
+ "position": [
722
+ -0.14150841726223007,
723
+ 0.13293054047971964,
724
+ 0.02661178633570671
725
+ ],
726
+ "orientation": {
727
+ "w": 0.18777793751145933,
728
+ "xyz": [
729
+ 0.7289498633537005,
730
+ -0.22686798915197903,
731
+ 0.6179825712742238
732
+ ]
733
+ }
734
+ },
735
+ "grasp_24": {
736
+ "confidence": 0.9309853315353394,
737
+ "position": [
738
+ -0.16024437738815323,
739
+ 0.07784147653728724,
740
+ 0.02418343722820282
741
+ ],
742
+ "orientation": {
743
+ "w": 0.6613157144056302,
744
+ "xyz": [
745
+ 0.038297589511834124,
746
+ 0.7489803793604626,
747
+ 0.014940276129028844
748
+ ]
749
+ }
750
+ },
751
+ "grasp_25": {
752
+ "confidence": 0.9625765085220337,
753
+ "position": [
754
+ -0.1596655715839006,
755
+ 0.0800947705283761,
756
+ -0.001890127663500607
757
+ ],
758
+ "orientation": {
759
+ "w": 0.7025526659318889,
760
+ "xyz": [
761
+ 0.005644862789600712,
762
+ 0.7115894907082725,
763
+ 0.00531825437753243
764
+ ]
765
+ }
766
+ },
767
+ "grasp_26": {
768
+ "confidence": 0.9619829654693604,
769
+ "position": [
770
+ -0.15927604032913223,
771
+ 0.08277963194996119,
772
+ -0.0010316941770724952
773
+ ],
774
+ "orientation": {
775
+ "w": 0.6935819055170374,
776
+ "xyz": [
777
+ 0.006117194483931763,
778
+ 0.7203512603665656,
779
+ 0.0008842846273538784
780
+ ]
781
+ }
782
+ },
783
+ "grasp_27": {
784
+ "confidence": 0.9617466330528259,
785
+ "position": [
786
+ -0.16028505755821243,
787
+ 0.0750869819894433,
788
+ 0.001591708161868155
789
+ ],
790
+ "orientation": {
791
+ "w": 0.7065081681292184,
792
+ "xyz": [
793
+ -0.006288890518159148,
794
+ 0.70767519714349,
795
+ -0.0015727589355630017
796
+ ]
797
+ }
798
+ },
799
+ "grasp_31": {
800
+ "confidence": 0.9576772451400757,
801
+ "position": [
802
+ -0.1616499145166017,
803
+ 0.07483492139726877,
804
+ -0.007365372497588396
805
+ ],
806
+ "orientation": {
807
+ "w": 0.7081627177937211,
808
+ "xyz": [
809
+ 0.002366657706920279,
810
+ 0.7060207694070146,
811
+ 0.005885339772376428
812
+ ]
813
+ }
814
+ },
815
+ "grasp_32": {
816
+ "confidence": 0.9564457535743713,
817
+ "position": [
818
+ -0.15240277542034164,
819
+ 0.12827871832996607,
820
+ -0.0027129652444273233
821
+ ],
822
+ "orientation": {
823
+ "w": 0.6775758574401485,
824
+ "xyz": [
825
+ 0.1862276482000498,
826
+ 0.6897642605669012,
827
+ -0.17445768915333815
828
+ ]
829
+ }
830
+ },
831
+ "grasp_33": {
832
+ "confidence": 0.9554834961891174,
833
+ "position": [
834
+ -0.1557964105741121,
835
+ 0.08620414230972528,
836
+ -0.02089906856417656
837
+ ],
838
+ "orientation": {
839
+ "w": 0.7642386816467578,
840
+ "xyz": [
841
+ 0.03386433779978946,
842
+ 0.6426314822031,
843
+ -0.04262888905019176
844
+ ]
845
+ }
846
+ },
847
+ "grasp_34": {
848
+ "confidence": 0.9551716446876526,
849
+ "position": [
850
+ -0.16214758349815384,
851
+ 0.08187703136354685,
852
+ 0.0039002415724098682
853
+ ],
854
+ "orientation": {
855
+ "w": 0.7019559123627903,
856
+ "xyz": [
857
+ 0.002709656592749398,
858
+ 0.7122114186974811,
859
+ -0.00233451001149275
860
+ ]
861
+ }
862
+ },
863
+ "grasp_35": {
864
+ "confidence": 0.9502353072166443,
865
+ "position": [
866
+ -0.16314785374561325,
867
+ 0.07905495259910822,
868
+ 0.00454674893990159
869
+ ],
870
+ "orientation": {
871
+ "w": 0.701384612191498,
872
+ "xyz": [
873
+ -0.00021716769340240937,
874
+ 0.7127784493651518,
875
+ -0.0025417985334502957
876
+ ]
877
+ }
878
+ },
879
+ "grasp_36": {
880
+ "confidence": 0.9477192163467407,
881
+ "position": [
882
+ -0.16450669063488021,
883
+ 0.07896674517542124,
884
+ -0.0031405191402882338
885
+ ],
886
+ "orientation": {
887
+ "w": 0.7004354952775406,
888
+ "xyz": [
889
+ 0.006115257846364939,
890
+ 0.7136564551648711,
891
+ 0.00686910316484281
892
+ ]
893
+ }
894
+ }
895
+ }
896
+ },
897
+ {
898
+ "part_name": "embroidered emblem",
899
+ "mask_color": "Cyan",
900
+ "graspable": false,
901
+ "grasp_scenarios": [],
902
+ "functional_labels": [
903
+ "decorate notebook",
904
+ "provide brand or style mark",
905
+ "indicate front and back orientation"
906
+ ],
907
+ "semantic_description": "Small white embroidered emblem on the front pocket area, with thread texture, matte finish, irregular silhouette, and raised stitched surface.",
908
+ "id": 6,
909
+ "grasp_group": {}
910
+ },
911
+ {
912
+ "part_name": "page edge block",
913
+ "mask_color": "Pink",
914
+ "graspable": true,
915
+ "grasp_scenarios": [
916
+ {
917
+ "scenario": "grasp the page block edge to lift or reposition the notebook",
918
+ "confidence": 0.58
919
+ },
920
+ {
921
+ "scenario": "pinch near the page edges to open the notebook",
922
+ "confidence": 0.54
923
+ }
924
+ ],
925
+ "functional_labels": [
926
+ "provide writable pages",
927
+ "form page stack",
928
+ "enable opening to interior sheets"
929
+ ],
930
+ "semantic_description": "Exposed off-white to light cream page edges forming a thick rectangular stack inside the cover, with a matte paper finish, smooth cut sides, and slight layered texture.",
931
+ "id": 8,
932
+ "grasp_group": {}
933
+ },
934
+ {
935
+ "part_name": "back cover embroidered emblem",
936
+ "mask_color": "Blue",
937
+ "graspable": false,
938
+ "grasp_scenarios": [],
939
+ "functional_labels": [
940
+ "decorate notebook",
941
+ "provide brand or style mark",
942
+ "indicate back side orientation"
943
+ ],
944
+ "semantic_description": "Small white embroidered emblem on the back cover, with thread texture, matte finish, irregular silhouette, and a raised stitched appearance.",
945
+ "id": 2,
946
+ "grasp_group": {}
947
+ }
948
+ ],
949
+ "quality_check": {
950
+ "success": false,
951
+ "message": "Several mask-color/part assignments are wrong; cover includes pages, and vertical elastic band color is mismatched."
952
+ }
953
+ }
dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:077b632b471c871d9cf95ae3d82f6001382706906c1234cc246131e8fad663fc
3
+ size 3787644