diff --git a/.gitattributes b/.gitattributes index 9825dcf670a4ad06dd7932657281573e69939757..a16b21afc5eb21c12179286d1196e0d3aad0693f 100644 --- a/.gitattributes +++ b/.gitattributes @@ -6545,4 +6545,4 @@ dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/affordanc dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text dataset/desktop_supplies/office_tools/319607e267a25b66803955949c56b7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text -dataset/desktop_supplies/office_tools/31e25ffe9f39598c9cb4250f778bf497/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text +dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text diff --git a/dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/affordance_annot.json b/dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/affordance_annot.json new file mode 100644 index 0000000000000000000000000000000000000000..0628072d444a8690144892a24c870a3d0eb19196 --- /dev/null +++ b/dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/affordance_annot.json @@ -0,0 +1,2977 @@ +{ + "affordances": [ + { + "part_name": "top sticky note pad", + "mask_color": "Lime Green", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "pinch a top corner or edge to pick up or reposition the memo cube lightly", + "confidence": 0.67 + }, + { + "scenario": "press on the top surface to stabilize the cube while peeling a note or removing the wrapper band", + "confidence": 0.82 + } + ], + "functional_labels": [ + "writing surface", + "provide removable notes", + "top sheet stack", + "main top contact area" + ], + "semantic_description": "Large light pastel blue square top pad made of paper, with a matte smooth surface, crisp edges, and small purple printed branding near one corner.", + "id": 9, + "grasp_group": { + "grasp_180": { + "confidence": 0.7556378841400146, + "position": [ + -0.00503632434993051, + -0.10275808162987232, + 0.08278941840399057 + ], + "orientation": { + "w": 0.4977518200822398, + "xyz": [ + -0.8670119770873795, + 0.0009693545491467614, + -0.023074174819682616 + ] + } + }, + "grasp_181": { + "confidence": 0.7221571803092957, + "position": [ + -0.00037384501774795353, + -0.10671314783394337, + 0.0828166949795559 + ], + "orientation": { + "w": 0.49230390249113404, + "xyz": [ + -0.8700313384947682, + -0.005217397084378794, + -0.025595241680167278 + ] + } + }, + "grasp_182": { + "confidence": 0.7122410535812378, + "position": [ + -0.0007773599063511938, + -0.10785479284822941, + 0.07858823717106134 + ], + "orientation": { + "w": 0.01333085793985792, + "xyz": [ + 0.05440424608644956, + 0.8530487230274335, + 0.5188162896205329 + ] + } + }, + "grasp_183": { + "confidence": 0.696494996547699, + "position": [ + 0.0012206130486447364, + -0.10641109384596348, + 0.07912008941639215 + ], + "orientation": { + "w": 0.5170865919875216, + "xyz": [ + -0.8554930328044446, + 0.02622959441850259, + 0.008070662080959273 + ] + } + }, + "grasp_184": { + "confidence": 0.6578840017318726, + "position": [ + 0.0023768545652274042, + -0.09326999075710773, + 0.07769201428163797 + ], + "orientation": { + "w": 0.510845332777199, + "xyz": [ + -0.8596409650345455, + 0.007379504027926642, + -1.1598712661579677e-05 + ] + } + }, + "grasp_185": { + "confidence": 0.6376875638961792, + "position": [ + 0.12218900435254909, + -0.0009620054624974728, + 0.03830838680732995 + ], + "orientation": { + "w": 0.4857143985368274, + "xyz": [ + 0.5078848479203838, + -0.4958969750110219, + -0.5101183141995737 + ] + } + }, + "grasp_186": { + "confidence": 0.6025407910346985, + "position": [ + 0.0027694137825164944, + -0.11842646636068821, + 0.02803131111431867 + ], + "orientation": { + "w": 0.7196427382647631, + "xyz": [ + -0.6942919331003512, + 0.004486782290169633, + -0.007273903989728497 + ] + } + }, + "grasp_187": { + "confidence": 0.5953696966171265, + "position": [ + 0.1235521029739175, + -0.005459294654428959, + 0.04558707505930215 + ], + "orientation": { + "w": 0.45405575225216427, + "xyz": [ + 0.5204697352742709, + -0.5184722635902771, + -0.5041142136439184 + ] + } + }, + "grasp_188": { + "confidence": 0.5900775194168091, + "position": [ + -0.0010332250676583499, + -0.10911327041685581, + 0.06933358788955957 + ], + "orientation": { + "w": 0.5507520405884765, + "xyz": [ + -0.8310638090735403, + 0.07173914122436054, + 0.029302400109864367 + ] + } + }, + "grasp_189": { + "confidence": 0.5079852938652039, + "position": [ + -0.005100175825646147, + -0.08884481526911259, + 0.08021632314193994 + ], + "orientation": { + "w": 0.5120244707809544, + "xyz": [ + -0.85879703001899, + 0.01461177629111543, + -0.009224887298157234 + ] + } + }, + "grasp_190": { + "confidence": 0.4729466736316681, + "position": [ + 0.003760663006687537, + 0.089260159060359, + 0.07991963357198983 + ], + "orientation": { + "w": 0.0027052877861453344, + "xyz": [ + -0.014502686197131721, + -0.8609720825724425, + 0.5084382229356216 + ] + } + }, + "grasp_191": { + "confidence": 0.2985498309135437, + "position": [ + -0.0038382258208002895, + -0.11030820943415165, + 0.008759388816542923 + ], + "orientation": { + "w": 0.5001382894742321, + "xyz": [ + -0.4559285736213548, + -0.5059132513812641, + -0.5348295141764564 + ] + } + }, + "grasp_192": { + "confidence": 0.24591375887393951, + "position": [ + -0.12289175725891255, + -0.02688153088092804, + 0.018330359016545117 + ], + "orientation": { + "w": 0.6940106979620422, + "xyz": [ + -0.07948138127220758, + 0.7145149985253317, + -0.03873213172090566 + ] + } + }, + "grasp_194": { + "confidence": 0.14369578659534454, + "position": [ + 0.10709882192895748, + -0.0011794129386544228, + 0.027686822344549 + ], + "orientation": { + "w": 0.6522389516840159, + "xyz": [ + 0.13889831522950055, + -0.7411130797639008, + -0.0777368055389996 + ] + } + } + } + }, + { + "part_name": "upper side sticky note layer", + "mask_color": "Cyan", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "grasp the upper side of the stack to lift or reposition the cube from the side", + "confidence": 0.71 + }, + { + "scenario": "hold this side area to stabilize the stack while peeling a note from the top", + "confidence": 0.72 + } + ], + "functional_labels": [ + "provide removable notes", + "form the stacked paper body", + "support side handling", + "indicate note thickness" + ], + "semantic_description": "Uppermost visible side paper layer around the cube, appearing light blue to aqua in the RGB image, with a matte smooth finish and thin horizontal band appearance.", + "id": 6, + "grasp_group": { + "grasp_120": { + "confidence": 0.6416027545928955, + "position": [ + 0.005583942780504003, + -0.11503302492201328, + 0.01572382648009807 + ], + "orientation": { + "w": 0.7204438679600489, + "xyz": [ + -0.6932112470130825, + 0.014881559535448785, + 0.014047751390301249 + ] + } + }, + "grasp_121": { + "confidence": 0.8813448548316956, + "position": [ + -0.11028453297330998, + -0.003946578595787287, + 0.07251365960109979 + ], + "orientation": { + "w": 0.34511923968177155, + "xyz": [ + 0.6018100486790172, + 0.6164693324883501, + 0.3724015813766135 + ] + } + }, + "grasp_122": { + "confidence": 0.8539623618125916, + "position": [ + -0.065449792513391, + -0.0013621356338262558, + 0.111279686097987 + ], + "orientation": { + "w": 0.1689492992050026, + "xyz": [ + 0.6830483248058132, + 0.6843757394668079, + 0.1911307602333289 + ] + } + }, + "grasp_123": { + "confidence": 0.8516753911972046, + "position": [ + -0.06053400746895932, + 0.0010649985633790493, + 0.10866208851803094 + ], + "orientation": { + "w": 0.1914606832091135, + "xyz": [ + -0.6755547213932876, + 0.686413676607366, + -0.18922180042134537 + ] + } + }, + "grasp_124": { + "confidence": 0.8156467080116272, + "position": [ + -0.1042211685271468, + -0.003913385793566704, + 0.0740041631506756 + ], + "orientation": { + "w": 0.35463821026844194, + "xyz": [ + -0.6114266402129335, + 0.6061089413805067, + -0.36472065287576144 + ] + } + }, + "grasp_125": { + "confidence": 0.7825343608856201, + "position": [ + -0.12465864754631184, + 0.0004208255559206009, + 0.016974979196675122 + ], + "orientation": { + "w": 0.49651908238143627, + "xyz": [ + -0.4898823284264047, + 0.500527344369356, + -0.5127928262614256 + ] + } + }, + "grasp_126": { + "confidence": 0.666236937046051, + "position": [ + 0.017643347760895267, + 0.0020427136914804578, + 0.11521070182789117 + ], + "orientation": { + "w": 0.16521874306620732, + "xyz": [ + 0.6806321254280732, + -0.6972477409788924, + -0.15260492939193535 + ] + } + }, + "grasp_127": { + "confidence": 0.6537972092628479, + "position": [ + 0.03108900078223087, + 0.00226210814435035, + 0.11140525073278695 + ], + "orientation": { + "w": 0.1888448699257207, + "xyz": [ + -0.6952414223269577, + -0.6732745671248674, + 0.16636807700502243 + ] + } + }, + "grasp_128": { + "confidence": 0.6483180522918701, + "position": [ + 0.0035541198740247637, + 0.10198887251317501, + 0.06705420941580087 + ], + "orientation": { + "w": 0.5188508171175192, + "xyz": [ + 0.8548348211616557, + 0.006276861967173475, + 0.003443705830604295 + ] + } + }, + "grasp_129": { + "confidence": 0.6105253100395203, + "position": [ + 0.024604216596344486, + 0.0033248704858124256, + 0.11330195248592645 + ], + "orientation": { + "w": 0.18077752530865843, + "xyz": [ + -0.6885926669220143, + -0.6853932659140826, + 0.1529565181485677 + ] + } + }, + "grasp_130": { + "confidence": 0.6080940961837769, + "position": [ + 0.006094171112636104, + -0.11533885635435581, + 0.009506981004960835 + ], + "orientation": { + "w": 0.738681502319038, + "xyz": [ + -0.6739531244384133, + 0.011651264368029213, + -0.001035485401083458 + ] + } + }, + "grasp_131": { + "confidence": 0.9027994871139526, + "position": [ + -0.07039588279440068, + 0.002775910950731486, + 0.11112605512607843 + ], + "orientation": { + "w": 0.1808212635713714, + "xyz": [ + -0.6802566947701509, + 0.6839658899588416, + -0.19169027422812338 + ] + } + }, + "grasp_132": { + "confidence": 0.9027058482170105, + "position": [ + -0.0740412358136382, + 0.002330096671357751, + 0.1091909158276394 + ], + "orientation": { + "w": 0.18260941705840816, + "xyz": [ + -0.6842684225854614, + 0.6771030419536823, + -0.19990497050114292 + ] + } + }, + "grasp_133": { + "confidence": 0.9011051654815674, + "position": [ + -0.07126864380552433, + 0.0026544859865680337, + 0.11257627338636667 + ], + "orientation": { + "w": 0.18263508605122236, + "xyz": [ + -0.6788145312337707, + 0.6850460371966712, + -0.19122548065065822 + ] + } + }, + "grasp_134": { + "confidence": 0.8932193517684937, + "position": [ + -0.07016805149032734, + 0.0013556790072470903, + 0.10827095538843423 + ], + "orientation": { + "w": 0.1865270485406356, + "xyz": [ + -0.6753998763112341, + 0.6850597101439687, + -0.19933855818418705 + ] + } + }, + "grasp_135": { + "confidence": 0.8881292343139648, + "position": [ + -0.07397282458259724, + 0.0010997664649039507, + 0.1110413420246914 + ], + "orientation": { + "w": 0.18442602566252933, + "xyz": [ + -0.6918941986751748, + 0.6700279119290474, + -0.1957857403744277 + ] + } + }, + "grasp_136": { + "confidence": 0.8837766051292419, + "position": [ + -0.09999113864614628, + 0.004243441158905625, + 0.07828777760732919 + ], + "orientation": { + "w": 0.3342339246304718, + "xyz": [ + -0.6188005235096985, + 0.6153897668497054, + -0.3559059294067739 + ] + } + }, + "grasp_137": { + "confidence": 0.8802440762519836, + "position": [ + -0.06685614920570515, + -0.0009088409133255482, + 0.11254129291046411 + ], + "orientation": { + "w": 0.1885234066897829, + "xyz": [ + -0.6883629105279271, + 0.6745036724147455, + -0.18883914964493273 + ] + } + }, + "grasp_138": { + "confidence": 0.8776962161064148, + "position": [ + -0.06912178880884312, + 0.006102607119828463, + 0.11124533892143518 + ], + "orientation": { + "w": 0.18343915754525605, + "xyz": [ + -0.6872745933640011, + 0.6734740482762719, + -0.20108807795044195 + ] + } + }, + "grasp_139": { + "confidence": 0.8766458034515381, + "position": [ + -0.06257047093822621, + -0.00017171166837215424, + 0.11183690757025033 + ], + "orientation": { + "w": 0.17461361162476766, + "xyz": [ + -0.6860391317123541, + 0.6833297234940958, + -0.1786641692791164 + ] + } + } + } + }, + { + "part_name": "upper-middle side sticky note layer", + "mask_color": "Green", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "grasp the side at this layer when lifting or nudging the cube", + "confidence": 0.69 + }, + { + "scenario": "use this layer region as a side contact area to steady the stack", + "confidence": 0.69 + } + ], + "functional_labels": [ + "provide removable notes", + "form the stacked paper body", + "support side handling", + "indicate note thickness" + ], + "semantic_description": "A green-toned side paper layer beneath the cyan layer, matte and smooth, visible as a thin horizontal strip around the stack.", + "id": 1, + "grasp_group": { + "grasp_20": { + "confidence": 0.8679417967796326, + "position": [ + -0.11825549192144535, + -0.0005486737936735153, + 0.01896572217810899 + ], + "orientation": { + "w": 0.48769695066228447, + "xyz": [ + 0.5098103768600745, + 0.520060595434378, + 0.4814374736525383 + ] + } + }, + "grasp_21": { + "confidence": 0.8677687048912048, + "position": [ + -0.12255402989103459, + 0.004451299144420773, + 0.010710636270232499 + ], + "orientation": { + "w": 0.49510246722034085, + "xyz": [ + -0.48407924511595996, + 0.5059577621831062, + -0.5143418846321544 + ] + } + }, + "grasp_22": { + "confidence": 0.8660016655921936, + "position": [ + -0.11924593485309742, + 0.003926558885723352, + 0.01964885846246034 + ], + "orientation": { + "w": 0.4881719873881396, + "xyz": [ + -0.5036977994335347, + 0.5202491708764622, + -0.48715237634407765 + ] + } + }, + "grasp_23": { + "confidence": 0.8640444278717041, + "position": [ + -0.11553353405906819, + 0.003060340241063386, + 0.016043402370996773 + ], + "orientation": { + "w": 0.48786636045328136, + "xyz": [ + -0.4972887359108259, + 0.5046013385268607, + -0.5099684467015403 + ] + } + }, + "grasp_24": { + "confidence": 0.8607936501502991, + "position": [ + -0.11020352281047963, + 0.002329202019609511, + 0.024859241326339543 + ], + "orientation": { + "w": 0.46742050928733886, + "xyz": [ + 0.5307536174572024, + 0.5341155075403721, + 0.4631838616128032 + ] + } + }, + "grasp_25": { + "confidence": 0.8595536947250366, + "position": [ + -0.11274414099170826, + -0.0008690180256962776, + 0.0138564856024459 + ], + "orientation": { + "w": 0.5071663080010035, + "xyz": [ + -0.4974749680255537, + 0.5035368774774253, + -0.49168242315227106 + ] + } + }, + "grasp_26": { + "confidence": 0.8511494994163513, + "position": [ + -0.1176440600247588, + 0.0016882491763681173, + 0.013118321192450821 + ], + "orientation": { + "w": 0.5012512322248578, + "xyz": [ + -0.4858909791015581, + 0.5023077549131955, + -0.510239236020571 + ] + } + }, + "grasp_27": { + "confidence": 0.8454533815383911, + "position": [ + -0.11654831803753041, + 0.001988790580071509, + 0.016573154483921826 + ], + "orientation": { + "w": 0.4916043764052012, + "xyz": [ + 0.5072078888135909, + 0.49718385761507466, + 0.5038586174230881 + ] + } + }, + "grasp_28": { + "confidence": 0.8378186225891113, + "position": [ + -0.1218610588402953, + -0.00017943093553185463, + 0.013581978273577988 + ], + "orientation": { + "w": 0.4966427039189461, + "xyz": [ + -0.4946991135973273, + 0.5031540448074496, + -0.5054253840518889 + ] + } + }, + "grasp_29": { + "confidence": 0.7868387699127197, + "position": [ + -0.1105080429406371, + 0.001659109489992261, + 0.016990407486446202 + ], + "orientation": { + "w": 0.4770228940472981, + "xyz": [ + 0.5110291491271233, + 0.49619428781703656, + 0.5148685230569967 + ] + } + }, + "grasp_30": { + "confidence": 0.7166709899902344, + "position": [ + 0.002742975630098954, + -0.10469442792236805, + 0.029365374823100865 + ], + "orientation": { + "w": 0.6499746633018854, + "xyz": [ + -0.7594498803344377, + -0.02336558685370216, + -0.014928686365232674 + ] + } + }, + "grasp_31": { + "confidence": 0.689117431640625, + "position": [ + 0.00015424055891344324, + -0.11237152107059956, + 0.00784080766607076 + ], + "orientation": { + "w": 0.7353267119124932, + "xyz": [ + -0.677636014268741, + 0.009051875397284581, + -0.004703452532813313 + ] + } + }, + "grasp_32": { + "confidence": 0.6419824361801147, + "position": [ + 0.00751058422611095, + -0.10610017366707325, + 0.015075478819198906 + ], + "orientation": { + "w": 0.003406918885648109, + "xyz": [ + -0.014418513843240903, + 0.7037297910944218, + 0.7103132270262609 + ] + } + }, + "grasp_33": { + "confidence": 0.6249418258666992, + "position": [ + -0.00031929530086927116, + -0.10914465971291065, + 0.018005519290454686 + ], + "orientation": { + "w": 0.7046880487990566, + "xyz": [ + -0.7091726232688743, + 0.019244554560422955, + -0.010889968112564041 + ] + } + }, + "grasp_34": { + "confidence": 0.6008187532424927, + "position": [ + 0.003667296754429117, + -0.11118987388908863, + 0.007849548128433526 + ], + "orientation": { + "w": 0.7381282231443423, + "xyz": [ + -0.6742712338685624, + 0.0009337822486432668, + -0.022894484616498758 + ] + } + }, + "grasp_35": { + "confidence": 0.5758467316627502, + "position": [ + 0.005048225546488538, + -0.10550078935921192, + 0.010398155194707215 + ], + "orientation": { + "w": 0.7298944017638693, + "xyz": [ + -0.6835221156136705, + 0.006863588127829723, + -0.0021379660397333584 + ] + } + }, + "grasp_36": { + "confidence": 0.4679436683654785, + "position": [ + 0.009239493316272274, + -0.10489419288933277, + 0.006693286006338894 + ], + "orientation": { + "w": 0.7260388509387332, + "xyz": [ + -0.6876329758932775, + 0.002200453189061591, + 0.0048616249836858395 + ] + } + }, + "grasp_37": { + "confidence": 0.8714131116867065, + "position": [ + -0.11366834826185368, + -0.00046032434329390526, + 0.04042914242018014 + ], + "orientation": { + "w": 0.43121366650020587, + "xyz": [ + -0.5515279918843379, + 0.578590466515914, + -0.41845515894582574 + ] + } + }, + "grasp_38": { + "confidence": 0.803518533706665, + "position": [ + -0.11257566846325062, + -0.006278807297348976, + 0.02261635579634458 + ], + "orientation": { + "w": 0.5002386199515917, + "xyz": [ + -0.5148348954514176, + 0.5145245859269255, + -0.46901045192104296 + ] + } + }, + "grasp_39": { + "confidence": 0.7395995855331421, + "position": [ + -0.11313623524620198, + -0.003930250648409128, + -0.028948970953933895 + ], + "orientation": { + "w": 0.6021319732940541, + "xyz": [ + -0.37002583216814816, + 0.38051819548517707, + -0.5964259159107547 + ] + } + } + } + }, + { + "part_name": "middle side sticky note layer", + "mask_color": "Orange", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "grasp the middle side layers to lift the cube from the side", + "confidence": 0.68 + }, + { + "scenario": "hold the side here to stabilize the stack while peeling a note", + "confidence": 0.67 + } + ], + "functional_labels": [ + "provide removable notes", + "form the stacked paper body", + "support side handling", + "indicate note thickness" + ], + "semantic_description": "An orange side paper layer in the multicolored stack, matte and smooth, visible as a thin horizontal band.", + "id": 4, + "grasp_group": { + "grasp_80": { + "confidence": 0.8823704719543457, + "position": [ + -0.11878202445222996, + 0.0017380582867190242, + 0.002284024958498776 + ], + "orientation": { + "w": 0.4928190178476947, + "xyz": [ + -0.5054120534790759, + 0.48619242828139886, + -0.5150776587346158 + ] + } + }, + "grasp_81": { + "confidence": 0.8822464942932129, + "position": [ + -0.11831534243538044, + 0.0042880073306150734, + 0.008058126200921834 + ], + "orientation": { + "w": 0.48717525922950916, + "xyz": [ + -0.5059515048318514, + 0.49118542009211463, + -0.5151797983636183 + ] + } + }, + "grasp_82": { + "confidence": 0.8812020421028137, + "position": [ + -0.1133650649280753, + 2.050795592367649e-05, + -0.021833942155353725 + ], + "orientation": { + "w": 0.568369024948175, + "xyz": [ + -0.4190380864156757, + 0.4169820113185676, + -0.5722671892125842 + ] + } + }, + "grasp_83": { + "confidence": 0.8781066536903381, + "position": [ + -0.11278701163246296, + -0.0020129592157900333, + 0.024351499159820378 + ], + "orientation": { + "w": 0.4604931347173836, + "xyz": [ + -0.5422406446715874, + 0.5466640265426852, + -0.44167816136689064 + ] + } + }, + "grasp_84": { + "confidence": 0.8773564100265503, + "position": [ + -0.12185241616680287, + 0.003975614556111395, + 0.005994553794153035 + ], + "orientation": { + "w": 0.48910248569726855, + "xyz": [ + -0.4948236294962565, + 0.5009467315032631, + -0.5147627670812074 + ] + } + }, + "grasp_85": { + "confidence": 0.8766093254089355, + "position": [ + -0.12031529433443211, + -0.0020088069140911102, + 0.002383856917731464 + ], + "orientation": { + "w": 0.5186522450427798, + "xyz": [ + -0.49553755469422006, + 0.4831637483649325, + -0.5019912079565791 + ] + } + }, + "grasp_86": { + "confidence": 0.8706955909729004, + "position": [ + -0.11160602755262516, + -0.0018186280503869057, + 0.0023469581501558423 + ], + "orientation": { + "w": 0.4961728680621926, + "xyz": [ + -0.5040728408693592, + 0.4946184834222609, + -0.5050501083594519 + ] + } + }, + "grasp_87": { + "confidence": 0.8695796728134155, + "position": [ + -0.11475807017995976, + -0.000674885232001543, + 0.006944796186871827 + ], + "orientation": { + "w": 0.4956769587429238, + "xyz": [ + 0.48914531963346436, + 0.5072292944656522, + 0.5077003562022762 + ] + } + }, + "grasp_88": { + "confidence": 0.8642886281013489, + "position": [ + -0.12022818214609288, + 0.0013734716922044754, + 0.010026225936599076 + ], + "orientation": { + "w": 0.49255312740499874, + "xyz": [ + -0.49584236180061403, + 0.5195795730481242, + -0.49149652714813075 + ] + } + }, + "grasp_89": { + "confidence": 0.8639345765113831, + "position": [ + -0.12417064196779393, + 0.001457561505958438, + 0.003552859998308122 + ], + "orientation": { + "w": 0.4932766230830248, + "xyz": [ + -0.5023076082115527, + 0.49557252255261763, + -0.5086974687802487 + ] + } + }, + "grasp_90": { + "confidence": 0.8555540442466736, + "position": [ + -0.12387355751707219, + -0.0002964995801448822, + 0.004001027089543641 + ], + "orientation": { + "w": 0.4961485593248209, + "xyz": [ + -0.4985619791113926, + 0.4973798869335976, + -0.5078245840232213 + ] + } + }, + "grasp_91": { + "confidence": 0.8346700668334961, + "position": [ + -0.11670367754413746, + -0.001444515772163868, + 0.0047558845253661275 + ], + "orientation": { + "w": 0.49847664836643396, + "xyz": [ + -0.49158161753963375, + 0.5037810084980889, + -0.5060367968904353 + ] + } + }, + "grasp_92": { + "confidence": 0.8296383619308472, + "position": [ + -0.11757023967220448, + -0.002091784030199051, + 0.0012133946001995355 + ], + "orientation": { + "w": 0.5024433425853423, + "xyz": [ + -0.4891755475868163, + 0.5023235054582763, + -0.5058943239441581 + ] + } + }, + "grasp_93": { + "confidence": 0.8246569037437439, + "position": [ + -0.11652382797910832, + -0.0023256586864590645, + 0.009721849230118096 + ], + "orientation": { + "w": 0.46906480222836133, + "xyz": [ + 0.5299418365760717, + 0.490278769100825, + 0.5086910552838807 + ] + } + }, + "grasp_94": { + "confidence": 0.8120912909507751, + "position": [ + -0.11367988176061772, + 0.0069772726856172085, + 0.007830700022168458 + ], + "orientation": { + "w": 0.4980556524791305, + "xyz": [ + 0.5008486751393372, + 0.5023409902994218, + 0.49874312136585336 + ] + } + }, + "grasp_95": { + "confidence": 0.7762730717658997, + "position": [ + -0.11030008978559636, + -0.009541203267872334, + 0.006134795607067645 + ], + "orientation": { + "w": 0.48640991347546303, + "xyz": [ + 0.4907112427368306, + 0.5097224792943833, + 0.5126313162756004 + ] + } + }, + "grasp_96": { + "confidence": 0.7608359456062317, + "position": [ + -0.0020995760278310627, + -0.11039561964571476, + 0.012495514121837914 + ], + "orientation": { + "w": 0.6846778820342102, + "xyz": [ + -0.728243455898427, + 0.0011071256007196828, + -0.029604747375523304 + ] + } + }, + "grasp_97": { + "confidence": 0.7487289309501648, + "position": [ + -0.12356751746847294, + 0.007632969878613949, + 0.009109939564950764 + ], + "orientation": { + "w": 0.4994195286630067, + "xyz": [ + 0.48643058643854986, + 0.5148961613978976, + 0.498846030298707 + ] + } + }, + "grasp_98": { + "confidence": 0.7267584800720215, + "position": [ + -0.11836549229337834, + 0.010398726910352707, + 0.0075984449358657 + ], + "orientation": { + "w": 0.48259400994294765, + "xyz": [ + 0.5152683703065063, + 0.5023090297360046, + 0.4992866579176109 + ] + } + }, + "grasp_99": { + "confidence": 0.6784948110580444, + "position": [ + 0.0032867152767721564, + -0.10988933779299259, + 0.0010582013019302394 + ], + "orientation": { + "w": 0.7233633303571533, + "xyz": [ + -0.6900838670526704, + -0.0021774189187419024, + -0.022913043776238734 + ] + } + } + } + }, + { + "part_name": "middle-lower side sticky note layer", + "mask_color": "Yellow", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "grasp the side at this layer to reposition the cube", + "confidence": 0.68 + }, + { + "scenario": "steady the stack by pressing against this side layer", + "confidence": 0.66 + } + ], + "functional_labels": [ + "provide removable notes", + "form the stacked paper body", + "support side handling", + "indicate note thickness" + ], + "semantic_description": "A yellow side paper layer in the stacked notes, with a matte smooth finish and thin banded appearance around the side of the cube.", + "id": 3, + "grasp_group": { + "grasp_60": { + "confidence": 0.8764822483062744, + "position": [ + -0.1209254149289336, + 0.002058992744423449, + 0.007518762373365462 + ], + "orientation": { + "w": 0.4753264776509208, + "xyz": [ + -0.5173394376646352, + 0.5178243487225354, + -0.488141977042428 + ] + } + }, + "grasp_61": { + "confidence": 0.8751386404037476, + "position": [ + -0.11616926974966191, + 0.007928409148007631, + -0.0025107337860390544 + ], + "orientation": { + "w": 0.48818468963359996, + "xyz": [ + -0.49143694179946024, + 0.5084919979642031, + -0.5114697733478615 + ] + } + }, + "grasp_62": { + "confidence": 0.8612305521965027, + "position": [ + -0.11817760355188511, + 0.0008561131544411182, + -0.0004905828973278403 + ], + "orientation": { + "w": 0.4699043971075906, + "xyz": [ + -0.5188010298431325, + 0.4935588527119449, + -0.5161734281443846 + ] + } + }, + "grasp_63": { + "confidence": 0.8568870425224304, + "position": [ + -0.11650010533048771, + -0.0006562559865415096, + -0.0024111043894663453 + ], + "orientation": { + "w": 0.4757461155423884, + "xyz": [ + -0.5234791592145353, + 0.47830944036964274, + -0.5204375876775723 + ] + } + }, + "grasp_64": { + "confidence": 0.8459762334823608, + "position": [ + -0.11702681667520665, + 0.002238278742879629, + -0.04367310449015349 + ], + "orientation": { + "w": 0.5962918936319263, + "xyz": [ + -0.37643718470916226, + 0.3840331945328278, + -0.5960281277372756 + ] + } + }, + "grasp_65": { + "confidence": 0.8457947373390198, + "position": [ + -0.11873749978258274, + -0.0008362359367311001, + 9.814341319724917e-05 + ], + "orientation": { + "w": 0.4762593369136217, + "xyz": [ + 0.5043291435920526, + 0.5083964964354881, + 0.5102569561881778 + ] + } + }, + "grasp_66": { + "confidence": 0.8406685590744019, + "position": [ + -0.11555307693197392, + 0.011524212546646595, + -0.010878013330511749 + ], + "orientation": { + "w": 0.49313135681032566, + "xyz": [ + -0.48277759315560004, + 0.46861498852734973, + -0.551495469614035 + ] + } + }, + "grasp_67": { + "confidence": 0.8104395270347595, + "position": [ + -0.12037893719389103, + -0.0011400138027966022, + 0.0006287761789280921 + ], + "orientation": { + "w": 0.4620881973994776, + "xyz": [ + 0.5226915004890327, + 0.4939558452164272, + 0.5189178317586999 + ] + } + }, + "grasp_68": { + "confidence": 0.7775660753250122, + "position": [ + 0.0006863300513941795, + -0.11013691313564777, + -0.005810572183690965 + ], + "orientation": { + "w": 0.7136261533916738, + "xyz": [ + -0.7004914618218017, + 0.0031978759073004737, + -0.0062608865059538815 + ] + } + }, + "grasp_69": { + "confidence": 0.7617343664169312, + "position": [ + 0.0015450878127012402, + -0.1094787735491991, + -0.003499125479720533 + ], + "orientation": { + "w": 0.013723137454829873, + "xyz": [ + -0.0051109984423062735, + 0.6973626140520619, + 0.7165688646011587 + ] + } + }, + "grasp_70": { + "confidence": 0.7574872970581055, + "position": [ + 0.0016555894690100104, + -0.10727002657949924, + -0.00620409136172384 + ], + "orientation": { + "w": 0.7234168484275252, + "xyz": [ + -0.6903073877715885, + 0.009502370754100875, + 0.007312916600382036 + ] + } + }, + "grasp_71": { + "confidence": 0.7113915085792542, + "position": [ + 0.003495053999358788, + -0.10581977851688862, + -0.01633996784221381 + ], + "orientation": { + "w": 0.7631716856841912, + "xyz": [ + -0.6461078679146969, + 0.007280982888434373, + -0.007783860022669016 + ] + } + }, + "grasp_72": { + "confidence": 0.7063146233558655, + "position": [ + -0.12037118859007023, + 0.008150290232151747, + 0.0003278660587966442 + ], + "orientation": { + "w": 0.4708988926098972, + "xyz": [ + 0.5190387521053649, + 0.49979503433044703, + 0.5089773378160418 + ] + } + }, + "grasp_73": { + "confidence": 0.6362890005111694, + "position": [ + 0.006213116837898269, + 0.10301755182445049, + 0.0010801118696690537 + ], + "orientation": { + "w": 0.026155424438279888, + "xyz": [ + 0.003206667312568477, + -0.7156209541819943, + 0.6979915909184382 + ] + } + }, + "grasp_74": { + "confidence": 0.5971454381942749, + "position": [ + 0.005017115647206083, + -0.10520863719284534, + -0.0043599208584055305 + ], + "orientation": { + "w": 0.7112567711455823, + "xyz": [ + -0.7026407465893258, + 0.006207433360844061, + -0.01926796572102475 + ] + } + }, + "grasp_75": { + "confidence": 0.3836343288421631, + "position": [ + 0.015899859747150913, + -0.10655330307781696, + -0.005049411556683481 + ], + "orientation": { + "w": 0.7121642817319052, + "xyz": [ + -0.7014885939681417, + 0.004959935988007813, + 0.026668096911373684 + ] + } + }, + "grasp_76": { + "confidence": 0.09612366557121277, + "position": [ + 0.030809238931396976, + -0.10990122146904469, + 0.0011748471151804551 + ], + "orientation": { + "w": 0.6930871894052426, + "xyz": [ + -0.6730569080056161, + 0.13332363202843012, + 0.2210189032888559 + ] + } + }, + "grasp_77": { + "confidence": 0.8477434515953064, + "position": [ + -0.10954464561655186, + -0.0007392275147140026, + -0.00490480090957135 + ], + "orientation": { + "w": 0.49707476720575794, + "xyz": [ + -0.49901230915374273, + 0.49787531484102476, + -0.5059877093293285 + ] + } + }, + "grasp_78": { + "confidence": 0.8277039527893066, + "position": [ + -0.1064247298927512, + 0.0007822033949196339, + -0.019137347931973636 + ], + "orientation": { + "w": 0.5371714726466772, + "xyz": [ + -0.46400661203532956, + 0.4399549824910496, + -0.5500766186118038 + ] + } + }, + "grasp_79": { + "confidence": 0.6836673617362976, + "position": [ + 0.002766925055766478, + 0.10410740785300732, + 0.0016848122468218207 + ], + "orientation": { + "w": 0.016179287942657362, + "xyz": [ + 0.007190005858965803, + -0.7179877225948509, + 0.6958305574351248 + ] + } + } + } + }, + { + "part_name": "lower side sticky note layer", + "mask_color": "Red", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "grasp the lower-middle side layers to lift the cube from the side", + "confidence": 0.67 + }, + { + "scenario": "hold this side region to stabilize the stack on a desk", + "confidence": 0.65 + } + ], + "functional_labels": [ + "provide removable notes", + "form the stacked paper body", + "support side handling", + "indicate note thickness" + ], + "semantic_description": "A pinkish red side paper layer on the stack, matte and smooth, forming a thin horizontal band among the colored note sheets.", + "id": 0, + "grasp_group": { + "grasp_0": { + "confidence": 0.8864407539367676, + "position": [ + -0.11720816380693577, + -0.0015457365661859512, + -0.014482675935141742 + ], + "orientation": { + "w": 0.49634778694569065, + "xyz": [ + 0.49061116049736375, + 0.5067297261406881, + 0.5061270080078001 + ] + } + }, + "grasp_1": { + "confidence": 0.8769087195396423, + "position": [ + -0.11222143060876988, + 0.001765627646818757, + -0.02951399690937251 + ], + "orientation": { + "w": 0.5406266333903632, + "xyz": [ + -0.4533225884621217, + 0.45291134118369236, + -0.545062190108792 + ] + } + }, + "grasp_2": { + "confidence": 0.8722600936889648, + "position": [ + -0.11136145479395054, + 0.0014821081422269344, + 0.029394555022008717 + ], + "orientation": { + "w": 0.38482110742540887, + "xyz": [ + 0.5917065644046297, + 0.5955488603995021, + 0.38355913728811886 + ] + } + }, + "grasp_3": { + "confidence": 0.8677401542663574, + "position": [ + -0.11755042857839726, + -0.00031151575967669487, + -0.00835563603322953 + ], + "orientation": { + "w": 0.49727779850514314, + "xyz": [ + -0.5034989204099389, + 0.49604649523277744, + -0.503131695311656 + ] + } + }, + "grasp_4": { + "confidence": 0.8626795411109924, + "position": [ + -0.11179925090982579, + -0.0025972253642976284, + -0.031857247347943485 + ], + "orientation": { + "w": 0.557728534756719, + "xyz": [ + -0.4457775047867558, + 0.43876569258888687, + -0.5456243806422253 + ] + } + }, + "grasp_5": { + "confidence": 0.8606417775154114, + "position": [ + -0.11141644007875584, + 0.0019050571136176586, + -0.018249533022753894 + ], + "orientation": { + "w": 0.5181165206084348, + "xyz": [ + 0.47776833214689257, + 0.47548859506766716, + 0.526500985593344 + ] + } + }, + "grasp_6": { + "confidence": 0.8602007627487183, + "position": [ + -0.11538482047035359, + -0.0003343624994158745, + -0.008874202030710876 + ], + "orientation": { + "w": 0.4887707364855116, + "xyz": [ + 0.500576312688065, + 0.49694551236183515, + 0.5133923256871534 + ] + } + }, + "grasp_7": { + "confidence": 0.8594159483909607, + "position": [ + -0.12113754785968922, + 0.005413163686171174, + -0.017474195803515613 + ], + "orientation": { + "w": 0.5029881090047807, + "xyz": [ + -0.48802673568799526, + 0.47920335925488067, + -0.5283909612515644 + ] + } + }, + "grasp_8": { + "confidence": 0.8482592701911926, + "position": [ + -0.122642155358335, + 0.002299074549227953, + -0.010044114547781646 + ], + "orientation": { + "w": 0.4980056936278183, + "xyz": [ + -0.4957701812712961, + 0.49749589863210464, + -0.5086256848810692 + ] + } + }, + "grasp_9": { + "confidence": 0.8453435897827148, + "position": [ + -0.11202080882503651, + -0.0012557045556604862, + -0.019411523710004985 + ], + "orientation": { + "w": 0.4986433368280521, + "xyz": [ + 0.49135980890838943, + 0.4691467552559222, + 0.5383508919462624 + ] + } + }, + "grasp_10": { + "confidence": 0.8442692160606384, + "position": [ + -0.11677356399013661, + 0.00043405243195593357, + -0.042576885665766895 + ], + "orientation": { + "w": 0.5798248746079767, + "xyz": [ + -0.4061237409288242, + 0.4105463962291025, + -0.5747332236639172 + ] + } + }, + "grasp_11": { + "confidence": 0.843605637550354, + "position": [ + -0.11189303136779927, + 0.0010087741538882256, + -0.009243152919225395 + ], + "orientation": { + "w": 0.49083310626835397, + "xyz": [ + 0.4981705576437701, + 0.5058117917394329, + 0.5050380071095626 + ] + } + }, + "grasp_12": { + "confidence": 0.841509222984314, + "position": [ + -0.12213177568628453, + 0.0038844898954266682, + -0.008954119752161205 + ], + "orientation": { + "w": 0.5034746740697561, + "xyz": [ + -0.4888735067597069, + 0.5037383863678827, + -0.5037495261122352 + ] + } + }, + "grasp_13": { + "confidence": 0.8404707312583923, + "position": [ + -0.11685332245542668, + 0.01230862271040678, + -0.022459161351434886 + ], + "orientation": { + "w": 0.5091955451963001, + "xyz": [ + -0.461118115566189, + 0.47264337007578405, + -0.5519947689718935 + ] + } + }, + "grasp_14": { + "confidence": 0.8120877146720886, + "position": [ + -0.12321733272983693, + -0.0022181090898811817, + -0.008023011381737888 + ], + "orientation": { + "w": 0.5098507687649274, + "xyz": [ + -0.4876951165601531, + 0.5148580420499719, + -0.4869567366919374 + ] + } + }, + "grasp_15": { + "confidence": 0.7926837205886841, + "position": [ + 0.0018993452249560505, + -0.11864255554974079, + -0.01578318967949599 + ], + "orientation": { + "w": 0.002002162515175294, + "xyz": [ + 0.008471291846943028, + 0.7010580040690078, + 0.7130511226346157 + ] + } + }, + "grasp_16": { + "confidence": 0.7785618305206299, + "position": [ + -0.11168928034021519, + -0.009444424882531166, + -0.03289288922678679 + ], + "orientation": { + "w": 0.5550778154253115, + "xyz": [ + 0.42399959958264843, + 0.4525532086636861, + 0.5543541753289317 + ] + } + }, + "grasp_17": { + "confidence": 0.7619221210479736, + "position": [ + -0.00024682111688889563, + -0.11123237945139408, + -0.017803710768930614 + ], + "orientation": { + "w": 0.7414738529116973, + "xyz": [ + -0.6708532850076256, + 0.011258086874513351, + -0.006756546653887165 + ] + } + }, + "grasp_18": { + "confidence": 0.7540948390960693, + "position": [ + -0.007238247519126162, + -0.10996119119226933, + -0.008120049606077373 + ], + "orientation": { + "w": 0.7053764830346198, + "xyz": [ + -0.708226335200907, + 0.002083673755071125, + -0.029242667684155135 + ] + } + }, + "grasp_19": { + "confidence": 0.746300995349884, + "position": [ + -0.10406817085458897, + 0.0006271377205848694, + 0.03686823800671846 + ], + "orientation": { + "w": 0.3492145782802491, + "xyz": [ + 0.5997108123982785, + 0.6195801311659704, + 0.3667650213331466 + ] + } + } + } + }, + { + "part_name": "lower side sticky note layer", + "mask_color": "Pink", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "grasp the lower side layers to lift or reposition the cube from the side", + "confidence": 0.66 + }, + { + "scenario": "hold the lower side layers to stabilize the stack on a desk", + "confidence": 0.64 + } + ], + "functional_labels": [ + "provide removable notes", + "form the stacked paper body", + "support side handling", + "indicate note thickness" + ], + "semantic_description": "A pale pink side paper layer near the lower part of the stack, matte smooth and thin, visible as a horizontal band wrapping the cube sides.", + "id": 8, + "grasp_group": { + "grasp_162": { + "confidence": 0.9090830087661743, + "position": [ + -0.009989915968617424, + -0.0017539924010634422, + -0.12378006696235389 + ], + "orientation": { + "w": 0.7014281719206186, + "xyz": [ + -0.0019818085650064004, + 0.008723985844192317, + -0.7126840002005809 + ] + } + }, + "grasp_164": { + "confidence": 0.9040957093238831, + "position": [ + -0.0998402047844138, + 0.0015823384746909142, + -0.07414891093503684 + ], + "orientation": { + "w": 0.6261246022006081, + "xyz": [ + 0.34011844695588556, + 0.335333720069555, + 0.6163105716631513 + ] + } + }, + "grasp_166": { + "confidence": 0.9034526944160461, + "position": [ + -0.1006302718014922, + 0.001574433408677578, + -0.073485377128236 + ], + "orientation": { + "w": 0.6164381040561905, + "xyz": [ + -0.34135986214794156, + 0.3508057605034982, + -0.6167761561373053 + ] + } + }, + "grasp_172": { + "confidence": 0.8988788723945618, + "position": [ + -0.10231556333019398, + 0.002109195222146809, + -0.07536611228715628 + ], + "orientation": { + "w": 0.6071710208071507, + "xyz": [ + -0.3381456773820777, + 0.3578216374997275, + -0.6236702077996287 + ] + } + }, + "grasp_173": { + "confidence": 0.8984046578407288, + "position": [ + -0.10680590904667042, + 0.004703386570326984, + -0.07214255898725241 + ], + "orientation": { + "w": 0.613712806695913, + "xyz": [ + -0.3358714027990665, + 0.3524893228057806, + -0.621528976787997 + ] + } + }, + "grasp_178": { + "confidence": 0.8903236389160156, + "position": [ + -0.10567406154586934, + 0.0007230660412460566, + -0.0755101916147396 + ], + "orientation": { + "w": 0.6128341220007935, + "xyz": [ + -0.33833513008710697, + 0.350150087549141, + -0.6223813901859416 + ] + } + } + } + }, + { + "part_name": "bottom side sticky note layer", + "mask_color": "Purple", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "grasp the bottom side layers to lift the cube from the side", + "confidence": 0.65 + }, + { + "scenario": "hold the lower side of the stack to stabilize it on a desk", + "confidence": 0.64 + } + ], + "functional_labels": [ + "provide removable notes", + "form the stacked paper body", + "support side handling", + "define the base thickness" + ], + "semantic_description": "The lowest visible side paper layer appears lavender to purple, matte and smooth, forming the bottom band of the multicolored note stack.", + "id": 5, + "grasp_group": { + "grasp_100": { + "confidence": 0.4373747408390045, + "position": [ + 0.03183496036217548, + -0.07319493032991886, + -0.11531233310233802 + ], + "orientation": { + "w": 0.9629741102261659, + "xyz": [ + -0.2521541724822678, + -0.09501979323971721, + -0.008388994372865676 + ] + } + }, + "grasp_101": { + "confidence": 0.1449684053659439, + "position": [ + -0.014944161841413006, + 0.10270802490413189, + -0.006668121903203428 + ], + "orientation": { + "w": 0.6400726731393537, + "xyz": [ + 0.660396634498191, + -0.2372105466383172, + 0.3129127910572771 + ] + } + }, + "grasp_106": { + "confidence": 0.4732162654399872, + "position": [ + 0.007377273315796629, + 0.08535452000796795, + -0.080472442205064 + ], + "orientation": { + "w": 0.011636070988841236, + "xyz": [ + 0.02016925405994386, + 0.5207118885594533, + -0.8534148652065159 + ] + } + }, + "grasp_107": { + "confidence": 0.4379144310951233, + "position": [ + 0.012812483502784744, + 0.01204238086938858, + -0.12809651612769812 + ], + "orientation": { + "w": 0.9613990458257871, + "xyz": [ + 0.048820496903929464, + -0.038136385726809, + -0.26809336032624054 + ] + } + }, + "grasp_108": { + "confidence": 0.7401735186576843, + "position": [ + 0.008901739871362224, + 0.0045165144838392735, + -0.1261800330830738 + ], + "orientation": { + "w": 0.9995675050807293, + "xyz": [ + 0.015477179161068519, + -0.02288778541650316, + -0.010070203107697401 + ] + } + }, + "grasp_109": { + "confidence": 0.7014138102531433, + "position": [ + 0.01200412810430862, + -0.010266700759530067, + -0.12681114196311682 + ], + "orientation": { + "w": 0.9999055882750632, + "xyz": [ + -0.001123272467366035, + -0.01007453186956464, + 0.009276669815913297 + ] + } + }, + "grasp_110": { + "confidence": 0.6913115978240967, + "position": [ + 0.012420894025126472, + -0.03083408810198307, + -0.12091394781600684 + ], + "orientation": { + "w": 0.9851801744361224, + "xyz": [ + -0.17058531118864223, + -0.017696814372359926, + -0.0027382961410596152 + ] + } + }, + "grasp_113": { + "confidence": 0.583224356174469, + "position": [ + -0.0009698419307824224, + -0.0023652222007513046, + -0.12819279253017157 + ], + "orientation": { + "w": 0.9994004728184849, + "xyz": [ + -0.02587892373462732, + -0.020786434991564073, + -0.009843797888411786 + ] + } + }, + "grasp_114": { + "confidence": 0.5810900330543518, + "position": [ + 0.021067625290015712, + -0.02649656869471073, + -0.12947038828860968 + ], + "orientation": { + "w": 0.9965341671066609, + "xyz": [ + -0.05510817125146097, + -0.055679584364991985, + -0.02797368648024774 + ] + } + }, + "grasp_117": { + "confidence": 0.4218297600746155, + "position": [ + -0.11512992120697163, + 0.0012005995959043503, + -0.026883772457949817 + ], + "orientation": { + "w": 0.7503966963697566, + "xyz": [ + 0.034082937568335143, + 0.6598580485305848, + 0.018179857905861883 + ] + } + }, + "grasp_118": { + "confidence": 0.37449729442596436, + "position": [ + 0.003076366294408217, + -0.10464260168373585, + -0.07780807733070105 + ], + "orientation": { + "w": 0.18309905587040687, + "xyz": [ + -0.07428504480280669, + 0.4727202347728018, + 0.858773571725608 + ] + } + }, + "grasp_119": { + "confidence": 0.23957747220993042, + "position": [ + 0.025115587195614353, + -0.11339286901056767, + -0.07255557447206229 + ], + "orientation": { + "w": 0.09827029258431996, + "xyz": [ + -0.09104289469555521, + 0.4892719291123584, + 0.8617813645603609 + ] + } + } + } + }, + { + "part_name": "paper band", + "mask_color": "Magenta", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "pinch the wrapper band to pull it free from the memo cube packaging", + "confidence": 0.9 + }, + { + "scenario": "grasp the band as a temporary handle while repositioning the bundled notes", + "confidence": 0.54 + } + ], + "functional_labels": [ + "bundle the note stack", + "hold sheets together for packaging", + "secure the cube during transport", + "provide a removable wrapper" + ], + "semantic_description": "A pink wrapper band with a matte finish wraps vertically around the cube, medium width, with white printed text and branding visible.", + "id": 7, + "grasp_group": { + "grasp_140": { + "confidence": 0.712226390838623, + "position": [ + 0.07278793715522625, + 0.1069649737328291, + 0.0027623489731922746 + ], + "orientation": { + "w": 0.6073771758980081, + "xyz": [ + 0.3523606396235403, + -0.6204245023130689, + 0.3492969836283022 + ] + } + }, + "grasp_141": { + "confidence": 0.7106441259384155, + "position": [ + 0.0682855065970216, + 0.1079616155475378, + -0.0009961569448933005 + ], + "orientation": { + "w": 0.6170688478161614, + "xyz": [ + 0.35180368477710683, + -0.606027961080828, + 0.3580367506559902 + ] + } + }, + "grasp_142": { + "confidence": 0.6994580030441284, + "position": [ + 0.06673407219932415, + 0.11198295466601849, + -0.006759717012755573 + ], + "orientation": { + "w": 0.3743080775195964, + "xyz": [ + 0.5880344476978485, + 0.35880620580268774, + -0.6207793956807438 + ] + } + }, + "grasp_143": { + "confidence": 0.6981229782104492, + "position": [ + 0.06705426090047695, + 0.10611572675406933, + 0.0050300146685913205 + ], + "orientation": { + "w": 0.349569871576812, + "xyz": [ + 0.6156033780975891, + 0.3706119445003816, + -0.601232211673871 + ] + } + }, + "grasp_144": { + "confidence": 0.6937306523323059, + "position": [ + 0.06581684612319805, + 0.11150886677205563, + 0.0041934914188459516 + ], + "orientation": { + "w": 0.3653998250475931, + "xyz": [ + 0.6139164518289416, + 0.36682413365483324, + -0.5958436145477536 + ] + } + }, + "grasp_145": { + "confidence": 0.6777893900871277, + "position": [ + 0.07016396932885982, + 0.10616778396070004, + 0.004240195616148412 + ], + "orientation": { + "w": 0.3591271802460641, + "xyz": [ + 0.6118281440995651, + 0.36570524048387576, + -0.6024563615556094 + ] + } + }, + "grasp_146": { + "confidence": 0.6645475029945374, + "position": [ + 0.116041627159575, + 0.02669009380042553, + -0.012441906961612403 + ], + "orientation": { + "w": 0.7269885158236683, + "xyz": [ + 0.00570919935529663, + -0.6866258384635829, + 0.0002466929330771847 + ] + } + }, + "grasp_147": { + "confidence": 0.6633895039558411, + "position": [ + 0.018315762659767643, + 0.1203747671097517, + 0.007787757203914225 + ], + "orientation": { + "w": 0.478077174207279, + "xyz": [ + 0.5152126656367114, + 0.5199026053276509, + -0.4854888316357222 + ] + } + }, + "grasp_148": { + "confidence": 0.6541774868965149, + "position": [ + 0.019888429349521175, + 0.12208377383649349, + 0.0024422204587608576 + ], + "orientation": { + "w": 0.48851558804090256, + "xyz": [ + 0.4916711419579741, + 0.5224155342651761, + -0.49668301557957856 + ] + } + }, + "grasp_149": { + "confidence": 0.6507360935211182, + "position": [ + 0.018605435645440593, + 0.11816698871552944, + 0.004113283124752343 + ], + "orientation": { + "w": 0.496432063049402, + "xyz": [ + 0.5058822694254724, + -0.5026124080147228, + 0.4949940439713286 + ] + } + }, + "grasp_150": { + "confidence": 0.6497026085853577, + "position": [ + 0.025481503835180774, + 0.12168325297534466, + 0.007143403985537589 + ], + "orientation": { + "w": 0.5055795282360347, + "xyz": [ + 0.5174739618196561, + -0.5045503793750059, + 0.4712100955410822 + ] + } + }, + "grasp_151": { + "confidence": 0.6451804041862488, + "position": [ + 0.02441485636518337, + 0.11923685483634472, + 0.0010690492126741447 + ], + "orientation": { + "w": 0.4823138070978044, + "xyz": [ + 0.5230943066534001, + 0.4907165531872555, + -0.5029343916035569 + ] + } + }, + "grasp_152": { + "confidence": 0.630468487739563, + "position": [ + 0.012701553670922294, + 0.12160074524581432, + 0.0034050653921440244 + ], + "orientation": { + "w": 0.49034937114688004, + "xyz": [ + 0.5026449535102541, + 0.5175307673575842, + -0.4889452420924079 + ] + } + }, + "grasp_153": { + "confidence": 0.6301684975624084, + "position": [ + 0.01989822313771583, + 0.12222483567893505, + 0.00642976223025471 + ], + "orientation": { + "w": 0.48847449727068326, + "xyz": [ + 0.5072853506795256, + 0.5128990344253769, + -0.49090612034035613 + ] + } + }, + "grasp_154": { + "confidence": 0.6283522844314575, + "position": [ + 0.1141681861190591, + 0.010823619086295366, + -0.003744661225937307 + ], + "orientation": { + "w": 0.004790808783503451, + "xyz": [ + 0.689572872772146, + -0.039233293539027936, + -0.7231369510445791 + ] + } + }, + "grasp_155": { + "confidence": 0.6253806948661804, + "position": [ + 0.015500532841542736, + 0.11955728940665722, + 0.004051496158353984 + ], + "orientation": { + "w": 0.49859083220814915, + "xyz": [ + 0.49867886960169083, + 0.5113137899009464, + -0.49120746666545767 + ] + } + }, + "grasp_156": { + "confidence": 0.6236688494682312, + "position": [ + 0.017438212787965313, + 0.12097146920859814, + 0.0009007579210447147 + ], + "orientation": { + "w": 0.49195862867967993, + "xyz": [ + 0.5074036638945661, + 0.5121808547952593, + -0.48804610593178205 + ] + } + }, + "grasp_158": { + "confidence": 0.6105479001998901, + "position": [ + 0.07557721846387722, + 0.10748362354934216, + 0.003335944493301213 + ], + "orientation": { + "w": 0.364479497094722, + "xyz": [ + 0.605172217714916, + 0.3733794809487281, + -0.6012562235104496 + ] + } + }, + "grasp_159": { + "confidence": 0.6084688305854797, + "position": [ + 0.029167175671318546, + 0.12119325809180737, + -0.00047255377285182476 + ], + "orientation": { + "w": 0.4839290980694505, + "xyz": [ + 0.49756093869003504, + 0.5144793312108827, + -0.5035441967577247 + ] + } + } + } + }, + { + "part_name": "adhesive tab of paper band", + "mask_color": "Blue", + "graspable": true, + "grasp_scenarios": [ + { + "scenario": "pinch the small tab to start peeling the wrapper band", + "confidence": 0.86 + }, + { + "scenario": "use the tab to initiate opening without touching the notes directly", + "confidence": 0.74 + } + ], + "functional_labels": [ + "start peeling the band", + "secure the wrapper overlap", + "indicate opening point" + ], + "semantic_description": "Small blue rectangular tab attached at the overlap of the pink wrapper band, smooth and slightly raised, visible near the band edge on the top or bottom face.", + "id": 2, + "grasp_group": { + "grasp_40": { + "confidence": 0.4964923858642578, + "position": [ + 0.006831165315816179, + 0.11929844878613949, + -0.003257770440541208 + ], + "orientation": { + "w": 0.49446418182804663, + "xyz": [ + 0.5045790271945174, + 0.5000302394302564, + -0.5008741736802519 + ] + } + }, + "grasp_41": { + "confidence": 0.48380836844444275, + "position": [ + 0.0048605202755425125, + 0.12278417311608791, + 0.009775927406735718 + ], + "orientation": { + "w": 0.49111950296210655, + "xyz": [ + 0.5125084505876563, + -0.5066177903726289, + 0.4893619686535195 + ] + } + }, + "grasp_42": { + "confidence": 0.46686387062072754, + "position": [ + 0.007978669746080413, + 0.12225600890815258, + 0.006127817207016051 + ], + "orientation": { + "w": 0.4855737527262088, + "xyz": [ + 0.5260729660407937, + 0.49624128700824266, + -0.49113129622620444 + ] + } + }, + "grasp_43": { + "confidence": 0.46477964520454407, + "position": [ + 0.04677516259835102, + 0.11239304952323437, + 0.0038703688187524676 + ], + "orientation": { + "w": 0.3662573012479237, + "xyz": [ + 0.612942868718836, + 0.37244379804362104, + -0.5928256457578013 + ] + } + }, + "grasp_44": { + "confidence": 0.4644576609134674, + "position": [ + 0.002549205586547032, + 0.12160935066640377, + 0.007680384558625519 + ], + "orientation": { + "w": 0.4819272263924722, + "xyz": [ + 0.4982132588020947, + 0.5180024738928677, + -0.5012016901969951 + ] + } + }, + "grasp_45": { + "confidence": 0.4554902911186218, + "position": [ + 0.0037536487507168204, + 0.11581144295632839, + 0.0006811943312641233 + ], + "orientation": { + "w": 0.5079936055568239, + "xyz": [ + 0.5028440329584164, + -0.48685558568331555, + 0.5020577794641261 + ] + } + }, + "grasp_46": { + "confidence": 0.43766701221466064, + "position": [ + 0.0008931331394705921, + 0.11673172377049923, + 0.0022510469425469637 + ], + "orientation": { + "w": 0.5013621786843783, + "xyz": [ + 0.49689962089715417, + -0.5084068563650516, + 0.49320300175295323 + ] + } + }, + "grasp_47": { + "confidence": 0.4241408109664917, + "position": [ + 0.0014614960236940533, + 0.11823728494346142, + 0.004576298291794956 + ], + "orientation": { + "w": 0.5102246416432527, + "xyz": [ + 0.506535169545078, + -0.48942846015986696, + 0.49351060724111556 + ] + } + }, + "grasp_48": { + "confidence": 0.41454723477363586, + "position": [ + 0.045342825731495395, + 0.104431277140975, + 0.003198828431777656 + ], + "orientation": { + "w": 0.3646355132647205, + "xyz": [ + 0.6165824805499834, + 0.3631656010032944, + -0.5958000783760595 + ] + } + }, + "grasp_49": { + "confidence": 0.3525947630405426, + "position": [ + 0.0058323963603470474, + 0.12017913721501827, + 0.008940674480982125 + ], + "orientation": { + "w": 0.4914512567922612, + "xyz": [ + 0.5248190666075281, + 0.48569348130797296, + -0.49713423915221433 + ] + } + }, + "grasp_50": { + "confidence": 0.335347980260849, + "position": [ + 0.008144517807522789, + 0.11982971243560314, + -0.012927557225339115 + ], + "orientation": { + "w": 0.5310340846731813, + "xyz": [ + 0.4752892803260459, + -0.49398350428667037, + 0.49807951013380086 + ] + } + }, + "grasp_52": { + "confidence": 0.5257389545440674, + "position": [ + 0.00694917599321343, + 0.11434855125844479, + 0.003193155280314386 + ], + "orientation": { + "w": 0.48777425477506103, + "xyz": [ + 0.512691267916685, + 0.5042658495458636, + -0.49491402603119283 + ] + } + }, + "grasp_53": { + "confidence": 0.48711061477661133, + "position": [ + -0.04760174787952565, + 0.10082961432635784, + 0.00333990843500942 + ], + "orientation": { + "w": 0.3663508217170903, + "xyz": [ + 0.610895948005234, + -0.3447839909030105, + 0.6113241494943507 + ] + } + }, + "grasp_54": { + "confidence": 0.4581046998500824, + "position": [ + -0.04505889079882763, + 0.10389473102986813, + -2.623454201966524e-05 + ], + "orientation": { + "w": 0.5871717302281796, + "xyz": [ + 0.3789479166576988, + 0.6232359656584, + -0.3510053657588117 + ] + } + }, + "grasp_55": { + "confidence": 0.4554765522480011, + "position": [ + -0.04706361479475163, + 0.10772904567420483, + 0.0017176748951897025 + ], + "orientation": { + "w": 0.5856195103540637, + "xyz": [ + 0.372398748283028, + 0.6271244768085775, + -0.3536719552883274 + ] + } + }, + "grasp_56": { + "confidence": 0.44008684158325195, + "position": [ + 0.0033874396758619696, + 0.11398431472480297, + 0.0072138780960813165 + ], + "orientation": { + "w": 0.4908129354898854, + "xyz": [ + 0.5195798197407319, + 0.49982126173349983, + -0.48920157357997435 + ] + } + }, + "grasp_57": { + "confidence": 0.46890702843666077, + "position": [ + -0.05093854627921246, + 0.106607211753726, + 0.0024222988868132234 + ], + "orientation": { + "w": 0.5913353886491631, + "xyz": [ + 0.3654167503655473, + 0.6301307575569677, + -0.34601775252739175 + ] + } + }, + "grasp_58": { + "confidence": 0.43986770510673523, + "position": [ + 0.03407207169220783, + 0.11828186176717281, + 0.006699957069940865 + ], + "orientation": { + "w": 0.5792613541624475, + "xyz": [ + 0.4179201871497658, + -0.5783340603114864, + 0.3941176416125289 + ] + } + }, + "grasp_59": { + "confidence": 0.431423544883728, + "position": [ + -0.047694686421891674, + 0.10171486251056194, + 0.002602364169433713 + ], + "orientation": { + "w": 0.3777560392843285, + "xyz": [ + 0.6024750086484036, + -0.3485132837746364, + 0.6106248682873495 + ] + } + } + } + } + ], + "quality_check": { + "success": false, + "message": "Top pad color/branding wrong; side layer names duplicated and colors/descriptions mismatch actual object faces." + } +} \ No newline at end of file diff --git a/dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/mesh_part_seg.glb b/dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/mesh_part_seg.glb new file mode 100644 index 0000000000000000000000000000000000000000..e0696381637c41b0ca070bf56091759e6df6a22f --- /dev/null +++ b/dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/mesh_part_seg.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e9c37d606df3a8139ca13444d03929a54b17cb54e65048ed0e3156773bbcaaf +size 3800144