Add asset desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412
Browse files
.gitattributes
CHANGED
|
@@ -6671,3 +6671,4 @@ dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/affordanc
|
|
| 6671 |
dataset/desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6672 |
dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6673 |
dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6671 |
dataset/desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6672 |
dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6673 |
dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6674 |
+
dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,622 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical body to pick up the tape roll",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the roll around its outer rim to stabilize it while dispensing tape",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the roll from opposite outer sides to reorient or place it",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support tape wound around the roll",
|
| 24 |
+
"stabilize during dispensing",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Thick ring-shaped outer body made of translucent pale white plastic tape with a glossy smooth surface, hard yet slightly compliant, forming the large cylindrical exterior of the roll.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9845647811889648,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.09999252541001624,
|
| 34 |
+
0.09274687938159332,
|
| 35 |
+
-0.0002090961206704378
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6267681305209606,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.33103491862808976,
|
| 41 |
+
0.6285648622289457,
|
| 42 |
+
-0.32013092194172765
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9824004173278809,
|
| 48 |
+
"position": [
|
| 49 |
+
0.10356307344500237,
|
| 50 |
+
-0.10235145367914811,
|
| 51 |
+
-0.0024057473347056657
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6639480881704894,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.23240481442324573,
|
| 57 |
+
-0.6593853834766006,
|
| 58 |
+
-0.2652769392636032
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9818205237388611,
|
| 64 |
+
"position": [
|
| 65 |
+
0.0755992116219204,
|
| 66 |
+
-0.12368686177069321,
|
| 67 |
+
-0.004234303982229903
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.35758309754177214,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6129702254557631,
|
| 73 |
+
0.34147016841723343,
|
| 74 |
+
0.6162791211279584
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.981280505657196,
|
| 80 |
+
"position": [
|
| 81 |
+
0.07414352463547402,
|
| 82 |
+
-0.12555340357357636,
|
| 83 |
+
0.0026871564041357487
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.3666803851175526,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.626007179985652,
|
| 89 |
+
0.35021481439469737,
|
| 90 |
+
0.5924610447573261
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9809563755989075,
|
| 96 |
+
"position": [
|
| 97 |
+
0.1064314203149479,
|
| 98 |
+
-0.09812013484770432,
|
| 99 |
+
-0.00576481016469188
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6652526298080995,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.21522081660194947,
|
| 105 |
+
-0.67046827646088,
|
| 106 |
+
-0.2481758023945414
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.9809353351593018,
|
| 112 |
+
"position": [
|
| 113 |
+
0.06345296220843011,
|
| 114 |
+
-0.13162151403957978,
|
| 115 |
+
-0.0033709830895531923
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5980187431010753,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.3679227021989934,
|
| 121 |
+
-0.5973264914400838,
|
| 122 |
+
-0.38756616303578495
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.9809243679046631,
|
| 128 |
+
"position": [
|
| 129 |
+
0.08769163804117852,
|
| 130 |
+
-0.11547179945046082,
|
| 131 |
+
-0.003259951510699466
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.3006207920104681,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.6549802498650996,
|
| 137 |
+
0.27257475845256973,
|
| 138 |
+
0.6374409876625242
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_8": {
|
| 143 |
+
"confidence": 0.9804561138153076,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.14129692001279182,
|
| 146 |
+
0.0031809373176656663,
|
| 147 |
+
0.00514756582560949
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.05829111304013561,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.7097167855581713,
|
| 153 |
+
-0.06669174425993074,
|
| 154 |
+
0.6988965886918369
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_9": {
|
| 159 |
+
"confidence": 0.9803596138954163,
|
| 160 |
+
"position": [
|
| 161 |
+
0.06943047361437493,
|
| 162 |
+
-0.128632654028479,
|
| 163 |
+
-0.00043901955359615386
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.3730039907134583,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.6114051808258927,
|
| 169 |
+
0.3661194802268688,
|
| 170 |
+
0.5941449772315668
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_10": {
|
| 175 |
+
"confidence": 0.9803459048271179,
|
| 176 |
+
"position": [
|
| 177 |
+
0.07153745310370141,
|
| 178 |
+
-0.12634884245926514,
|
| 179 |
+
-0.0026707556389737874
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.36862913005739395,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.6035949536470957,
|
| 185 |
+
0.3556326739569726,
|
| 186 |
+
0.6109918965249075
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_11": {
|
| 191 |
+
"confidence": 0.9803255796432495,
|
| 192 |
+
"position": [
|
| 193 |
+
0.023432753402630624,
|
| 194 |
+
-0.138630811648909,
|
| 195 |
+
-0.0023608501360286027
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.48723043143056716,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.4836125921269627,
|
| 201 |
+
-0.5127905758334315,
|
| 202 |
+
-0.5155300115033477
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_12": {
|
| 207 |
+
"confidence": 0.979912519454956,
|
| 208 |
+
"position": [
|
| 209 |
+
0.0985268832928341,
|
| 210 |
+
-0.10459372826153412,
|
| 211 |
+
0.00014122308857622556
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.6402894675931815,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.2775249460138842,
|
| 217 |
+
-0.6508160090464918,
|
| 218 |
+
-0.2990782914188644
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_15": {
|
| 223 |
+
"confidence": 0.9794780015945435,
|
| 224 |
+
"position": [
|
| 225 |
+
0.060610647667090234,
|
| 226 |
+
-0.13206601567799225,
|
| 227 |
+
-0.00652502549928613
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.3753528042487559,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.6054987084600623,
|
| 233 |
+
0.33875545593118517,
|
| 234 |
+
0.6145944414592817
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_17": {
|
| 239 |
+
"confidence": 0.979357123374939,
|
| 240 |
+
"position": [
|
| 241 |
+
0.04156950803462678,
|
| 242 |
+
-0.13997371919685975,
|
| 243 |
+
-0.00482344048214145
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.5560201143461777,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.41661104253773923,
|
| 249 |
+
-0.5630915154039183,
|
| 250 |
+
-0.44744252922380995
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_18": {
|
| 255 |
+
"confidence": 0.9793087840080261,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.1428579507582981,
|
| 258 |
+
-0.009368731232825667,
|
| 259 |
+
0.003230468340916559
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.035898673444841565,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.7104521940942268,
|
| 265 |
+
-0.035691818452401325,
|
| 266 |
+
0.7019224025824795
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_19": {
|
| 271 |
+
"confidence": 0.9791027903556824,
|
| 272 |
+
"position": [
|
| 273 |
+
0.05675633938972169,
|
| 274 |
+
-0.13407527335220948,
|
| 275 |
+
-0.001368309516692534
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.600970825513771,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.35759194686698564,
|
| 281 |
+
-0.6020980547922865,
|
| 282 |
+
-0.38527911808521353
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"part_name": "cardboard core",
|
| 290 |
+
"mask_color": "Green",
|
| 291 |
+
"graspable": true,
|
| 292 |
+
"grasp_scenarios": [
|
| 293 |
+
{
|
| 294 |
+
"scenario": "insert parallel gripper fingers into the center opening and grasp the inner core to lift the roll",
|
| 295 |
+
"confidence": 0.72
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"scenario": "hold the inner rim to stabilize the roll while peeling tape",
|
| 299 |
+
"confidence": 0.64
|
| 300 |
+
}
|
| 301 |
+
],
|
| 302 |
+
"functional_labels": [
|
| 303 |
+
"provide central mounting hole",
|
| 304 |
+
"support the tape roll shape",
|
| 305 |
+
"enable spindle placement",
|
| 306 |
+
"stabilize during handling"
|
| 307 |
+
],
|
| 308 |
+
"semantic_description": "Hollow cylindrical inner core with a white inner lining and a thin brown cardboard edge, showing a matte smooth paperboard surface inside the center opening.",
|
| 309 |
+
"id": 1,
|
| 310 |
+
"grasp_group": {
|
| 311 |
+
"grasp_20": {
|
| 312 |
+
"confidence": 0.03573997691273689,
|
| 313 |
+
"position": [
|
| 314 |
+
-0.0398991523497898,
|
| 315 |
+
-0.05538126133615151,
|
| 316 |
+
0.09075252219918184
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.3190782377515206,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.9076466240818823,
|
| 322 |
+
0.23473318585596653,
|
| 323 |
+
-0.1388056751147233
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_21": {
|
| 328 |
+
"confidence": 0.9346923828125,
|
| 329 |
+
"position": [
|
| 330 |
+
-0.08653011603291816,
|
| 331 |
+
0.0928396912640892,
|
| 332 |
+
-0.03301595643279143
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.7567963596275495,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.21381673121412084,
|
| 338 |
+
0.5462027159140652,
|
| 339 |
+
-0.288451501357674
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_22": {
|
| 344 |
+
"confidence": 0.7904305458068848,
|
| 345 |
+
"position": [
|
| 346 |
+
0.07150847034517938,
|
| 347 |
+
0.09948068432277068,
|
| 348 |
+
0.0036892771895509213
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.5780591518631173,
|
| 352 |
+
"xyz": [
|
| 353 |
+
0.40201797228334424,
|
| 354 |
+
-0.5927516784729241,
|
| 355 |
+
0.3909918344109156
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_23": {
|
| 360 |
+
"confidence": 0.7831336259841919,
|
| 361 |
+
"position": [
|
| 362 |
+
-0.013391306270023051,
|
| 363 |
+
0.12112058274215087,
|
| 364 |
+
-0.0038001225620973855
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.4611488876807082,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.5447478507605784,
|
| 370 |
+
0.4516307675171335,
|
| 371 |
+
-0.5353700891107588
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_24": {
|
| 376 |
+
"confidence": 0.7009583711624146,
|
| 377 |
+
"position": [
|
| 378 |
+
-0.02206473482783622,
|
| 379 |
+
0.12014482490485534,
|
| 380 |
+
0.007874477392761037
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.5250467112491604,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.4734869766800596,
|
| 386 |
+
-0.519359097721913,
|
| 387 |
+
0.4800022515929455
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_25": {
|
| 392 |
+
"confidence": 0.6584259271621704,
|
| 393 |
+
"position": [
|
| 394 |
+
-0.042866662722190085,
|
| 395 |
+
0.1147389667457901,
|
| 396 |
+
0.005446172988740727
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.517992049836386,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.4899162738871965,
|
| 402 |
+
0.5285084616317077,
|
| 403 |
+
-0.46080916534989824
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_26": {
|
| 408 |
+
"confidence": 0.602939248085022,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.12342168821032828,
|
| 411 |
+
-0.0038744831108488142,
|
| 412 |
+
0.002815548301441595
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.6838228654357952,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.07586043227146068,
|
| 418 |
+
0.7175386067627867,
|
| 419 |
+
0.10848885347207124
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_28": {
|
| 424 |
+
"confidence": 0.04200465977191925,
|
| 425 |
+
"position": [
|
| 426 |
+
0.035451467502753076,
|
| 427 |
+
-0.027879758330527693,
|
| 428 |
+
0.10659963890793733
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.17692923175994715,
|
| 432 |
+
"xyz": [
|
| 433 |
+
-0.8869550414686694,
|
| 434 |
+
-0.42657128682432943,
|
| 435 |
+
0.006613517912674152
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_29": {
|
| 440 |
+
"confidence": 0.027621837332844734,
|
| 441 |
+
"position": [
|
| 442 |
+
-0.06333877576525992,
|
| 443 |
+
0.020642160845454782,
|
| 444 |
+
0.09983412429573946
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.15833831070012186,
|
| 448 |
+
"xyz": [
|
| 449 |
+
-0.5888018816130538,
|
| 450 |
+
0.757910904779329,
|
| 451 |
+
-0.23197496414513782
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_30": {
|
| 456 |
+
"confidence": 0.9625766277313232,
|
| 457 |
+
"position": [
|
| 458 |
+
-0.024473544787724677,
|
| 459 |
+
0.12634661368792877,
|
| 460 |
+
0.0068355009134393185
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.5686744331932476,
|
| 464 |
+
"xyz": [
|
| 465 |
+
0.4440901660466195,
|
| 466 |
+
0.5737494454992063,
|
| 467 |
+
-0.38756275265094586
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_31": {
|
| 472 |
+
"confidence": 0.9595886468887329,
|
| 473 |
+
"position": [
|
| 474 |
+
0.12339537905518227,
|
| 475 |
+
0.04315508104627952,
|
| 476 |
+
0.00897352650645189
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.17114777848487486,
|
| 480 |
+
"xyz": [
|
| 481 |
+
0.716214294275679,
|
| 482 |
+
0.15966132070066397,
|
| 483 |
+
-0.6574601016540876
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_32": {
|
| 488 |
+
"confidence": 0.9563260674476624,
|
| 489 |
+
"position": [
|
| 490 |
+
-0.04737748263414687,
|
| 491 |
+
-0.12501893617445603,
|
| 492 |
+
-0.025289639161201194
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.6473630087127368,
|
| 496 |
+
"xyz": [
|
| 497 |
+
-0.386752215074073,
|
| 498 |
+
0.49651007316298934,
|
| 499 |
+
0.42990883490965137
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_33": {
|
| 504 |
+
"confidence": 0.9545268416404724,
|
| 505 |
+
"position": [
|
| 506 |
+
-0.0031814627536732587,
|
| 507 |
+
0.1309142517275177,
|
| 508 |
+
0.014025283715454862
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.43612113169122013,
|
| 512 |
+
"xyz": [
|
| 513 |
+
0.5554437655344564,
|
| 514 |
+
0.4885674437222792,
|
| 515 |
+
-0.512427980067396
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_34": {
|
| 520 |
+
"confidence": 0.9540290832519531,
|
| 521 |
+
"position": [
|
| 522 |
+
0.0951142491585415,
|
| 523 |
+
0.08884789369767532,
|
| 524 |
+
0.031455817370442674
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.23456513447341637,
|
| 528 |
+
"xyz": [
|
| 529 |
+
0.7315741053870627,
|
| 530 |
+
0.29811311057459733,
|
| 531 |
+
-0.5664866276622291
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_35": {
|
| 536 |
+
"confidence": 0.9539065957069397,
|
| 537 |
+
"position": [
|
| 538 |
+
0.12561032490793878,
|
| 539 |
+
0.03013986482983455,
|
| 540 |
+
0.0032573351345490664
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.15495251009471045,
|
| 544 |
+
"xyz": [
|
| 545 |
+
0.7139039937103413,
|
| 546 |
+
0.13060038836315224,
|
| 547 |
+
-0.6702793044240345
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"grasp_36": {
|
| 552 |
+
"confidence": 0.9505268931388855,
|
| 553 |
+
"position": [
|
| 554 |
+
0.11333571689192468,
|
| 555 |
+
0.05964568577473983,
|
| 556 |
+
0.004894355981377885
|
| 557 |
+
],
|
| 558 |
+
"orientation": {
|
| 559 |
+
"w": 0.22312459340248966,
|
| 560 |
+
"xyz": [
|
| 561 |
+
0.6900768661628949,
|
| 562 |
+
0.2193127995801074,
|
| 563 |
+
-0.6526187482336891
|
| 564 |
+
]
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"grasp_37": {
|
| 568 |
+
"confidence": 0.9388962388038635,
|
| 569 |
+
"position": [
|
| 570 |
+
0.10516900138918572,
|
| 571 |
+
0.06729339383309707,
|
| 572 |
+
0.04079423725488596
|
| 573 |
+
],
|
| 574 |
+
"orientation": {
|
| 575 |
+
"w": 0.5472172383415991,
|
| 576 |
+
"xyz": [
|
| 577 |
+
0.2788894193718327,
|
| 578 |
+
-0.7820349593798387,
|
| 579 |
+
0.10580788312791178
|
| 580 |
+
]
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"grasp_38": {
|
| 584 |
+
"confidence": 0.9370594620704651,
|
| 585 |
+
"position": [
|
| 586 |
+
0.12081545906130486,
|
| 587 |
+
-0.030453743936959654,
|
| 588 |
+
0.03873618200304918
|
| 589 |
+
],
|
| 590 |
+
"orientation": {
|
| 591 |
+
"w": 0.5611034123738917,
|
| 592 |
+
"xyz": [
|
| 593 |
+
-0.09501277655698581,
|
| 594 |
+
-0.8123080230640258,
|
| 595 |
+
-0.1276370188429721
|
| 596 |
+
]
|
| 597 |
+
}
|
| 598 |
+
},
|
| 599 |
+
"grasp_39": {
|
| 600 |
+
"confidence": 0.9360272884368896,
|
| 601 |
+
"position": [
|
| 602 |
+
-0.13055942637856788,
|
| 603 |
+
-0.0015981276519596577,
|
| 604 |
+
1.3554497854784131e-05
|
| 605 |
+
],
|
| 606 |
+
"orientation": {
|
| 607 |
+
"w": 0.6944624617451989,
|
| 608 |
+
"xyz": [
|
| 609 |
+
-0.05912147504739149,
|
| 610 |
+
0.7117106262522744,
|
| 611 |
+
0.0877184410179243
|
| 612 |
+
]
|
| 613 |
+
}
|
| 614 |
+
}
|
| 615 |
+
}
|
| 616 |
+
}
|
| 617 |
+
],
|
| 618 |
+
"quality_check": {
|
| 619 |
+
"success": true,
|
| 620 |
+
"message": "YES"
|
| 621 |
+
}
|
| 622 |
+
}
|
dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:29b426054f9cb8409ff582b8e675a9a8ed08c4f8282df2855a96e99e43c0b039
|
| 3 |
+
size 3781884
|