Add asset desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483
Browse files
.gitattributes
CHANGED
|
@@ -6582,3 +6582,4 @@ dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordanc
|
|
| 6582 |
dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6583 |
dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6584 |
dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6582 |
dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6583 |
dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6584 |
dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6585 |
+
dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,521 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical body to pick up and move the tape roll",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the roll body to stabilize it while pulling tape free",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the roll from the side to reorient it on a work surface",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"store the wound tape",
|
| 24 |
+
"provide structure for dispensing",
|
| 25 |
+
"stabilize during unwinding"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large cylindrical roll of white translucent tape with a smooth slightly glossy surface and a loose strip extending from the outer circumference.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9818617105484009,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.16156457923352718,
|
| 34 |
+
0.08681178139522672,
|
| 35 |
+
-0.027405162079958245
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4165773759146382,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.3153811528310947,
|
| 41 |
+
0.5382867474332143,
|
| 42 |
+
-0.6612453371123116
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.979268491268158,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.15350567363202572,
|
| 50 |
+
0.09484443115070462,
|
| 51 |
+
-0.02326450005057268
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6825735266055241,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5515950528144199,
|
| 57 |
+
0.2833116995461772,
|
| 58 |
+
0.3867437903680054
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9781861901283264,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.16228741966187954,
|
| 66 |
+
0.0903349150903523,
|
| 67 |
+
0.014461371378274634
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5523297877304206,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.6547999750392792,
|
| 73 |
+
0.3494806428389159,
|
| 74 |
+
0.37951558407412705
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9779309034347534,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.14729594253003597,
|
| 82 |
+
0.09571694629266858,
|
| 83 |
+
-0.051358774973778054
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.761770300038987,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.4611731374508481,
|
| 89 |
+
0.2243116753127642,
|
| 90 |
+
0.39586565851388744
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9778403639793396,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.16659662686288357,
|
| 98 |
+
0.07432799832895398,
|
| 99 |
+
-0.0055133367131929845
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5709491308938094,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5956703484632326,
|
| 105 |
+
0.3713409677674463,
|
| 106 |
+
0.4257931558290139
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9774993062019348,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.16155036352574825,
|
| 114 |
+
0.09007032262161374,
|
| 115 |
+
0.014761619531782344
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5690237752107077,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.6425858706738903,
|
| 121 |
+
0.3703285910995284,
|
| 122 |
+
0.3551789361286376
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9773329496383667,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.16800506971776485,
|
| 130 |
+
0.08042124705389142,
|
| 131 |
+
0.0003669472353067249
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5568461492744013,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.6134923919992132,
|
| 137 |
+
0.3696628658479044,
|
| 138 |
+
0.4205934100892079
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9769648313522339,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.15613544546067715,
|
| 146 |
+
0.08298323350027204,
|
| 147 |
+
-0.04492785848560743
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.6997618279929814,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.46700135107031676,
|
| 153 |
+
0.27428063388479573,
|
| 154 |
+
0.46584681608676287
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9766842126846313,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.16140530072152615,
|
| 162 |
+
0.07879493432119489,
|
| 163 |
+
-0.016140692605404183
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.6205819588822991,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.558330241815497,
|
| 169 |
+
0.3316638981274185,
|
| 170 |
+
0.4394820042538519
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_10": {
|
| 175 |
+
"confidence": 0.9763270616531372,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.1592427846044302,
|
| 178 |
+
0.08122100727632642,
|
| 179 |
+
-0.014439657999901101
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.4006384136369235,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.3550051669525757,
|
| 185 |
+
0.5537911104010855,
|
| 186 |
+
-0.6377896196993142
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_11": {
|
| 191 |
+
"confidence": 0.9760649800300598,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.1664185132831335,
|
| 194 |
+
0.0743776191957295,
|
| 195 |
+
-0.008813411666778848
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.4246171555240043,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.38552092045129277,
|
| 201 |
+
0.5746237721706757,
|
| 202 |
+
-0.5838505044833265
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_13": {
|
| 207 |
+
"confidence": 0.9758164286613464,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.16212834976613522,
|
| 210 |
+
0.0779813309200108,
|
| 211 |
+
-0.0055355683143716305
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.40486117328886995,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.3783649706343138,
|
| 217 |
+
0.5899955407434789,
|
| 218 |
+
-0.587224523723988
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_14": {
|
| 223 |
+
"confidence": 0.9758095145225525,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.15480445884168148,
|
| 226 |
+
0.07344766752794385,
|
| 227 |
+
-0.05157729677739553
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.48515770207017755,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.27280524425733943,
|
| 233 |
+
0.4361167994858035,
|
| 234 |
+
-0.707107799443577
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_15": {
|
| 239 |
+
"confidence": 0.9757373332977295,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.1579680498689413,
|
| 242 |
+
0.08638465451076627,
|
| 243 |
+
-0.0018869115447159857
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.574898663447079,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.6354307821585436,
|
| 249 |
+
0.2836754608264733,
|
| 250 |
+
0.43040385776272033
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_17": {
|
| 255 |
+
"confidence": 0.9755135774612427,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.1587676014751196,
|
| 258 |
+
0.07828632043674588,
|
| 259 |
+
0.00616934968275018
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.5576197578943864,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.6341840731064444,
|
| 265 |
+
0.3576513567064933,
|
| 266 |
+
0.3986932079556035
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_18": {
|
| 271 |
+
"confidence": 0.9752123355865479,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.15932842157781124,
|
| 274 |
+
0.08628563629463315,
|
| 275 |
+
0.014245177881093696
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.3428858637033813,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.3941609124192609,
|
| 281 |
+
0.637210706800722,
|
| 282 |
+
-0.5665941887556968
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_19": {
|
| 287 |
+
"confidence": 0.9749112129211426,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.1571494396775961,
|
| 290 |
+
0.08599678473547101,
|
| 291 |
+
-0.012942743225721642
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.610890543341595,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.5886788872000462,
|
| 297 |
+
0.3198000946386913,
|
| 298 |
+
0.42189786831626674
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"part_name": "inner cardboard core",
|
| 306 |
+
"mask_color": "Green",
|
| 307 |
+
"graspable": true,
|
| 308 |
+
"grasp_scenarios": [
|
| 309 |
+
{
|
| 310 |
+
"scenario": "insert parallel gripper fingers into the center hole to lift the roll",
|
| 311 |
+
"confidence": 0.72
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"scenario": "hold the inner core to stabilize the roll during dispensing",
|
| 315 |
+
"confidence": 0.61
|
| 316 |
+
}
|
| 317 |
+
],
|
| 318 |
+
"functional_labels": [
|
| 319 |
+
"maintain center opening",
|
| 320 |
+
"support mounting on a spindle",
|
| 321 |
+
"reinforce the roll",
|
| 322 |
+
"provide alignment for rotation"
|
| 323 |
+
],
|
| 324 |
+
"semantic_description": "Brown cardboard tube lining the center hole, with a matte paper-like finish and circular ring shape at the roll center.",
|
| 325 |
+
"id": 1,
|
| 326 |
+
"grasp_group": {
|
| 327 |
+
"grasp_21": {
|
| 328 |
+
"confidence": 0.6663665771484375,
|
| 329 |
+
"position": [
|
| 330 |
+
-0.054980313405394554,
|
| 331 |
+
0.0968126212246716,
|
| 332 |
+
-0.006577753199962899
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.28948385913511526,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.6385508207239644,
|
| 338 |
+
-0.24048156446583357,
|
| 339 |
+
0.6712827733563979
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_23": {
|
| 344 |
+
"confidence": 0.945722758769989,
|
| 345 |
+
"position": [
|
| 346 |
+
0.11174722202122211,
|
| 347 |
+
-0.061703629326075315,
|
| 348 |
+
0.020486516208620742
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.5894938523982842,
|
| 352 |
+
"xyz": [
|
| 353 |
+
-0.15753452637247622,
|
| 354 |
+
-0.7581770074059265,
|
| 355 |
+
-0.22988583346135782
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_24": {
|
| 360 |
+
"confidence": 0.8950579762458801,
|
| 361 |
+
"position": [
|
| 362 |
+
0.11410152353346348,
|
| 363 |
+
0.028905183542519808,
|
| 364 |
+
0.049135296867461875
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.5438128097520669,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.10800065002490455,
|
| 370 |
+
-0.83011761391381,
|
| 371 |
+
0.05923035213302759
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_25": {
|
| 376 |
+
"confidence": 0.8761894702911377,
|
| 377 |
+
"position": [
|
| 378 |
+
0.1217388454824686,
|
| 379 |
+
-0.00572269456461072,
|
| 380 |
+
-0.045162104739574715
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.8142895603712337,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.013574847880531708,
|
| 386 |
+
-0.5802502650022212,
|
| 387 |
+
-0.007606927125645869
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_26": {
|
| 392 |
+
"confidence": 0.8760256767272949,
|
| 393 |
+
"position": [
|
| 394 |
+
0.10090375877916813,
|
| 395 |
+
0.0775834177620709,
|
| 396 |
+
0.024035142065258697
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.28331231671634644,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.7155058319598551,
|
| 402 |
+
0.2490591757243359,
|
| 403 |
+
-0.5880094069109495
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_27": {
|
| 408 |
+
"confidence": 0.8122684955596924,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.03772805817425251,
|
| 411 |
+
0.11127010034397244,
|
| 412 |
+
0.002575530466856435
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.5156387361546756,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.47698641817881365,
|
| 418 |
+
0.5465767384526669,
|
| 419 |
+
-0.45591064873744686
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_28": {
|
| 424 |
+
"confidence": 0.8109446167945862,
|
| 425 |
+
"position": [
|
| 426 |
+
0.021313844248652458,
|
| 427 |
+
0.1199771766550839,
|
| 428 |
+
-0.018254126160172746
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.5927802593132638,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.5339395933058011,
|
| 434 |
+
0.4110344745343507,
|
| 435 |
+
-0.44110172932465985
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_30": {
|
| 440 |
+
"confidence": 0.2473740428686142,
|
| 441 |
+
"position": [
|
| 442 |
+
-0.0450295377522707,
|
| 443 |
+
0.06752343522384763,
|
| 444 |
+
0.0745764703315217
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.141484109733795,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.7848749743984605,
|
| 450 |
+
-0.45619919933897457,
|
| 451 |
+
0.3947604485993116
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
},
|
| 457 |
+
{
|
| 458 |
+
"part_name": "outer tape edge / rim",
|
| 459 |
+
"mask_color": "Yellow",
|
| 460 |
+
"graspable": false,
|
| 461 |
+
"grasp_scenarios": [],
|
| 462 |
+
"functional_labels": [
|
| 463 |
+
"define the exposed outer edge of the wound tape",
|
| 464 |
+
"indicate tape thickness around the roll boundary",
|
| 465 |
+
"form the visible boundary between top face and side surface"
|
| 466 |
+
],
|
| 467 |
+
"semantic_description": "Thin pale white to light cream band along the exposed outer rim and edge of the wound tape, seen as a narrow smooth slightly glossy border around parts of the roll.",
|
| 468 |
+
"id": 3,
|
| 469 |
+
"grasp_group": {}
|
| 470 |
+
},
|
| 471 |
+
{
|
| 472 |
+
"part_name": "free tape end",
|
| 473 |
+
"mask_color": "Blue",
|
| 474 |
+
"graspable": true,
|
| 475 |
+
"grasp_scenarios": [
|
| 476 |
+
{
|
| 477 |
+
"scenario": "pinch the loose tape end to start peeling and dispensing tape",
|
| 478 |
+
"confidence": 0.82
|
| 479 |
+
},
|
| 480 |
+
{
|
| 481 |
+
"scenario": "grasp the tape end to pull and extend a strip from the roll",
|
| 482 |
+
"confidence": 0.88
|
| 483 |
+
},
|
| 484 |
+
{
|
| 485 |
+
"scenario": "hold the tape tail to position it for sticking onto a surface",
|
| 486 |
+
"confidence": 0.69
|
| 487 |
+
}
|
| 488 |
+
],
|
| 489 |
+
"functional_labels": [
|
| 490 |
+
"start peeling",
|
| 491 |
+
"pull tape from roll",
|
| 492 |
+
"apply adhesive strip",
|
| 493 |
+
"indicate tape direction"
|
| 494 |
+
],
|
| 495 |
+
"semantic_description": "Very thin narrow edge at the tip of the loose white tape strip, visible as a tiny region along the end margin of the protruding flexible tail.",
|
| 496 |
+
"id": 2,
|
| 497 |
+
"grasp_group": {
|
| 498 |
+
"grasp_40": {
|
| 499 |
+
"confidence": 0.8914120197296143,
|
| 500 |
+
"position": [
|
| 501 |
+
-0.08090138249099255,
|
| 502 |
+
0.1440586824901402,
|
| 503 |
+
-0.008196397422580048
|
| 504 |
+
],
|
| 505 |
+
"orientation": {
|
| 506 |
+
"w": 0.5094196966198085,
|
| 507 |
+
"xyz": [
|
| 508 |
+
0.48986274693876247,
|
| 509 |
+
0.5045322666582723,
|
| 510 |
+
-0.49595690715833185
|
| 511 |
+
]
|
| 512 |
+
}
|
| 513 |
+
}
|
| 514 |
+
}
|
| 515 |
+
}
|
| 516 |
+
],
|
| 517 |
+
"quality_check": {
|
| 518 |
+
"success": false,
|
| 519 |
+
"message": "Blue part is the whole loose tape strip, not just its tip; red body wrongly includes free strip in mask/description."
|
| 520 |
+
}
|
| 521 |
+
}
|
dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f7802dbaf5e3a49e5622d10ec431f61f4d81719f11506283450853bba857a496
|
| 3 |
+
size 3783840
|