Add asset desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995
Browse files
.gitattributes
CHANGED
|
@@ -6494,3 +6494,4 @@ dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affo
|
|
| 6494 |
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6495 |
dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6496 |
dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6494 |
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6495 |
dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6496 |
dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6497 |
+
dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,825 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "marker barrel",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel at the center to pick up and move the marker",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel while writing or positioning the marker",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the barrel while removing or replacing the cap",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain ink reservoir",
|
| 24 |
+
"support writing orientation",
|
| 25 |
+
"connect cap and rear end"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long cylindrical green plastic body with a smooth slightly glossy surface, medium thickness, occupying the central length of the marker, with visible white and yellow printed branding text on one side.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_40": {
|
| 31 |
+
"confidence": 0.9953500032424927,
|
| 32 |
+
"position": [
|
| 33 |
+
0.00211392852361314,
|
| 34 |
+
-0.016116622398840263,
|
| 35 |
+
-0.09370991994364886
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.002701919004685018,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.012350656347640989,
|
| 41 |
+
0.19868024925690808,
|
| 42 |
+
0.979982815908875
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_44": {
|
| 47 |
+
"confidence": 0.99405837059021,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.008749330212594941,
|
| 50 |
+
-0.013706351193832234,
|
| 51 |
+
-0.0933234955809894
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.985536039753885,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.16404164532635573,
|
| 57 |
+
0.04238064518155782,
|
| 58 |
+
0.003596367451442118
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_45": {
|
| 63 |
+
"confidence": 0.9939433932304382,
|
| 64 |
+
"position": [
|
| 65 |
+
0.08777789233135991,
|
| 66 |
+
0.0002754675515461713,
|
| 67 |
+
0.032496414736669976
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5590227320503584,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.05017641274866231,
|
| 73 |
+
-0.821760731097543,
|
| 74 |
+
-0.09841348220981024
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_46": {
|
| 79 |
+
"confidence": 0.9938672184944153,
|
| 80 |
+
"position": [
|
| 81 |
+
0.07956671176361851,
|
| 82 |
+
-0.02878496193443425,
|
| 83 |
+
0.04419462348596426
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.1513582526109652,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.846734691566413,
|
| 89 |
+
0.10185058884436426,
|
| 90 |
+
0.4997574401812774
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_47": {
|
| 95 |
+
"confidence": 0.9938454031944275,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.005707241391064599,
|
| 98 |
+
0.011200952780200168,
|
| 99 |
+
-0.09699963439925341
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.9992362644043981,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.015898413524232827,
|
| 105 |
+
0.03505768778474372,
|
| 106 |
+
0.006714675996927896
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_48": {
|
| 111 |
+
"confidence": 0.9936957955360413,
|
| 112 |
+
"position": [
|
| 113 |
+
0.009266252833185717,
|
| 114 |
+
-0.015833905461477116,
|
| 115 |
+
-0.09589711983426241
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.01812235234381653,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.04395247465428862,
|
| 121 |
+
0.12446092213492199,
|
| 122 |
+
0.9910848799061639
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_49": {
|
| 127 |
+
"confidence": 0.9936628341674805,
|
| 128 |
+
"position": [
|
| 129 |
+
0.07902554629254155,
|
| 130 |
+
0.018620931048644707,
|
| 131 |
+
0.05449394102470251
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.4769508044285703,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.011279389076672065,
|
| 137 |
+
-0.8788536242600146,
|
| 138 |
+
0.0026481431295618117
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_51": {
|
| 143 |
+
"confidence": 0.993622362613678,
|
| 144 |
+
"position": [
|
| 145 |
+
0.06293487755465321,
|
| 146 |
+
0.0031576573092024773,
|
| 147 |
+
0.07141919027344557
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.3709800916639827,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.014004584976422903,
|
| 153 |
+
-0.9279923132471669,
|
| 154 |
+
-0.03174759428354642
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_53": {
|
| 159 |
+
"confidence": 0.9935278296470642,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.011009460111381486,
|
| 162 |
+
0.007975069311214611,
|
| 163 |
+
-0.0980227257750812
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.9969449601239767,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.04956772390759899,
|
| 169 |
+
0.06007373063485588,
|
| 170 |
+
0.00591050908404429
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_54": {
|
| 175 |
+
"confidence": 0.9934338331222534,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.04830587821197696,
|
| 178 |
+
-0.011333327303873375,
|
| 179 |
+
-0.08045387674792437
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.05050079191203346,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.2716540288730734,
|
| 185 |
+
-0.07664093006940931,
|
| 186 |
+
-0.9580083123080826
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_55": {
|
| 191 |
+
"confidence": 0.9934147596359253,
|
| 192 |
+
"position": [
|
| 193 |
+
0.08900460807490163,
|
| 194 |
+
-0.02741036706720479,
|
| 195 |
+
0.005817904260766227
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.658289093151949,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.12369166685475791,
|
| 201 |
+
-0.7256407542863658,
|
| 202 |
+
-0.15748440274068531
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_57": {
|
| 207 |
+
"confidence": 0.9932374954223633,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.0964598486025352,
|
| 210 |
+
0.005114735540701076,
|
| 211 |
+
-0.007050661246466916
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.057506128979386846,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.6686654703697611,
|
| 217 |
+
-0.06998950930195447,
|
| 218 |
+
-0.7380250689865923
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_58": {
|
| 223 |
+
"confidence": 0.9931948184967041,
|
| 224 |
+
"position": [
|
| 225 |
+
0.08819918541121297,
|
| 226 |
+
-0.014968349161790684,
|
| 227 |
+
0.032354510978620965
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.5564779957753754,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.05362123669023152,
|
| 233 |
+
-0.8202666030111389,
|
| 234 |
+
-0.12091196457835851
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"part_name": "cap",
|
| 242 |
+
"mask_color": "Green",
|
| 243 |
+
"graspable": true,
|
| 244 |
+
"grasp_scenarios": [
|
| 245 |
+
{
|
| 246 |
+
"scenario": "grasp the cap to pull it off and expose the writing tip",
|
| 247 |
+
"confidence": 0.91
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"scenario": "hold the cap to reattach and seal the marker",
|
| 251 |
+
"confidence": 0.89
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"scenario": "lightly grip the capped end to reposition the marker",
|
| 255 |
+
"confidence": 0.55
|
| 256 |
+
}
|
| 257 |
+
],
|
| 258 |
+
"functional_labels": [
|
| 259 |
+
"cover the writing tip",
|
| 260 |
+
"seal against drying out",
|
| 261 |
+
"protect the tip",
|
| 262 |
+
"provide a pull-off grip"
|
| 263 |
+
],
|
| 264 |
+
"semantic_description": "Small black plastic cap at one end of the marker, with a smooth hard surface and short tapered-cylindrical shape.",
|
| 265 |
+
"id": 1,
|
| 266 |
+
"grasp_group": {
|
| 267 |
+
"grasp_21": {
|
| 268 |
+
"confidence": 0.9417582750320435,
|
| 269 |
+
"position": [
|
| 270 |
+
0.09650630710530095,
|
| 271 |
+
-0.05918691636179574,
|
| 272 |
+
-0.0030263758890214376
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.7076684571411473,
|
| 276 |
+
"xyz": [
|
| 277 |
+
-0.009737784068189488,
|
| 278 |
+
-0.7061624589173136,
|
| 279 |
+
-0.021097676288240788
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_22": {
|
| 284 |
+
"confidence": 0.9193406105041504,
|
| 285 |
+
"position": [
|
| 286 |
+
0.07923986969399266,
|
| 287 |
+
-0.10563180924509652,
|
| 288 |
+
0.03210481967107626
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.23166803682631984,
|
| 292 |
+
"xyz": [
|
| 293 |
+
-0.82054927855809,
|
| 294 |
+
0.09765293147724807,
|
| 295 |
+
0.5133154070790559
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_24": {
|
| 300 |
+
"confidence": 0.9124879240989685,
|
| 301 |
+
"position": [
|
| 302 |
+
0.09401328323292546,
|
| 303 |
+
-0.08177585483645089,
|
| 304 |
+
-0.021651186390954535
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.10449415880647862,
|
| 308 |
+
"xyz": [
|
| 309 |
+
-0.6459038445112607,
|
| 310 |
+
0.06606234369425779,
|
| 311 |
+
0.7533425257919018
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_25": {
|
| 316 |
+
"confidence": 0.9107285737991333,
|
| 317 |
+
"position": [
|
| 318 |
+
0.07290198860573582,
|
| 319 |
+
-0.09547104270313866,
|
| 320 |
+
0.05303838814870687
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.18361866925761988,
|
| 324 |
+
"xyz": [
|
| 325 |
+
-0.8854238168587683,
|
| 326 |
+
0.053110958092640104,
|
| 327 |
+
0.4236603297097723
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_26": {
|
| 332 |
+
"confidence": 0.9065847396850586,
|
| 333 |
+
"position": [
|
| 334 |
+
0.03986636010813527,
|
| 335 |
+
-0.0015443740703631192,
|
| 336 |
+
0.07217295806185575
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.295380411254701,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.9116058896083328,
|
| 342 |
+
0.10535946314200262,
|
| 343 |
+
-0.265752701218319
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_28": {
|
| 348 |
+
"confidence": 0.8986237645149231,
|
| 349 |
+
"position": [
|
| 350 |
+
0.0005629179358948022,
|
| 351 |
+
-0.05694861666415818,
|
| 352 |
+
0.09777459840552183
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.0010844902074153943,
|
| 356 |
+
"xyz": [
|
| 357 |
+
-0.9993095380731664,
|
| 358 |
+
-0.03697441931941512,
|
| 359 |
+
0.003487594153117236
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_29": {
|
| 364 |
+
"confidence": 0.898338258266449,
|
| 365 |
+
"position": [
|
| 366 |
+
-0.010920108092250302,
|
| 367 |
+
-0.06435381204937585,
|
| 368 |
+
0.09853865544573637
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.059326546493759555,
|
| 372 |
+
"xyz": [
|
| 373 |
+
0.024912368623692203,
|
| 374 |
+
0.9968665169755635,
|
| 375 |
+
0.0460095870845419
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
},
|
| 379 |
+
"grasp_30": {
|
| 380 |
+
"confidence": 0.898187518119812,
|
| 381 |
+
"position": [
|
| 382 |
+
-0.006993564107688144,
|
| 383 |
+
-0.011375191184924915,
|
| 384 |
+
0.08343050967232557
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.2662762656838358,
|
| 388 |
+
"xyz": [
|
| 389 |
+
0.9630155350901002,
|
| 390 |
+
-0.006577780840291314,
|
| 391 |
+
0.04067876974315268
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_31": {
|
| 396 |
+
"confidence": 0.8945834040641785,
|
| 397 |
+
"position": [
|
| 398 |
+
0.08167994229006581,
|
| 399 |
+
-0.10946861983393319,
|
| 400 |
+
0.016676593229931314
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.2234076500317815,
|
| 404 |
+
"xyz": [
|
| 405 |
+
-0.7614618542421401,
|
| 406 |
+
0.15413320864469882,
|
| 407 |
+
0.588649148843595
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"grasp_32": {
|
| 412 |
+
"confidence": 0.8834967613220215,
|
| 413 |
+
"position": [
|
| 414 |
+
0.027605880255578086,
|
| 415 |
+
-0.12441101254080422,
|
| 416 |
+
0.06909047405497404
|
| 417 |
+
],
|
| 418 |
+
"orientation": {
|
| 419 |
+
"w": 0.16951487380446828,
|
| 420 |
+
"xyz": [
|
| 421 |
+
-0.05218342127643908,
|
| 422 |
+
-0.9246026278226847,
|
| 423 |
+
-0.33712249810169487
|
| 424 |
+
]
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"grasp_33": {
|
| 428 |
+
"confidence": 0.8812087774276733,
|
| 429 |
+
"position": [
|
| 430 |
+
0.019706050137756392,
|
| 431 |
+
-0.11384830207680352,
|
| 432 |
+
0.07583709399477812
|
| 433 |
+
],
|
| 434 |
+
"orientation": {
|
| 435 |
+
"w": 0.09870649640075653,
|
| 436 |
+
"xyz": [
|
| 437 |
+
-0.023994185152927696,
|
| 438 |
+
-0.9516133838411958,
|
| 439 |
+
-0.29002288589255076
|
| 440 |
+
]
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"grasp_34": {
|
| 444 |
+
"confidence": 0.877953052520752,
|
| 445 |
+
"position": [
|
| 446 |
+
0.012457714619813487,
|
| 447 |
+
-0.10942380459164269,
|
| 448 |
+
0.0835275609351811
|
| 449 |
+
],
|
| 450 |
+
"orientation": {
|
| 451 |
+
"w": 0.25601507827006664,
|
| 452 |
+
"xyz": [
|
| 453 |
+
-0.9651583198642292,
|
| 454 |
+
-0.006096971219954395,
|
| 455 |
+
0.05374499267069237
|
| 456 |
+
]
|
| 457 |
+
}
|
| 458 |
+
},
|
| 459 |
+
"grasp_35": {
|
| 460 |
+
"confidence": 0.8769662976264954,
|
| 461 |
+
"position": [
|
| 462 |
+
-0.00685197048005648,
|
| 463 |
+
-0.12249488712404855,
|
| 464 |
+
0.074757631526154
|
| 465 |
+
],
|
| 466 |
+
"orientation": {
|
| 467 |
+
"w": 0.34061124444761043,
|
| 468 |
+
"xyz": [
|
| 469 |
+
-0.9392708793034686,
|
| 470 |
+
-0.02312219692246964,
|
| 471 |
+
-0.034922191480741216
|
| 472 |
+
]
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"grasp_36": {
|
| 476 |
+
"confidence": 0.8733177185058594,
|
| 477 |
+
"position": [
|
| 478 |
+
0.04807448593783192,
|
| 479 |
+
-0.08424234719132073,
|
| 480 |
+
0.08137237618939253
|
| 481 |
+
],
|
| 482 |
+
"orientation": {
|
| 483 |
+
"w": 0.14235155381028342,
|
| 484 |
+
"xyz": [
|
| 485 |
+
-0.9548504607495945,
|
| 486 |
+
0.015463943841356853,
|
| 487 |
+
0.2603027068145014
|
| 488 |
+
]
|
| 489 |
+
}
|
| 490 |
+
},
|
| 491 |
+
"grasp_37": {
|
| 492 |
+
"confidence": 0.8621506094932556,
|
| 493 |
+
"position": [
|
| 494 |
+
-0.009923453239025548,
|
| 495 |
+
-0.11554874808643945,
|
| 496 |
+
0.07849146764056059
|
| 497 |
+
],
|
| 498 |
+
"orientation": {
|
| 499 |
+
"w": 0.28326190881559554,
|
| 500 |
+
"xyz": [
|
| 501 |
+
-0.9575795445036206,
|
| 502 |
+
-0.010918824336108413,
|
| 503 |
+
-0.051815887886834784
|
| 504 |
+
]
|
| 505 |
+
}
|
| 506 |
+
},
|
| 507 |
+
"grasp_38": {
|
| 508 |
+
"confidence": 0.8604243397712708,
|
| 509 |
+
"position": [
|
| 510 |
+
0.005797105113742873,
|
| 511 |
+
-0.11392668963526376,
|
| 512 |
+
0.08419461886660429
|
| 513 |
+
],
|
| 514 |
+
"orientation": {
|
| 515 |
+
"w": 0.2708879696467604,
|
| 516 |
+
"xyz": [
|
| 517 |
+
-0.961954010390812,
|
| 518 |
+
-0.017070058672295385,
|
| 519 |
+
0.031189788242534593
|
| 520 |
+
]
|
| 521 |
+
}
|
| 522 |
+
},
|
| 523 |
+
"grasp_39": {
|
| 524 |
+
"confidence": 0.8541679978370667,
|
| 525 |
+
"position": [
|
| 526 |
+
0.06827108023571782,
|
| 527 |
+
-0.11991925121401437,
|
| 528 |
+
0.03552064265386434
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.29689887109784013,
|
| 532 |
+
"xyz": [
|
| 533 |
+
-0.8226390114827062,
|
| 534 |
+
0.13843376426427545,
|
| 535 |
+
0.46470658488901034
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
}
|
| 539 |
+
}
|
| 540 |
+
},
|
| 541 |
+
{
|
| 542 |
+
"part_name": "rear plug",
|
| 543 |
+
"mask_color": "Red",
|
| 544 |
+
"graspable": true,
|
| 545 |
+
"grasp_scenarios": [
|
| 546 |
+
{
|
| 547 |
+
"scenario": "grasp or pinch the rear end to reorient the marker",
|
| 548 |
+
"confidence": 0.46
|
| 549 |
+
},
|
| 550 |
+
{
|
| 551 |
+
"scenario": "use the rear end as a light stabilizing contact while handling the barrel or cap",
|
| 552 |
+
"confidence": 0.38
|
| 553 |
+
}
|
| 554 |
+
],
|
| 555 |
+
"functional_labels": [
|
| 556 |
+
"close the back end",
|
| 557 |
+
"seal the barrel",
|
| 558 |
+
"indicate rear orientation",
|
| 559 |
+
"provide end support"
|
| 560 |
+
],
|
| 561 |
+
"semantic_description": "Short green plastic end plug at the uncapped back end of the marker, with a smooth surface and rounded cylindrical end face, matching the body color.",
|
| 562 |
+
"id": 0,
|
| 563 |
+
"grasp_group": {
|
| 564 |
+
"grasp_0": {
|
| 565 |
+
"confidence": 0.9935048818588257,
|
| 566 |
+
"position": [
|
| 567 |
+
0.07431992350029759,
|
| 568 |
+
0.010062907327665016,
|
| 569 |
+
0.055363230065268
|
| 570 |
+
],
|
| 571 |
+
"orientation": {
|
| 572 |
+
"w": 0.10230782683116449,
|
| 573 |
+
"xyz": [
|
| 574 |
+
-0.8823483514083242,
|
| 575 |
+
0.049238855852527186,
|
| 576 |
+
0.4566946796388495
|
| 577 |
+
]
|
| 578 |
+
}
|
| 579 |
+
},
|
| 580 |
+
"grasp_1": {
|
| 581 |
+
"confidence": 0.9931796789169312,
|
| 582 |
+
"position": [
|
| 583 |
+
0.012255010398803279,
|
| 584 |
+
0.0015155299042817205,
|
| 585 |
+
-0.09421780367119936
|
| 586 |
+
],
|
| 587 |
+
"orientation": {
|
| 588 |
+
"w": 0.018649407081131154,
|
| 589 |
+
"xyz": [
|
| 590 |
+
-0.0668123685570215,
|
| 591 |
+
0.1744750211405116,
|
| 592 |
+
0.9822152381333437
|
| 593 |
+
]
|
| 594 |
+
}
|
| 595 |
+
},
|
| 596 |
+
"grasp_2": {
|
| 597 |
+
"confidence": 0.9930614829063416,
|
| 598 |
+
"position": [
|
| 599 |
+
-0.09421694817137904,
|
| 600 |
+
0.02310923903132789,
|
| 601 |
+
-0.02582612481637625
|
| 602 |
+
],
|
| 603 |
+
"orientation": {
|
| 604 |
+
"w": 0.029098418733974313,
|
| 605 |
+
"xyz": [
|
| 606 |
+
-0.5895584032571135,
|
| 607 |
+
-0.04300145096174912,
|
| 608 |
+
-0.8060552378040164
|
| 609 |
+
]
|
| 610 |
+
}
|
| 611 |
+
},
|
| 612 |
+
"grasp_4": {
|
| 613 |
+
"confidence": 0.992913544178009,
|
| 614 |
+
"position": [
|
| 615 |
+
0.07805675474810414,
|
| 616 |
+
0.012854942557169124,
|
| 617 |
+
0.05488008599058958
|
| 618 |
+
],
|
| 619 |
+
"orientation": {
|
| 620 |
+
"w": 0.08020522542058453,
|
| 621 |
+
"xyz": [
|
| 622 |
+
-0.8865696980146686,
|
| 623 |
+
0.022958814395206306,
|
| 624 |
+
0.455010093535274
|
| 625 |
+
]
|
| 626 |
+
}
|
| 627 |
+
},
|
| 628 |
+
"grasp_5": {
|
| 629 |
+
"confidence": 0.9928620457649231,
|
| 630 |
+
"position": [
|
| 631 |
+
0.07622891871142201,
|
| 632 |
+
0.006610387907130644,
|
| 633 |
+
0.05294698815123411
|
| 634 |
+
],
|
| 635 |
+
"orientation": {
|
| 636 |
+
"w": 0.46858429495560455,
|
| 637 |
+
"xyz": [
|
| 638 |
+
-0.05990946051037553,
|
| 639 |
+
-0.8705410603808822,
|
| 640 |
+
-0.13783278729403745
|
| 641 |
+
]
|
| 642 |
+
}
|
| 643 |
+
},
|
| 644 |
+
"grasp_7": {
|
| 645 |
+
"confidence": 0.992209792137146,
|
| 646 |
+
"position": [
|
| 647 |
+
0.09303966371226124,
|
| 648 |
+
-0.004149842105107382,
|
| 649 |
+
-0.005058028611529153
|
| 650 |
+
],
|
| 651 |
+
"orientation": {
|
| 652 |
+
"w": 0.12374932932463642,
|
| 653 |
+
"xyz": [
|
| 654 |
+
-0.6824815643537211,
|
| 655 |
+
0.14556201520487733,
|
| 656 |
+
0.7054904092462883
|
| 657 |
+
]
|
| 658 |
+
}
|
| 659 |
+
},
|
| 660 |
+
"grasp_8": {
|
| 661 |
+
"confidence": 0.9919993281364441,
|
| 662 |
+
"position": [
|
| 663 |
+
-0.021525511314393952,
|
| 664 |
+
0.03396132632042281,
|
| 665 |
+
-0.09757645089848666
|
| 666 |
+
],
|
| 667 |
+
"orientation": {
|
| 668 |
+
"w": 0.9937960375119077,
|
| 669 |
+
"xyz": [
|
| 670 |
+
8.062112024635954e-05,
|
| 671 |
+
0.11094723982821675,
|
| 672 |
+
0.0077549532794323195
|
| 673 |
+
]
|
| 674 |
+
}
|
| 675 |
+
},
|
| 676 |
+
"grasp_9": {
|
| 677 |
+
"confidence": 0.9919691681861877,
|
| 678 |
+
"position": [
|
| 679 |
+
0.023925319517729804,
|
| 680 |
+
0.008625616756035015,
|
| 681 |
+
0.09146699647681089
|
| 682 |
+
],
|
| 683 |
+
"orientation": {
|
| 684 |
+
"w": 0.13547401754988211,
|
| 685 |
+
"xyz": [
|
| 686 |
+
-0.9808949244149345,
|
| 687 |
+
0.021751595726147488,
|
| 688 |
+
0.13790868685213487
|
| 689 |
+
]
|
| 690 |
+
}
|
| 691 |
+
},
|
| 692 |
+
"grasp_12": {
|
| 693 |
+
"confidence": 0.991949200630188,
|
| 694 |
+
"position": [
|
| 695 |
+
-0.006821397953899577,
|
| 696 |
+
-5.389314901549369e-05,
|
| 697 |
+
0.09252606670634123
|
| 698 |
+
],
|
| 699 |
+
"orientation": {
|
| 700 |
+
"w": 0.1728499676111413,
|
| 701 |
+
"xyz": [
|
| 702 |
+
-0.9842744590827464,
|
| 703 |
+
-0.010914880848029995,
|
| 704 |
+
-0.03474972331210448
|
| 705 |
+
]
|
| 706 |
+
}
|
| 707 |
+
},
|
| 708 |
+
"grasp_13": {
|
| 709 |
+
"confidence": 0.9919213056564331,
|
| 710 |
+
"position": [
|
| 711 |
+
0.09056431261706166,
|
| 712 |
+
0.0041680582507979125,
|
| 713 |
+
0.011621929363172967
|
| 714 |
+
],
|
| 715 |
+
"orientation": {
|
| 716 |
+
"w": 0.6384292427790874,
|
| 717 |
+
"xyz": [
|
| 718 |
+
-0.11024451197074502,
|
| 719 |
+
-0.7455067836754075,
|
| 720 |
+
-0.15644131499959435
|
| 721 |
+
]
|
| 722 |
+
}
|
| 723 |
+
},
|
| 724 |
+
"grasp_14": {
|
| 725 |
+
"confidence": 0.9919165968894958,
|
| 726 |
+
"position": [
|
| 727 |
+
0.09174006638932042,
|
| 728 |
+
0.009886890155030414,
|
| 729 |
+
0.023945917964738328
|
| 730 |
+
],
|
| 731 |
+
"orientation": {
|
| 732 |
+
"w": 0.0925652181721822,
|
| 733 |
+
"xyz": [
|
| 734 |
+
-0.795358641647833,
|
| 735 |
+
0.06545868546334288,
|
| 736 |
+
0.5954422491209886
|
| 737 |
+
]
|
| 738 |
+
}
|
| 739 |
+
},
|
| 740 |
+
"grasp_15": {
|
| 741 |
+
"confidence": 0.9918361306190491,
|
| 742 |
+
"position": [
|
| 743 |
+
0.09396041391300969,
|
| 744 |
+
0.0058593689172994345,
|
| 745 |
+
0.0052594781227526255
|
| 746 |
+
],
|
| 747 |
+
"orientation": {
|
| 748 |
+
"w": 0.1233202774652034,
|
| 749 |
+
"xyz": [
|
| 750 |
+
-0.7163106958521736,
|
| 751 |
+
0.13864250113141374,
|
| 752 |
+
0.6726584222721856
|
| 753 |
+
]
|
| 754 |
+
}
|
| 755 |
+
},
|
| 756 |
+
"grasp_16": {
|
| 757 |
+
"confidence": 0.9918294548988342,
|
| 758 |
+
"position": [
|
| 759 |
+
-0.0015526180213782936,
|
| 760 |
+
0.03795461400295608,
|
| 761 |
+
-0.09576542337163119
|
| 762 |
+
],
|
| 763 |
+
"orientation": {
|
| 764 |
+
"w": 0.9988331231660392,
|
| 765 |
+
"xyz": [
|
| 766 |
+
0.0455003754172934,
|
| 767 |
+
0.012516901508188849,
|
| 768 |
+
0.01026815854454442
|
| 769 |
+
]
|
| 770 |
+
}
|
| 771 |
+
},
|
| 772 |
+
"grasp_17": {
|
| 773 |
+
"confidence": 0.9917987585067749,
|
| 774 |
+
"position": [
|
| 775 |
+
0.0016360317531507462,
|
| 776 |
+
0.02894126853789203,
|
| 777 |
+
-0.0993790592692676
|
| 778 |
+
],
|
| 779 |
+
"orientation": {
|
| 780 |
+
"w": 0.9999370495871147,
|
| 781 |
+
"xyz": [
|
| 782 |
+
-0.0030755981847470325,
|
| 783 |
+
0.0025331552545404534,
|
| 784 |
+
0.01048907447196717
|
| 785 |
+
]
|
| 786 |
+
}
|
| 787 |
+
},
|
| 788 |
+
"grasp_19": {
|
| 789 |
+
"confidence": 0.9914275407791138,
|
| 790 |
+
"position": [
|
| 791 |
+
-0.0023761508346069604,
|
| 792 |
+
0.03800922675873153,
|
| 793 |
+
-0.09889797528012423
|
| 794 |
+
],
|
| 795 |
+
"orientation": {
|
| 796 |
+
"w": 0.9990075582053167,
|
| 797 |
+
"xyz": [
|
| 798 |
+
0.03731816933175161,
|
| 799 |
+
0.019443750082360767,
|
| 800 |
+
0.0146011461574787
|
| 801 |
+
]
|
| 802 |
+
}
|
| 803 |
+
}
|
| 804 |
+
}
|
| 805 |
+
},
|
| 806 |
+
{
|
| 807 |
+
"part_name": "cap opening",
|
| 808 |
+
"mask_color": "Yellow",
|
| 809 |
+
"graspable": false,
|
| 810 |
+
"grasp_scenarios": [],
|
| 811 |
+
"functional_labels": [
|
| 812 |
+
"receive the writing tip inside the cap",
|
| 813 |
+
"help seal the capped end",
|
| 814 |
+
"define the cap interior opening"
|
| 815 |
+
],
|
| 816 |
+
"semantic_description": "Tiny yellow circular opening visible inside the cap in end-on views, recessed within the cap and much smaller than the cap diameter.",
|
| 817 |
+
"id": 3,
|
| 818 |
+
"grasp_group": {}
|
| 819 |
+
}
|
| 820 |
+
],
|
| 821 |
+
"quality_check": {
|
| 822 |
+
"success": false,
|
| 823 |
+
"message": "Cap and rear plug are swapped with mask colors and physical identities reversed."
|
| 824 |
+
}
|
| 825 |
+
}
|
dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a35b4f615f200ee5afec99479db1937b8865a487dd8d4a0ca38c1c111988fdd8
|
| 3 |
+
size 3783960
|