Add asset desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43
Browse files
.gitattributes
CHANGED
|
@@ -6551,4 +6551,4 @@ dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/affordanc
|
|
| 6551 |
dataset/desktop_supplies/office_tools/35f02981b0905318bef5f954beca6906/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6552 |
dataset/desktop_supplies/office_tools/35f82bb6276f571f9948db6fd68d9805/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6553 |
dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6554 |
-
dataset/desktop_supplies/office_tools/
|
|
|
|
| 6551 |
dataset/desktop_supplies/office_tools/35f02981b0905318bef5f954beca6906/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6552 |
dataset/desktop_supplies/office_tools/35f82bb6276f571f9948db6fd68d9805/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6553 |
dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6554 |
+
dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,599 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll outer body",
|
| 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": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer body to reposition or place the tape roll",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the roll by clamping its sidewall during dispensing setup",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support rolled tape",
|
| 24 |
+
"provide outer structure",
|
| 25 |
+
"enable rolling and dispensing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white translucent plastic tape cylinder with a glossy smooth surface, hard feel, printed red and blue branding on the side, forming the outer circumference of the roll.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9608736038208008,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.0013849129318259656,
|
| 34 |
+
0.0117025115978322,
|
| 35 |
+
0.10016143063330674
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.03405075217041494,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.9822500706888796,
|
| 41 |
+
0.18408287846754215,
|
| 42 |
+
-0.011782986184490876
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9605687856674194,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0019036761368624866,
|
| 50 |
+
0.007537891295214649,
|
| 51 |
+
0.0999217305543425
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.03907395752181325,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.9711141496936292,
|
| 57 |
+
0.23539223928179825,
|
| 58 |
+
-0.0010138019057004293
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.947996973991394,
|
| 64 |
+
"position": [
|
| 65 |
+
0.07754920359002426,
|
| 66 |
+
-0.07633838229958201,
|
| 67 |
+
-0.00014471695249085315
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6586479697898392,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.644987649411937,
|
| 73 |
+
-0.286412320283304,
|
| 74 |
+
0.2610397800867172
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9470541477203369,
|
| 80 |
+
"position": [
|
| 81 |
+
0.032483793154824525,
|
| 82 |
+
-0.05266349190060282,
|
| 83 |
+
0.08230834940695786
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.28146450746408014,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.921784627118039,
|
| 89 |
+
-0.2522999855801123,
|
| 90 |
+
0.08622963251189063
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9436239004135132,
|
| 96 |
+
"position": [
|
| 97 |
+
0.007942868687678128,
|
| 98 |
+
-0.0026889006621786393,
|
| 99 |
+
0.09970030674958252
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.04213368455945891,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.9594533574977295,
|
| 105 |
+
-0.2777938977542207,
|
| 106 |
+
0.022462363684526237
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.9402322173118591,
|
| 112 |
+
"position": [
|
| 113 |
+
0.08364950056420639,
|
| 114 |
+
-0.0542632917422452,
|
| 115 |
+
0.04408893848085427
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.46800443094856126,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.7407349126028343,
|
| 121 |
+
-0.414576545336825,
|
| 122 |
+
0.24578431585511745
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.9397802352905273,
|
| 128 |
+
"position": [
|
| 129 |
+
0.06152638728963211,
|
| 130 |
+
-0.08715414428297663,
|
| 131 |
+
0.004269433880836004
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.6735342606811329,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.6719424956216085,
|
| 137 |
+
-0.20048701377237998,
|
| 138 |
+
0.23377305143056556
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_8": {
|
| 143 |
+
"confidence": 0.9393873810768127,
|
| 144 |
+
"position": [
|
| 145 |
+
0.05138527537928894,
|
| 146 |
+
-0.08071343773190165,
|
| 147 |
+
-0.0493789713618753
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.22248492726448602,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.13938476782457912,
|
| 153 |
+
-0.49017450473684765,
|
| 154 |
+
-0.8311445713861043
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_9": {
|
| 159 |
+
"confidence": 0.9372755885124207,
|
| 160 |
+
"position": [
|
| 161 |
+
0.06485667760716751,
|
| 162 |
+
-0.07933467799011851,
|
| 163 |
+
-0.010763287336885696
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.27084397496088447,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.20494822145846753,
|
| 169 |
+
-0.6429302754784948,
|
| 170 |
+
-0.6864986734302881
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_10": {
|
| 175 |
+
"confidence": 0.9371982216835022,
|
| 176 |
+
"position": [
|
| 177 |
+
0.02918606373714283,
|
| 178 |
+
-0.045104494180122856,
|
| 179 |
+
0.0878312114837172
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.2596683268271462,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.92073786498657,
|
| 185 |
+
-0.27972436000840545,
|
| 186 |
+
0.08104582926129561
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_11": {
|
| 191 |
+
"confidence": 0.9369291663169861,
|
| 192 |
+
"position": [
|
| 193 |
+
0.10552358563290909,
|
| 194 |
+
-0.011070098589698318,
|
| 195 |
+
-0.003546515970811015
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.5583774929341263,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.49437763402412527,
|
| 201 |
+
-0.4788417011446443,
|
| 202 |
+
0.463158672169928
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_12": {
|
| 207 |
+
"confidence": 0.9368669390678406,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.003879895608406514,
|
| 210 |
+
0.01745259961899137,
|
| 211 |
+
0.09778612593436264
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.10422052814583511,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.9639435025775122,
|
| 217 |
+
0.24472959985152276,
|
| 218 |
+
0.007643841188477448
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_13": {
|
| 223 |
+
"confidence": 0.9364657998085022,
|
| 224 |
+
"position": [
|
| 225 |
+
0.0018772215698845685,
|
| 226 |
+
-0.007629354811797384,
|
| 227 |
+
0.09778372684741043
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.020873179537451936,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.09693127082351087,
|
| 233 |
+
-0.9947151221696117,
|
| 234 |
+
-0.026654546321984333
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_14": {
|
| 239 |
+
"confidence": 0.9361445903778076,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.045443714305292815,
|
| 242 |
+
0.011533794131537434,
|
| 243 |
+
0.08982875684523606
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.18042052493559665,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.7645516330675136,
|
| 249 |
+
0.5998274997541398,
|
| 250 |
+
0.15204014303616806
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_15": {
|
| 255 |
+
"confidence": 0.9357528686523438,
|
| 256 |
+
"position": [
|
| 257 |
+
0.000489560974529013,
|
| 258 |
+
0.0007154869017540477,
|
| 259 |
+
0.09913582096123719
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.006275210903643053,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.43127135757225465,
|
| 265 |
+
-0.9021919167361214,
|
| 266 |
+
-0.003922147613583769
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_16": {
|
| 271 |
+
"confidence": 0.9356895089149475,
|
| 272 |
+
"position": [
|
| 273 |
+
0.026829826936591417,
|
| 274 |
+
-0.050511633839050774,
|
| 275 |
+
0.08670564482235932
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.27039638382433734,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.921411778434357,
|
| 281 |
+
-0.2717083227308284,
|
| 282 |
+
0.0637237595874318
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_17": {
|
| 287 |
+
"confidence": 0.9343386292457581,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.05371980805648491,
|
| 290 |
+
0.0953035933416686,
|
| 291 |
+
0.018031654155493015
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.6242021324543343,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.7443218645322116,
|
| 297 |
+
0.15378863619866723,
|
| 298 |
+
0.1808472150598622
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_18": {
|
| 303 |
+
"confidence": 0.9331924915313721,
|
| 304 |
+
"position": [
|
| 305 |
+
-0.0028324529412202537,
|
| 306 |
+
0.00042512363143032417,
|
| 307 |
+
0.10163394103074097
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.007689801042945245,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.6798358888034678,
|
| 313 |
+
-0.7332915636017712,
|
| 314 |
+
-0.006893040344272484
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_19": {
|
| 319 |
+
"confidence": 0.9331775307655334,
|
| 320 |
+
"position": [
|
| 321 |
+
0.054413776204455644,
|
| 322 |
+
-0.025810511644522194,
|
| 323 |
+
0.08435831705355668
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.1677204839755516,
|
| 327 |
+
"xyz": [
|
| 328 |
+
0.5229021919870162,
|
| 329 |
+
-0.7986427649763641,
|
| 330 |
+
-0.24619681318223485
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"part_name": "tape edge ring",
|
| 338 |
+
"mask_color": "Blue",
|
| 339 |
+
"graspable": true,
|
| 340 |
+
"grasp_scenarios": [
|
| 341 |
+
{
|
| 342 |
+
"scenario": "pinch the rim to lift or tilt the tape roll",
|
| 343 |
+
"confidence": 0.62
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"scenario": "hold the rim to stabilize the roll while locating the tape end",
|
| 347 |
+
"confidence": 0.71
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"functional_labels": [
|
| 351 |
+
"define tape edge",
|
| 352 |
+
"support roll opening",
|
| 353 |
+
"guide handling at the rim",
|
| 354 |
+
"provide contact boundary"
|
| 355 |
+
],
|
| 356 |
+
"semantic_description": "Narrow white translucent plastic ring around the top and bottom edges, glossy and smooth with a hard feel, encircling the central opening as a thin rim.",
|
| 357 |
+
"id": 2,
|
| 358 |
+
"grasp_group": {
|
| 359 |
+
"grasp_40": {
|
| 360 |
+
"confidence": 0.8804782629013062,
|
| 361 |
+
"position": [
|
| 362 |
+
-0.10168131504906341,
|
| 363 |
+
0.02443652986403322,
|
| 364 |
+
0.0040312900418939535
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.0405206116516049,
|
| 368 |
+
"xyz": [
|
| 369 |
+
-0.7059060203189447,
|
| 370 |
+
0.08138076910491521,
|
| 371 |
+
-0.7024471089902373
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_41": {
|
| 376 |
+
"confidence": 0.8935791254043579,
|
| 377 |
+
"position": [
|
| 378 |
+
-0.005250184971373528,
|
| 379 |
+
-0.09765777164284373,
|
| 380 |
+
0.04571538159871125
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.3828837641494238,
|
| 384 |
+
"xyz": [
|
| 385 |
+
-0.5430281670299497,
|
| 386 |
+
-0.6437336425584357,
|
| 387 |
+
-0.379641186386974
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_42": {
|
| 392 |
+
"confidence": 0.8166242837905884,
|
| 393 |
+
"position": [
|
| 394 |
+
-0.10272129689110443,
|
| 395 |
+
0.0380146001916728,
|
| 396 |
+
-0.007733846807241207
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.25536702993339766,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.683996496412224,
|
| 402 |
+
-0.1001865905606073,
|
| 403 |
+
0.6759431336959042
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_46": {
|
| 408 |
+
"confidence": 0.9666240215301514,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.10824265395058319,
|
| 411 |
+
-0.01815189221088076,
|
| 412 |
+
0.010779821521282429
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.03928038997266398,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.7331855707320011,
|
| 418 |
+
0.07248953512333423,
|
| 419 |
+
0.6750120273977258
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_47": {
|
| 424 |
+
"confidence": 0.9555936455726624,
|
| 425 |
+
"position": [
|
| 426 |
+
-0.011021743237506598,
|
| 427 |
+
-0.11123345219675684,
|
| 428 |
+
0.004994222636014456
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.5396056903486063,
|
| 432 |
+
"xyz": [
|
| 433 |
+
-0.5480344204225733,
|
| 434 |
+
-0.45766208434431754,
|
| 435 |
+
-0.44612710019579854
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_49": {
|
| 440 |
+
"confidence": 0.9315946102142334,
|
| 441 |
+
"position": [
|
| 442 |
+
0.11379907961236313,
|
| 443 |
+
-0.006431216235796455,
|
| 444 |
+
-0.01446940636014915
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.026379579109038057,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.6809361407207191,
|
| 450 |
+
0.02286399412647344,
|
| 451 |
+
-0.7315103060374394
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_50": {
|
| 456 |
+
"confidence": 0.9190651178359985,
|
| 457 |
+
"position": [
|
| 458 |
+
0.10777455504285172,
|
| 459 |
+
-0.014056849155167583,
|
| 460 |
+
-0.020043846943735844
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.023286458981748658,
|
| 464 |
+
"xyz": [
|
| 465 |
+
0.6592196176558077,
|
| 466 |
+
-0.0012297073171477768,
|
| 467 |
+
-0.7515888000401125
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_57": {
|
| 472 |
+
"confidence": 0.9773708581924438,
|
| 473 |
+
"position": [
|
| 474 |
+
-0.08470279787434265,
|
| 475 |
+
-0.07538059526268626,
|
| 476 |
+
-0.0003574507682060357
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.2464911880505623,
|
| 480 |
+
"xyz": [
|
| 481 |
+
-0.674544253282786,
|
| 482 |
+
-0.22394848642494214,
|
| 483 |
+
-0.6588468866167377
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_58": {
|
| 488 |
+
"confidence": 0.971581220626831,
|
| 489 |
+
"position": [
|
| 490 |
+
-0.11351671878946945,
|
| 491 |
+
0.011214292746444698,
|
| 492 |
+
-0.0024764414665696677
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.7037251002038794,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.038690763556100995,
|
| 498 |
+
0.7086253950805932,
|
| 499 |
+
-0.033526968329379535
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
}
|
| 503 |
+
}
|
| 504 |
+
},
|
| 505 |
+
{
|
| 506 |
+
"part_name": "cardboard core",
|
| 507 |
+
"mask_color": "Green",
|
| 508 |
+
"graspable": true,
|
| 509 |
+
"grasp_scenarios": [
|
| 510 |
+
{
|
| 511 |
+
"scenario": "insert a gripper into the center and grasp the inner core to lift the tape roll",
|
| 512 |
+
"confidence": 0.77
|
| 513 |
+
},
|
| 514 |
+
{
|
| 515 |
+
"scenario": "hold the inner core to mount or orient the roll for dispensing",
|
| 516 |
+
"confidence": 0.84
|
| 517 |
+
}
|
| 518 |
+
],
|
| 519 |
+
"functional_labels": [
|
| 520 |
+
"provide mounting hole",
|
| 521 |
+
"support the rolled tape from inside",
|
| 522 |
+
"enable spindle placement",
|
| 523 |
+
"indicate central axis"
|
| 524 |
+
],
|
| 525 |
+
"semantic_description": "Medium-sized beige cardboard inner ring with a matte slightly rough paper texture, circular and hollow at the center, forming the core of the tape roll.",
|
| 526 |
+
"id": 1,
|
| 527 |
+
"grasp_group": {
|
| 528 |
+
"grasp_30": {
|
| 529 |
+
"confidence": 0.6638749241828918,
|
| 530 |
+
"position": [
|
| 531 |
+
0.05434356938349083,
|
| 532 |
+
0.06934095746692037,
|
| 533 |
+
0.050958981013536686
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.3591820208514218,
|
| 537 |
+
"xyz": [
|
| 538 |
+
0.8051932744613001,
|
| 539 |
+
0.23131863503930705,
|
| 540 |
+
-0.41127090310758724
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"grasp_32": {
|
| 545 |
+
"confidence": 0.46404457092285156,
|
| 546 |
+
"position": [
|
| 547 |
+
-0.09232315485132858,
|
| 548 |
+
0.013930588167568203,
|
| 549 |
+
-0.003474819033726817
|
| 550 |
+
],
|
| 551 |
+
"orientation": {
|
| 552 |
+
"w": 0.6976764671245166,
|
| 553 |
+
"xyz": [
|
| 554 |
+
0.26204045273055954,
|
| 555 |
+
0.6560563273480252,
|
| 556 |
+
0.11904807306310426
|
| 557 |
+
]
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"grasp_33": {
|
| 561 |
+
"confidence": 0.8947330117225647,
|
| 562 |
+
"position": [
|
| 563 |
+
-0.0497014305437915,
|
| 564 |
+
0.09569532251771307,
|
| 565 |
+
0.0009759980930539314
|
| 566 |
+
],
|
| 567 |
+
"orientation": {
|
| 568 |
+
"w": 0.7101842950187829,
|
| 569 |
+
"xyz": [
|
| 570 |
+
0.5093327212527596,
|
| 571 |
+
0.4668753178476297,
|
| 572 |
+
-0.13507732509421314
|
| 573 |
+
]
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"grasp_37": {
|
| 577 |
+
"confidence": 0.7164612412452698,
|
| 578 |
+
"position": [
|
| 579 |
+
-0.007259972102474421,
|
| 580 |
+
0.10128344422992086,
|
| 581 |
+
0.037167553997278446
|
| 582 |
+
],
|
| 583 |
+
"orientation": {
|
| 584 |
+
"w": 0.5344792434656405,
|
| 585 |
+
"xyz": [
|
| 586 |
+
0.7585771670529602,
|
| 587 |
+
-0.2808753235969411,
|
| 588 |
+
0.24495238828110139
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
}
|
| 592 |
+
}
|
| 593 |
+
}
|
| 594 |
+
],
|
| 595 |
+
"quality_check": {
|
| 596 |
+
"success": true,
|
| 597 |
+
"message": "YES"
|
| 598 |
+
}
|
| 599 |
+
}
|
dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c4ae44b0d7d415dfa208d58d30581705ddfaad163798191d9cab37ae4b41ffa8
|
| 3 |
+
size 3782812
|