Add asset desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f
Browse files
.gitattributes
CHANGED
|
@@ -6594,3 +6594,4 @@ dataset/desktop_supplies/office_tools/8033cdff5e9b565b844549dd0fa3de78/affordanc
|
|
| 6594 |
dataset/desktop_supplies/office_tools/80ac87d3871a541495eff867259c5b0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6595 |
dataset/desktop_supplies/office_tools/836326f6fd4f5ab680f8eb9a2c99300b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6596 |
dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6594 |
dataset/desktop_supplies/office_tools/80ac87d3871a541495eff867259c5b0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6595 |
dataset/desktop_supplies/office_tools/836326f6fd4f5ab680f8eb9a2c99300b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6596 |
dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6597 |
+
dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,605 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stamp knob handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top knob to pick up and manipulate the stamp",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top knob while pressing the stamp onto a surface",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the knob to reposition or store the stamp",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a handhold for lifting",
|
| 23 |
+
"enable downward pressing",
|
| 24 |
+
"help control stamp orientation"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Rounded red plastic top knob with a smooth matte-to-satin finish and bulbous cap shape, centered on the top of the stamp body.",
|
| 27 |
+
"id": 0,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_0": {
|
| 30 |
+
"confidence": 0.9150729179382324,
|
| 31 |
+
"position": [
|
| 32 |
+
-0.0850962711556349,
|
| 33 |
+
0.022054136290535098,
|
| 34 |
+
0.07997327949851751
|
| 35 |
+
],
|
| 36 |
+
"orientation": {
|
| 37 |
+
"w": 0.3955608330275069,
|
| 38 |
+
"xyz": [
|
| 39 |
+
0.6665692225003736,
|
| 40 |
+
0.558756409805323,
|
| 41 |
+
0.29497181813064366
|
| 42 |
+
]
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"grasp_1": {
|
| 46 |
+
"confidence": 0.853755533695221,
|
| 47 |
+
"position": [
|
| 48 |
+
0.038821714551886544,
|
| 49 |
+
0.07614772443412221,
|
| 50 |
+
0.08013747539371252
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.4831246675025106,
|
| 54 |
+
"xyz": [
|
| 55 |
+
0.8445421322180225,
|
| 56 |
+
-0.202099156187173,
|
| 57 |
+
-0.11178136529698202
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_2": {
|
| 62 |
+
"confidence": 0.9397214651107788,
|
| 63 |
+
"position": [
|
| 64 |
+
0.08885859567089938,
|
| 65 |
+
-0.0006175827911647502,
|
| 66 |
+
0.07807763572782278
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.34753513690906995,
|
| 70 |
+
"xyz": [
|
| 71 |
+
-0.6358749139342658,
|
| 72 |
+
-0.5910829801678393,
|
| 73 |
+
0.35426449581998815
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_3": {
|
| 78 |
+
"confidence": 0.9396077990531921,
|
| 79 |
+
"position": [
|
| 80 |
+
0.0826436193601694,
|
| 81 |
+
-0.017496147633210057,
|
| 82 |
+
0.08172996994107962
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.39000025491199064,
|
| 86 |
+
"xyz": [
|
| 87 |
+
-0.665148489087159,
|
| 88 |
+
-0.5713976621874508,
|
| 89 |
+
0.28103736456273676
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_4": {
|
| 94 |
+
"confidence": 0.9363471865653992,
|
| 95 |
+
"position": [
|
| 96 |
+
0.07305922228260897,
|
| 97 |
+
-0.017297651127591962,
|
| 98 |
+
0.09074292983859777
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.3448672303041123,
|
| 102 |
+
"xyz": [
|
| 103 |
+
-0.672900669541619,
|
| 104 |
+
-0.6035011408607827,
|
| 105 |
+
0.2530961385966707
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_7": {
|
| 110 |
+
"confidence": 0.8899012804031372,
|
| 111 |
+
"position": [
|
| 112 |
+
0.08875759560032748,
|
| 113 |
+
-0.016493003324285382,
|
| 114 |
+
0.07703159656375647
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.4308143435931041,
|
| 118 |
+
"xyz": [
|
| 119 |
+
-0.5809075778477241,
|
| 120 |
+
-0.6368377799555369,
|
| 121 |
+
0.2671760269463486
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_8": {
|
| 126 |
+
"confidence": 0.8722957968711853,
|
| 127 |
+
"position": [
|
| 128 |
+
0.08118648696108721,
|
| 129 |
+
0.026523691161855822,
|
| 130 |
+
0.08133319672197104
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
+
"w": 0.4040561774249418,
|
| 134 |
+
"xyz": [
|
| 135 |
+
0.6771039872276701,
|
| 136 |
+
-0.5458278099768246,
|
| 137 |
+
-0.28344452335693215
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_9": {
|
| 142 |
+
"confidence": 0.8560899496078491,
|
| 143 |
+
"position": [
|
| 144 |
+
0.04919253531261347,
|
| 145 |
+
-0.06354561026455485,
|
| 146 |
+
0.08691565599292517
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
+
"w": 0.4583606261451241,
|
| 150 |
+
"xyz": [
|
| 151 |
+
-0.7699364195570442,
|
| 152 |
+
-0.43916302210496216,
|
| 153 |
+
0.06510980152915372
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_10": {
|
| 158 |
+
"confidence": 0.8546518683433533,
|
| 159 |
+
"position": [
|
| 160 |
+
-0.002842664165655151,
|
| 161 |
+
0.07822645877240575,
|
| 162 |
+
0.08622302021831274
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.46527621608565845,
|
| 166 |
+
"xyz": [
|
| 167 |
+
0.8826919663450592,
|
| 168 |
+
0.06607940014802782,
|
| 169 |
+
0.0025393249066900936
|
| 170 |
+
]
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
"grasp_12": {
|
| 174 |
+
"confidence": 0.8345656394958496,
|
| 175 |
+
"position": [
|
| 176 |
+
0.03715488928719424,
|
| 177 |
+
0.08263728444217122,
|
| 178 |
+
0.0757691403850913
|
| 179 |
+
],
|
| 180 |
+
"orientation": {
|
| 181 |
+
"w": 0.5063423224390596,
|
| 182 |
+
"xyz": [
|
| 183 |
+
0.821512116991564,
|
| 184 |
+
-0.25307454191652734,
|
| 185 |
+
-0.0684731361688542
|
| 186 |
+
]
|
| 187 |
+
}
|
| 188 |
+
},
|
| 189 |
+
"grasp_13": {
|
| 190 |
+
"confidence": 0.8276662230491638,
|
| 191 |
+
"position": [
|
| 192 |
+
0.059813494415720925,
|
| 193 |
+
0.06562501613734639,
|
| 194 |
+
0.08159082289785147
|
| 195 |
+
],
|
| 196 |
+
"orientation": {
|
| 197 |
+
"w": 0.4637738205133731,
|
| 198 |
+
"xyz": [
|
| 199 |
+
0.7958090075183236,
|
| 200 |
+
-0.35071349131222296,
|
| 201 |
+
-0.16912100393127386
|
| 202 |
+
]
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
"grasp_15": {
|
| 206 |
+
"confidence": 0.9162409901618958,
|
| 207 |
+
"position": [
|
| 208 |
+
-0.07961595934466459,
|
| 209 |
+
0.02825079907415784,
|
| 210 |
+
0.08016193564981222
|
| 211 |
+
],
|
| 212 |
+
"orientation": {
|
| 213 |
+
"w": 0.22974023824976697,
|
| 214 |
+
"xyz": [
|
| 215 |
+
-0.6168426742221778,
|
| 216 |
+
0.6216796417334236,
|
| 217 |
+
-0.4245455938313043
|
| 218 |
+
]
|
| 219 |
+
}
|
| 220 |
+
},
|
| 221 |
+
"grasp_16": {
|
| 222 |
+
"confidence": 0.9103887677192688,
|
| 223 |
+
"position": [
|
| 224 |
+
0.024233380885561928,
|
| 225 |
+
0.08296100471852697,
|
| 226 |
+
0.087763755582273
|
| 227 |
+
],
|
| 228 |
+
"orientation": {
|
| 229 |
+
"w": 0.064088332568573,
|
| 230 |
+
"xyz": [
|
| 231 |
+
-0.1603590999142008,
|
| 232 |
+
-0.8671000613118729,
|
| 233 |
+
0.4672420447436571
|
| 234 |
+
]
|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
+
"grasp_17": {
|
| 238 |
+
"confidence": 0.8986919522285461,
|
| 239 |
+
"position": [
|
| 240 |
+
-0.058392831502715126,
|
| 241 |
+
0.04742842589257634,
|
| 242 |
+
0.09050425048917532
|
| 243 |
+
],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.38457386642662933,
|
| 246 |
+
"xyz": [
|
| 247 |
+
0.8354584734647842,
|
| 248 |
+
0.34501970090561507,
|
| 249 |
+
0.18727916692618343
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
"grasp_19": {
|
| 254 |
+
"confidence": 0.8846853971481323,
|
| 255 |
+
"position": [
|
| 256 |
+
0.08354453611536883,
|
| 257 |
+
0.02000768904326833,
|
| 258 |
+
0.08644021954387426
|
| 259 |
+
],
|
| 260 |
+
"orientation": {
|
| 261 |
+
"w": 0.27941741520939956,
|
| 262 |
+
"xyz": [
|
| 263 |
+
-0.5867114508269295,
|
| 264 |
+
-0.6534490400138943,
|
| 265 |
+
0.3882008934188295
|
| 266 |
+
]
|
| 267 |
+
}
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"part_name": "stamp body",
|
| 273 |
+
"mask_color": "Green",
|
| 274 |
+
"graspable": true,
|
| 275 |
+
"grasp_scenarios": [
|
| 276 |
+
{
|
| 277 |
+
"scenario": "grasp the body from the sides to pick up the stamp when the top knob is inaccessible",
|
| 278 |
+
"confidence": 0.55
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"scenario": "hold the side of the body to stabilize the stamp during placement",
|
| 282 |
+
"confidence": 0.44
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"functional_labels": [
|
| 286 |
+
"support the top knob",
|
| 287 |
+
"house the stamping mechanism or mount",
|
| 288 |
+
"provide the main structural body",
|
| 289 |
+
"stabilize the object upright"
|
| 290 |
+
],
|
| 291 |
+
"semantic_description": "Large red plastic body with a smooth slightly matte finish and hard surface, widening into a broad rounded cylindrical form below the top knob; the visible underside shows a light beige flat stamping face, but that face is not part of this masked segment.",
|
| 292 |
+
"id": 1,
|
| 293 |
+
"grasp_group": {
|
| 294 |
+
"grasp_20": {
|
| 295 |
+
"confidence": 0.9782370924949646,
|
| 296 |
+
"position": [
|
| 297 |
+
0.09864221382304095,
|
| 298 |
+
-0.0037317019632610027,
|
| 299 |
+
-0.004124111961573362
|
| 300 |
+
],
|
| 301 |
+
"orientation": {
|
| 302 |
+
"w": 0.5042744077827276,
|
| 303 |
+
"xyz": [
|
| 304 |
+
-0.5097868398689649,
|
| 305 |
+
-0.48209218037093593,
|
| 306 |
+
0.5034002673588795
|
| 307 |
+
]
|
| 308 |
+
}
|
| 309 |
+
},
|
| 310 |
+
"grasp_21": {
|
| 311 |
+
"confidence": 0.9775162935256958,
|
| 312 |
+
"position": [
|
| 313 |
+
0.052722370804985985,
|
| 314 |
+
-0.08740890349508845,
|
| 315 |
+
-0.006481017917394638
|
| 316 |
+
],
|
| 317 |
+
"orientation": {
|
| 318 |
+
"w": 0.717181374814436,
|
| 319 |
+
"xyz": [
|
| 320 |
+
-0.6377545170501467,
|
| 321 |
+
-0.23527608414787093,
|
| 322 |
+
0.15350966037827432
|
| 323 |
+
]
|
| 324 |
+
}
|
| 325 |
+
},
|
| 326 |
+
"grasp_22": {
|
| 327 |
+
"confidence": 0.9768131971359253,
|
| 328 |
+
"position": [
|
| 329 |
+
0.09724638480111025,
|
| 330 |
+
-0.0006142960955912713,
|
| 331 |
+
-0.0011524739675223827
|
| 332 |
+
],
|
| 333 |
+
"orientation": {
|
| 334 |
+
"w": 0.4936931751508915,
|
| 335 |
+
"xyz": [
|
| 336 |
+
-0.5055116378473262,
|
| 337 |
+
-0.4886790507514458,
|
| 338 |
+
0.5117790716383492
|
| 339 |
+
]
|
| 340 |
+
}
|
| 341 |
+
},
|
| 342 |
+
"grasp_23": {
|
| 343 |
+
"confidence": 0.9751855134963989,
|
| 344 |
+
"position": [
|
| 345 |
+
0.037745437206467614,
|
| 346 |
+
-0.0919178905642184,
|
| 347 |
+
0.010530569590628147
|
| 348 |
+
],
|
| 349 |
+
"orientation": {
|
| 350 |
+
"w": 0.6637175528483072,
|
| 351 |
+
"xyz": [
|
| 352 |
+
-0.7217803879878529,
|
| 353 |
+
-0.16250770803828152,
|
| 354 |
+
0.11001511889419366
|
| 355 |
+
]
|
| 356 |
+
}
|
| 357 |
+
},
|
| 358 |
+
"grasp_24": {
|
| 359 |
+
"confidence": 0.9750456213951111,
|
| 360 |
+
"position": [
|
| 361 |
+
0.04987198728485964,
|
| 362 |
+
-0.08662901397110545,
|
| 363 |
+
-0.0017857183702290058
|
| 364 |
+
],
|
| 365 |
+
"orientation": {
|
| 366 |
+
"w": 0.691884537357319,
|
| 367 |
+
"xyz": [
|
| 368 |
+
-0.6704099815466215,
|
| 369 |
+
-0.18682621927509713,
|
| 370 |
+
0.19220355719882207
|
| 371 |
+
]
|
| 372 |
+
}
|
| 373 |
+
},
|
| 374 |
+
"grasp_25": {
|
| 375 |
+
"confidence": 0.9749285578727722,
|
| 376 |
+
"position": [
|
| 377 |
+
0.09721839296980761,
|
| 378 |
+
-0.013603137314930791,
|
| 379 |
+
0.00023484998382627964
|
| 380 |
+
],
|
| 381 |
+
"orientation": {
|
| 382 |
+
"w": 0.5211945403177528,
|
| 383 |
+
"xyz": [
|
| 384 |
+
-0.5278112910148246,
|
| 385 |
+
-0.46548014969849294,
|
| 386 |
+
0.48280402075469364
|
| 387 |
+
]
|
| 388 |
+
}
|
| 389 |
+
},
|
| 390 |
+
"grasp_26": {
|
| 391 |
+
"confidence": 0.9746854901313782,
|
| 392 |
+
"position": [
|
| 393 |
+
0.10030015427037142,
|
| 394 |
+
0.013848180442437297,
|
| 395 |
+
-0.01475940179079771
|
| 396 |
+
],
|
| 397 |
+
"orientation": {
|
| 398 |
+
"w": 0.5646150190923899,
|
| 399 |
+
"xyz": [
|
| 400 |
+
0.5022417882109382,
|
| 401 |
+
-0.47683029248153463,
|
| 402 |
+
-0.44899436361935896
|
| 403 |
+
]
|
| 404 |
+
}
|
| 405 |
+
},
|
| 406 |
+
"grasp_27": {
|
| 407 |
+
"confidence": 0.9745925068855286,
|
| 408 |
+
"position": [
|
| 409 |
+
-0.09751974177197553,
|
| 410 |
+
-0.03091055291952216,
|
| 411 |
+
0.00484440615400672
|
| 412 |
+
],
|
| 413 |
+
"orientation": {
|
| 414 |
+
"w": 0.5373064208648903,
|
| 415 |
+
"xyz": [
|
| 416 |
+
-0.588226895211581,
|
| 417 |
+
0.4000591100189961,
|
| 418 |
+
-0.4530382305478352
|
| 419 |
+
]
|
| 420 |
+
}
|
| 421 |
+
},
|
| 422 |
+
"grasp_28": {
|
| 423 |
+
"confidence": 0.9742583632469177,
|
| 424 |
+
"position": [
|
| 425 |
+
0.09718131143017672,
|
| 426 |
+
-0.01427186231376254,
|
| 427 |
+
-0.00837600789964199
|
| 428 |
+
],
|
| 429 |
+
"orientation": {
|
| 430 |
+
"w": 0.5190733015204655,
|
| 431 |
+
"xyz": [
|
| 432 |
+
-0.5333914462278323,
|
| 433 |
+
-0.4522999007992904,
|
| 434 |
+
0.4914074403960295
|
| 435 |
+
]
|
| 436 |
+
}
|
| 437 |
+
},
|
| 438 |
+
"grasp_30": {
|
| 439 |
+
"confidence": 0.9739899039268494,
|
| 440 |
+
"position": [
|
| 441 |
+
0.09794142711325549,
|
| 442 |
+
-0.0001153831290139351,
|
| 443 |
+
-0.019300631247460842
|
| 444 |
+
],
|
| 445 |
+
"orientation": {
|
| 446 |
+
"w": 0.5083749291920618,
|
| 447 |
+
"xyz": [
|
| 448 |
+
-0.48425852942184655,
|
| 449 |
+
-0.4654285046473373,
|
| 450 |
+
0.538910860080682
|
| 451 |
+
]
|
| 452 |
+
}
|
| 453 |
+
},
|
| 454 |
+
"grasp_31": {
|
| 455 |
+
"confidence": 0.9736063480377197,
|
| 456 |
+
"position": [
|
| 457 |
+
0.10000682491227053,
|
| 458 |
+
0.014225553280994063,
|
| 459 |
+
-0.007454436272382736
|
| 460 |
+
],
|
| 461 |
+
"orientation": {
|
| 462 |
+
"w": 0.5610887309759434,
|
| 463 |
+
"xyz": [
|
| 464 |
+
0.4974890023174887,
|
| 465 |
+
-0.4672331182753193,
|
| 466 |
+
-0.4683773497210096
|
| 467 |
+
]
|
| 468 |
+
}
|
| 469 |
+
},
|
| 470 |
+
"grasp_32": {
|
| 471 |
+
"confidence": 0.9729875326156616,
|
| 472 |
+
"position": [
|
| 473 |
+
-0.10070698094205,
|
| 474 |
+
-0.022521722570672864,
|
| 475 |
+
-0.008036118000745773
|
| 476 |
+
],
|
| 477 |
+
"orientation": {
|
| 478 |
+
"w": 0.5325291252496023,
|
| 479 |
+
"xyz": [
|
| 480 |
+
-0.5531177369314164,
|
| 481 |
+
0.43235618388372843,
|
| 482 |
+
-0.472801893090818
|
| 483 |
+
]
|
| 484 |
+
}
|
| 485 |
+
},
|
| 486 |
+
"grasp_33": {
|
| 487 |
+
"confidence": 0.9729544520378113,
|
| 488 |
+
"position": [
|
| 489 |
+
-0.10331047457293607,
|
| 490 |
+
-0.021066450954094762,
|
| 491 |
+
-0.007626190781593323
|
| 492 |
+
],
|
| 493 |
+
"orientation": {
|
| 494 |
+
"w": 0.5286865430602748,
|
| 495 |
+
"xyz": [
|
| 496 |
+
-0.554862305729952,
|
| 497 |
+
0.4203886617119468,
|
| 498 |
+
-0.48568686822998997
|
| 499 |
+
]
|
| 500 |
+
}
|
| 501 |
+
},
|
| 502 |
+
"grasp_34": {
|
| 503 |
+
"confidence": 0.9726287722587585,
|
| 504 |
+
"position": [
|
| 505 |
+
-0.09876124691800214,
|
| 506 |
+
0.01286958672790206,
|
| 507 |
+
0.002801206661388278
|
| 508 |
+
],
|
| 509 |
+
"orientation": {
|
| 510 |
+
"w": 0.4639924007930618,
|
| 511 |
+
"xyz": [
|
| 512 |
+
-0.46609264034362247,
|
| 513 |
+
0.5182301421574119,
|
| 514 |
+
-0.5467231679591691
|
| 515 |
+
]
|
| 516 |
+
}
|
| 517 |
+
},
|
| 518 |
+
"grasp_35": {
|
| 519 |
+
"confidence": 0.9723666310310364,
|
| 520 |
+
"position": [
|
| 521 |
+
0.09319770205183886,
|
| 522 |
+
-0.03700330804349505,
|
| 523 |
+
0.005369398393668234
|
| 524 |
+
],
|
| 525 |
+
"orientation": {
|
| 526 |
+
"w": 0.41654526091774385,
|
| 527 |
+
"xyz": [
|
| 528 |
+
0.3804044358241072,
|
| 529 |
+
-0.603658831636915,
|
| 530 |
+
-0.5633635822442431
|
| 531 |
+
]
|
| 532 |
+
}
|
| 533 |
+
},
|
| 534 |
+
"grasp_36": {
|
| 535 |
+
"confidence": 0.9720852971076965,
|
| 536 |
+
"position": [
|
| 537 |
+
0.096971860708436,
|
| 538 |
+
-0.018119053424015874,
|
| 539 |
+
0.02788363117724657
|
| 540 |
+
],
|
| 541 |
+
"orientation": {
|
| 542 |
+
"w": 0.4329053576486525,
|
| 543 |
+
"xyz": [
|
| 544 |
+
0.46190055268730895,
|
| 545 |
+
-0.5693275540508448,
|
| 546 |
+
-0.5245064031494122
|
| 547 |
+
]
|
| 548 |
+
}
|
| 549 |
+
},
|
| 550 |
+
"grasp_37": {
|
| 551 |
+
"confidence": 0.9719817638397217,
|
| 552 |
+
"position": [
|
| 553 |
+
0.09560017156763934,
|
| 554 |
+
0.02394280259250081,
|
| 555 |
+
0.02657844964414835
|
| 556 |
+
],
|
| 557 |
+
"orientation": {
|
| 558 |
+
"w": 0.5176536046448886,
|
| 559 |
+
"xyz": [
|
| 560 |
+
0.5814197245364109,
|
| 561 |
+
-0.47303636484284983,
|
| 562 |
+
-0.41258023105139174
|
| 563 |
+
]
|
| 564 |
+
}
|
| 565 |
+
},
|
| 566 |
+
"grasp_38": {
|
| 567 |
+
"confidence": 0.9719379544258118,
|
| 568 |
+
"position": [
|
| 569 |
+
0.10061523187323473,
|
| 570 |
+
0.0054731704549340066,
|
| 571 |
+
-0.002299062442034483
|
| 572 |
+
],
|
| 573 |
+
"orientation": {
|
| 574 |
+
"w": 0.4858628143532833,
|
| 575 |
+
"xyz": [
|
| 576 |
+
-0.47908245967244667,
|
| 577 |
+
-0.5114375122612475,
|
| 578 |
+
0.5223494936485842
|
| 579 |
+
]
|
| 580 |
+
}
|
| 581 |
+
},
|
| 582 |
+
"grasp_39": {
|
| 583 |
+
"confidence": 0.9718752503395081,
|
| 584 |
+
"position": [
|
| 585 |
+
-0.10094163697795011,
|
| 586 |
+
-0.014167696677759523,
|
| 587 |
+
-0.0036476650275290012
|
| 588 |
+
],
|
| 589 |
+
"orientation": {
|
| 590 |
+
"w": 0.4777816802338605,
|
| 591 |
+
"xyz": [
|
| 592 |
+
0.46579838559552755,
|
| 593 |
+
0.539181450315425,
|
| 594 |
+
0.5138481231310124
|
| 595 |
+
]
|
| 596 |
+
}
|
| 597 |
+
}
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
],
|
| 601 |
+
"quality_check": {
|
| 602 |
+
"success": true,
|
| 603 |
+
"message": "YES"
|
| 604 |
+
}
|
| 605 |
+
}
|
dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d7d58c283e4e7ab7d8b15ddffea81549891778b91dadd3ee1460708b0b3d88bf
|
| 3 |
+
size 3778788
|