Add asset desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d
Browse files
.gitattributes
CHANGED
|
@@ -6468,3 +6468,4 @@ dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/affo
|
|
| 6468 |
dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6469 |
dataset/desktop_supplies/office_stationery/b450b967248351339fe9c44705488970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6470 |
dataset/desktop_supplies/office_stationery/b46f079da16b5bdd91d161669fcaa770/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6468 |
dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6469 |
dataset/desktop_supplies/office_stationery/b450b967248351339fe9c44705488970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6470 |
dataset/desktop_supplies/office_stationery/b46f079da16b5bdd91d161669fcaa770/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6471 |
+
dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,865 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top casing",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad top casing and side edges to pick up and reposition the eraser",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the casing while rubbing the exposed eraser end on paper",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide main grip surface",
|
| 19 |
+
"cover and hold the eraser body",
|
| 20 |
+
"protect the eraser during handling",
|
| 21 |
+
"display branding"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large black plastic top cover with a smooth matte finish, rounded rectangular shape, and white printed 'Simbro' branding on the top surface, covering most of the eraser.",
|
| 24 |
+
"id": 6,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_40": {
|
| 27 |
+
"confidence": 0.9733182787895203,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.00024081097217276692,
|
| 30 |
+
-0.12060405383181205,
|
| 31 |
+
0.004359667102107778
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.033565962637896456,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.012886361759735088,
|
| 37 |
+
0.7043804417007266,
|
| 38 |
+
0.7089114621603168
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_41": {
|
| 43 |
+
"confidence": 0.9719483256340027,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.0032039803627412766,
|
| 46 |
+
-0.11909262160133949,
|
| 47 |
+
0.00098147607059218
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7221379024692848,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.6910963021381737,
|
| 53 |
+
-0.004550612198059856,
|
| 54 |
+
-0.02969920734340279
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_42": {
|
| 59 |
+
"confidence": 0.9691820740699768,
|
| 60 |
+
"position": [
|
| 61 |
+
-3.14248027279973e-05,
|
| 62 |
+
-0.11502137849402061,
|
| 63 |
+
0.0023296642175409943
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7145923503161938,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.6988881131623517,
|
| 69 |
+
-0.007486820788496162,
|
| 70 |
+
-0.02927670856544591
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_43": {
|
| 75 |
+
"confidence": 0.9636343717575073,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.00019851111574098468,
|
| 78 |
+
-0.11944559285711875,
|
| 79 |
+
0.0012857911933679134
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.718425635103467,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.695258255764307,
|
| 85 |
+
0.003940116749746703,
|
| 86 |
+
-0.021564788377170373
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_44": {
|
| 91 |
+
"confidence": 0.9632463455200195,
|
| 92 |
+
"position": [
|
| 93 |
+
2.058961399598047e-05,
|
| 94 |
+
-0.11983214387964836,
|
| 95 |
+
0.0025996243639383465
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.7149749434089032,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.6986603930843743,
|
| 101 |
+
-0.005272146964592328,
|
| 102 |
+
-0.02562596142599947
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_45": {
|
| 107 |
+
"confidence": 0.9596452116966248,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.0015087768842931837,
|
| 110 |
+
-0.11994553426575294,
|
| 111 |
+
0.0068612479662988335
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.03848634539286002,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.009378788994423615,
|
| 117 |
+
0.7002525224608672,
|
| 118 |
+
0.7127953733874064
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_46": {
|
| 123 |
+
"confidence": 0.9576776623725891,
|
| 124 |
+
"position": [
|
| 125 |
+
0.009388137405039743,
|
| 126 |
+
-0.11551377991509071,
|
| 127 |
+
0.0050473873561713845
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.7051952601375424,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.7050451959861009,
|
| 133 |
+
0.0387958474393465,
|
| 134 |
+
0.06407650831566226
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_47": {
|
| 139 |
+
"confidence": 0.9569390416145325,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.0038722690369468182,
|
| 142 |
+
-0.11058067599606147,
|
| 143 |
+
0.008568105666199699
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.04880462998217565,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.004171253059869595,
|
| 149 |
+
0.7091678153634313,
|
| 150 |
+
0.7033361347128922
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_48": {
|
| 155 |
+
"confidence": 0.9544646143913269,
|
| 156 |
+
"position": [
|
| 157 |
+
0.00385761124198325,
|
| 158 |
+
0.10972561618018517,
|
| 159 |
+
0.009166668547550216
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.04170336460006172,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.04719211487530014,
|
| 165 |
+
0.7192373706568562,
|
| 166 |
+
-0.691904139549145
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_49": {
|
| 171 |
+
"confidence": 0.9360682964324951,
|
| 172 |
+
"position": [
|
| 173 |
+
0.0025252234481740743,
|
| 174 |
+
-0.11945387790274253,
|
| 175 |
+
0.004677413409808651
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.7064423348711891,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.70696689792193,
|
| 181 |
+
-0.00019108638248688248,
|
| 182 |
+
-0.033719374703288084
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_50": {
|
| 187 |
+
"confidence": 0.9255302548408508,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.0036016353114973754,
|
| 190 |
+
-0.10703148017000785,
|
| 191 |
+
0.00922260750667192
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.045656847267014196,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.011556437370196574,
|
| 197 |
+
0.7061474892633495,
|
| 198 |
+
0.7064967264326234
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_51": {
|
| 203 |
+
"confidence": 0.9071328639984131,
|
| 204 |
+
"position": [
|
| 205 |
+
0.0038818186440039426,
|
| 206 |
+
-0.11111459205221763,
|
| 207 |
+
0.0029402753862086684
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.714497656285794,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.6989796854761579,
|
| 213 |
+
0.00286410516559521,
|
| 214 |
+
-0.030204227441845068
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_52": {
|
| 219 |
+
"confidence": 0.9021201729774475,
|
| 220 |
+
"position": [
|
| 221 |
+
0.008855653723003343,
|
| 222 |
+
0.1084023781650103,
|
| 223 |
+
0.0120460785983596
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.6913955004689141,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.7218321607607614,
|
| 229 |
+
-0.029742398836759887,
|
| 230 |
+
-0.006781101254594574
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_53": {
|
| 235 |
+
"confidence": 0.8992521166801453,
|
| 236 |
+
"position": [
|
| 237 |
+
0.0021367781155277044,
|
| 238 |
+
-0.10683595458340278,
|
| 239 |
+
0.003871603315928951
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.04290796156430927,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.01599697484082778,
|
| 245 |
+
0.6964581032030719,
|
| 246 |
+
0.7161348435267743
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_54": {
|
| 251 |
+
"confidence": 0.874929666519165,
|
| 252 |
+
"position": [
|
| 253 |
+
0.002819934656145051,
|
| 254 |
+
-0.10643631289076438,
|
| 255 |
+
0.0012459875142667443
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.7141027019377361,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.6992546935763115,
|
| 261 |
+
0.0008865144835382699,
|
| 262 |
+
-0.0331574831492779
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_55": {
|
| 267 |
+
"confidence": 0.19388334453105927,
|
| 268 |
+
"position": [
|
| 269 |
+
0.10497285964083858,
|
| 270 |
+
-0.017764243058081775,
|
| 271 |
+
0.015393825626233593
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.42909573644397336,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.5160715388358371,
|
| 277 |
+
-0.5202661120895948,
|
| 278 |
+
-0.5280816114772348
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_56": {
|
| 283 |
+
"confidence": 0.9703237414360046,
|
| 284 |
+
"position": [
|
| 285 |
+
-0.0042517145338933915,
|
| 286 |
+
-0.10558769921135536,
|
| 287 |
+
0.05967255719588138
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.47333159031884103,
|
| 291 |
+
"xyz": [
|
| 292 |
+
-0.8805021572892904,
|
| 293 |
+
0.00781996622958453,
|
| 294 |
+
-0.024738729622007453
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_57": {
|
| 299 |
+
"confidence": 0.95682293176651,
|
| 300 |
+
"position": [
|
| 301 |
+
-0.019330822135088965,
|
| 302 |
+
0.08882603725123772,
|
| 303 |
+
0.055478588124969974
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.4951445491627923,
|
| 307 |
+
"xyz": [
|
| 308 |
+
0.8617665082774563,
|
| 309 |
+
-0.026344685648327038,
|
| 310 |
+
0.10722088501661918
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
"grasp_58": {
|
| 315 |
+
"confidence": 0.9557992219924927,
|
| 316 |
+
"position": [
|
| 317 |
+
-0.007926370220957324,
|
| 318 |
+
-0.10224367002319923,
|
| 319 |
+
0.0319443944899831
|
| 320 |
+
],
|
| 321 |
+
"orientation": {
|
| 322 |
+
"w": 0.5996947308906124,
|
| 323 |
+
"xyz": [
|
| 324 |
+
-0.797310656932248,
|
| 325 |
+
0.06816635115979641,
|
| 326 |
+
-0.003910838000005338
|
| 327 |
+
]
|
| 328 |
+
}
|
| 329 |
+
},
|
| 330 |
+
"grasp_59": {
|
| 331 |
+
"confidence": 0.9490745663642883,
|
| 332 |
+
"position": [
|
| 333 |
+
0.00295358503353782,
|
| 334 |
+
0.10167702218222985,
|
| 335 |
+
0.04753792323754169
|
| 336 |
+
],
|
| 337 |
+
"orientation": {
|
| 338 |
+
"w": 0.5327650208625069,
|
| 339 |
+
"xyz": [
|
| 340 |
+
0.8461941465402345,
|
| 341 |
+
-0.006622630254446982,
|
| 342 |
+
0.008546325229576409
|
| 343 |
+
]
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"part_name": "eraser block",
|
| 350 |
+
"mask_color": "Red",
|
| 351 |
+
"graspable": true,
|
| 352 |
+
"grasp_scenarios": [
|
| 353 |
+
{
|
| 354 |
+
"scenario": "pinch the exposed eraser end to pull or adjust the eraser slightly",
|
| 355 |
+
"confidence": 0.46
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"scenario": "grasp the exposed end delicately when orienting the eraser for precise placement",
|
| 359 |
+
"confidence": 0.29
|
| 360 |
+
}
|
| 361 |
+
],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"erase pencil marks",
|
| 364 |
+
"provide frictional contact for rubbing",
|
| 365 |
+
"serve as consumable erasing material",
|
| 366 |
+
"protrude from the holder for use"
|
| 367 |
+
],
|
| 368 |
+
"semantic_description": "Off-white rectangular eraser block with a matte rubber appearance, smooth surfaces, and rounded beveled edges, protruding from one end of the black holder.",
|
| 369 |
+
"id": 0,
|
| 370 |
+
"grasp_group": {
|
| 371 |
+
"grasp_1": {
|
| 372 |
+
"confidence": 0.972628116607666,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.0059187311853747815,
|
| 375 |
+
0.0796776108973063,
|
| 376 |
+
0.08492270522401668
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.2669524300397171,
|
| 380 |
+
"xyz": [
|
| 381 |
+
0.9626541670808255,
|
| 382 |
+
-0.01942541021127364,
|
| 383 |
+
0.040694079863486075
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_2": {
|
| 388 |
+
"confidence": 0.9715043902397156,
|
| 389 |
+
"position": [
|
| 390 |
+
0.10041738094878383,
|
| 391 |
+
0.02841574443209538,
|
| 392 |
+
0.0019871046824846417
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.6995981961280993,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.0312255541249137,
|
| 398 |
+
-0.7136880232198518,
|
| 399 |
+
0.015386170948033084
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_3": {
|
| 404 |
+
"confidence": 0.9688530564308167,
|
| 405 |
+
"position": [
|
| 406 |
+
0.08995384516310878,
|
| 407 |
+
0.07342734863686928,
|
| 408 |
+
0.0021480358263943344
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.17080668617778427,
|
| 412 |
+
"xyz": [
|
| 413 |
+
0.6961651705948397,
|
| 414 |
+
0.1734841383718988,
|
| 415 |
+
-0.6753387186745486
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_4": {
|
| 420 |
+
"confidence": 0.9677090048789978,
|
| 421 |
+
"position": [
|
| 422 |
+
0.10039207877707668,
|
| 423 |
+
0.019392240100387426,
|
| 424 |
+
0.0008888513839337975
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.7014723167726388,
|
| 428 |
+
"xyz": [
|
| 429 |
+
-0.012525099358768624,
|
| 430 |
+
-0.7125470373564902,
|
| 431 |
+
-0.007512006534105645
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_6": {
|
| 436 |
+
"confidence": 0.9634356498718262,
|
| 437 |
+
"position": [
|
| 438 |
+
0.09071200879407115,
|
| 439 |
+
0.07378999819684395,
|
| 440 |
+
0.0026005971303675324
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.6772034269474775,
|
| 444 |
+
"xyz": [
|
| 445 |
+
0.17642154399285576,
|
| 446 |
+
-0.6889636491923363,
|
| 447 |
+
0.1886797483498129
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_7": {
|
| 452 |
+
"confidence": 0.9620305299758911,
|
| 453 |
+
"position": [
|
| 454 |
+
-0.005318639072356746,
|
| 455 |
+
0.07723557879853615,
|
| 456 |
+
0.08484550975845195
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.032334367280279476,
|
| 460 |
+
"xyz": [
|
| 461 |
+
0.018194691416614398,
|
| 462 |
+
0.961994548990498,
|
| 463 |
+
-0.2705363739119126
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_9": {
|
| 468 |
+
"confidence": 0.9584664702415466,
|
| 469 |
+
"position": [
|
| 470 |
+
-0.10325873104739003,
|
| 471 |
+
0.025343385764244886,
|
| 472 |
+
-0.003818746510660276
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.7003936345576662,
|
| 476 |
+
"xyz": [
|
| 477 |
+
0.013699705613798978,
|
| 478 |
+
0.7136097324412124,
|
| 479 |
+
-0.0047142870488091505
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"grasp_11": {
|
| 484 |
+
"confidence": 0.9577815532684326,
|
| 485 |
+
"position": [
|
| 486 |
+
0.01128078976762481,
|
| 487 |
+
0.02789241565096745,
|
| 488 |
+
-0.09695488549186848
|
| 489 |
+
],
|
| 490 |
+
"orientation": {
|
| 491 |
+
"w": 0.03815732950097145,
|
| 492 |
+
"xyz": [
|
| 493 |
+
-0.02265856585241886,
|
| 494 |
+
-0.029586104654204193,
|
| 495 |
+
0.9985766220026662
|
| 496 |
+
]
|
| 497 |
+
}
|
| 498 |
+
}
|
| 499 |
+
}
|
| 500 |
+
},
|
| 501 |
+
{
|
| 502 |
+
"part_name": "side stripe",
|
| 503 |
+
"mask_color": "Magenta",
|
| 504 |
+
"graspable": false,
|
| 505 |
+
"grasp_scenarios": [],
|
| 506 |
+
"functional_labels": [
|
| 507 |
+
"visual trim line",
|
| 508 |
+
"mark separation between outer shell sections",
|
| 509 |
+
"indicate the seam between top cover and lower body"
|
| 510 |
+
],
|
| 511 |
+
"semantic_description": "Thin white stripe running around the side perimeter of the eraser body, appearing as a narrow smooth band between the black top cover and the darker lower section.",
|
| 512 |
+
"id": 7,
|
| 513 |
+
"grasp_group": {}
|
| 514 |
+
},
|
| 515 |
+
{
|
| 516 |
+
"part_name": "bottom body",
|
| 517 |
+
"mask_color": "Green",
|
| 518 |
+
"graspable": true,
|
| 519 |
+
"grasp_scenarios": [
|
| 520 |
+
{
|
| 521 |
+
"scenario": "grasp the lower body together with the top casing to lift or reposition the eraser",
|
| 522 |
+
"confidence": 0.74
|
| 523 |
+
},
|
| 524 |
+
{
|
| 525 |
+
"scenario": "hold the lower body to stabilize the eraser during use or orientation changes",
|
| 526 |
+
"confidence": 0.67
|
| 527 |
+
}
|
| 528 |
+
],
|
| 529 |
+
"functional_labels": [
|
| 530 |
+
"form the lower outer shell",
|
| 531 |
+
"support the eraser assembly",
|
| 532 |
+
"provide structural backing",
|
| 533 |
+
"stabilize handling"
|
| 534 |
+
],
|
| 535 |
+
"semantic_description": "Dark gray to black lower body section with a smooth matte finish, broad flat rectangular form, and rounded corners, forming the underside and lower sides of the eraser holder.",
|
| 536 |
+
"id": 1,
|
| 537 |
+
"grasp_group": {
|
| 538 |
+
"grasp_20": {
|
| 539 |
+
"confidence": 0.9833168387413025,
|
| 540 |
+
"position": [
|
| 541 |
+
0.0001898022019304335,
|
| 542 |
+
-0.1187668226129972,
|
| 543 |
+
-0.004919594241073355
|
| 544 |
+
],
|
| 545 |
+
"orientation": {
|
| 546 |
+
"w": 0.713594027164026,
|
| 547 |
+
"xyz": [
|
| 548 |
+
-0.700141325330812,
|
| 549 |
+
-0.015000025552286855,
|
| 550 |
+
-0.01899179278720942
|
| 551 |
+
]
|
| 552 |
+
}
|
| 553 |
+
},
|
| 554 |
+
"grasp_21": {
|
| 555 |
+
"confidence": 0.9739205837249756,
|
| 556 |
+
"position": [
|
| 557 |
+
0.0006241438386496156,
|
| 558 |
+
-0.11646940628361335,
|
| 559 |
+
-0.009292632894357666
|
| 560 |
+
],
|
| 561 |
+
"orientation": {
|
| 562 |
+
"w": 0.034566265867116336,
|
| 563 |
+
"xyz": [
|
| 564 |
+
-0.003439013848246354,
|
| 565 |
+
0.7021304136033715,
|
| 566 |
+
0.7112005545139248
|
| 567 |
+
]
|
| 568 |
+
}
|
| 569 |
+
},
|
| 570 |
+
"grasp_22": {
|
| 571 |
+
"confidence": 0.9716699123382568,
|
| 572 |
+
"position": [
|
| 573 |
+
-0.0003020252624992281,
|
| 574 |
+
-0.11876957932781806,
|
| 575 |
+
-0.0111633283959236
|
| 576 |
+
],
|
| 577 |
+
"orientation": {
|
| 578 |
+
"w": 0.7255826959954809,
|
| 579 |
+
"xyz": [
|
| 580 |
+
-0.6874317689993438,
|
| 581 |
+
0.00042557239067853025,
|
| 582 |
+
-0.03109876413144024
|
| 583 |
+
]
|
| 584 |
+
}
|
| 585 |
+
},
|
| 586 |
+
"grasp_23": {
|
| 587 |
+
"confidence": 0.9708626866340637,
|
| 588 |
+
"position": [
|
| 589 |
+
0.0018934986146632582,
|
| 590 |
+
-0.11717733810019126,
|
| 591 |
+
-0.007485323207220063
|
| 592 |
+
],
|
| 593 |
+
"orientation": {
|
| 594 |
+
"w": 0.7178797232922259,
|
| 595 |
+
"xyz": [
|
| 596 |
+
-0.6952974340147575,
|
| 597 |
+
-0.00847722476771462,
|
| 598 |
+
-0.03373896558297467
|
| 599 |
+
]
|
| 600 |
+
}
|
| 601 |
+
},
|
| 602 |
+
"grasp_24": {
|
| 603 |
+
"confidence": 0.968917191028595,
|
| 604 |
+
"position": [
|
| 605 |
+
0.004665969667257741,
|
| 606 |
+
-0.1214216283924543,
|
| 607 |
+
-0.003805689368164167
|
| 608 |
+
],
|
| 609 |
+
"orientation": {
|
| 610 |
+
"w": 0.7065624066846952,
|
| 611 |
+
"xyz": [
|
| 612 |
+
-0.7066491009382616,
|
| 613 |
+
-0.03029604162810373,
|
| 614 |
+
-0.022333012890016598
|
| 615 |
+
]
|
| 616 |
+
}
|
| 617 |
+
},
|
| 618 |
+
"grasp_25": {
|
| 619 |
+
"confidence": 0.9683378338813782,
|
| 620 |
+
"position": [
|
| 621 |
+
-0.0022196271165739745,
|
| 622 |
+
-0.109043844736334,
|
| 623 |
+
-0.0046114079596009105
|
| 624 |
+
],
|
| 625 |
+
"orientation": {
|
| 626 |
+
"w": 0.7079862115411538,
|
| 627 |
+
"xyz": [
|
| 628 |
+
-0.7055916579587945,
|
| 629 |
+
-0.0020449898526125887,
|
| 630 |
+
-0.02986225884066575
|
| 631 |
+
]
|
| 632 |
+
}
|
| 633 |
+
},
|
| 634 |
+
"grasp_26": {
|
| 635 |
+
"confidence": 0.9671885371208191,
|
| 636 |
+
"position": [
|
| 637 |
+
0.004370989539893344,
|
| 638 |
+
-0.11146300355267158,
|
| 639 |
+
-0.004936054901918396
|
| 640 |
+
],
|
| 641 |
+
"orientation": {
|
| 642 |
+
"w": 0.020762218577710857,
|
| 643 |
+
"xyz": [
|
| 644 |
+
-0.025159125799615423,
|
| 645 |
+
0.709083354114233,
|
| 646 |
+
0.7043697506188342
|
| 647 |
+
]
|
| 648 |
+
}
|
| 649 |
+
},
|
| 650 |
+
"grasp_27": {
|
| 651 |
+
"confidence": 0.966334879398346,
|
| 652 |
+
"position": [
|
| 653 |
+
0.0022804227482993156,
|
| 654 |
+
-0.10313104907345405,
|
| 655 |
+
-0.052901226648828015
|
| 656 |
+
],
|
| 657 |
+
"orientation": {
|
| 658 |
+
"w": 0.8601030558678571,
|
| 659 |
+
"xyz": [
|
| 660 |
+
-0.5097411392708222,
|
| 661 |
+
0.013675861853210791,
|
| 662 |
+
-0.014130641324103037
|
| 663 |
+
]
|
| 664 |
+
}
|
| 665 |
+
},
|
| 666 |
+
"grasp_28": {
|
| 667 |
+
"confidence": 0.9662074446678162,
|
| 668 |
+
"position": [
|
| 669 |
+
0.0049295474600512534,
|
| 670 |
+
-0.1154098815686666,
|
| 671 |
+
-0.003969475714256987
|
| 672 |
+
],
|
| 673 |
+
"orientation": {
|
| 674 |
+
"w": 0.7055318521778289,
|
| 675 |
+
"xyz": [
|
| 676 |
+
-0.7073932776418593,
|
| 677 |
+
-0.025481313886175472,
|
| 678 |
+
-0.03420904781287887
|
| 679 |
+
]
|
| 680 |
+
}
|
| 681 |
+
},
|
| 682 |
+
"grasp_29": {
|
| 683 |
+
"confidence": 0.9594701528549194,
|
| 684 |
+
"position": [
|
| 685 |
+
-0.0009290412708651274,
|
| 686 |
+
-0.10841500083279243,
|
| 687 |
+
-0.007333535322686657
|
| 688 |
+
],
|
| 689 |
+
"orientation": {
|
| 690 |
+
"w": 0.7112599768345077,
|
| 691 |
+
"xyz": [
|
| 692 |
+
-0.7025427399848571,
|
| 693 |
+
0.005202652574758493,
|
| 694 |
+
-0.022712909415813932
|
| 695 |
+
]
|
| 696 |
+
}
|
| 697 |
+
},
|
| 698 |
+
"grasp_30": {
|
| 699 |
+
"confidence": 0.9541171789169312,
|
| 700 |
+
"position": [
|
| 701 |
+
0.004007412848295644,
|
| 702 |
+
0.1066718616120852,
|
| 703 |
+
-0.017958433920284733
|
| 704 |
+
],
|
| 705 |
+
"orientation": {
|
| 706 |
+
"w": 0.738724813388735,
|
| 707 |
+
"xyz": [
|
| 708 |
+
0.6727269341035349,
|
| 709 |
+
-0.032261468563342444,
|
| 710 |
+
0.026140387555921556
|
| 711 |
+
]
|
| 712 |
+
}
|
| 713 |
+
},
|
| 714 |
+
"grasp_31": {
|
| 715 |
+
"confidence": 0.9524030685424805,
|
| 716 |
+
"position": [
|
| 717 |
+
0.007452569698216394,
|
| 718 |
+
0.1103744052879847,
|
| 719 |
+
-0.006240095099201426
|
| 720 |
+
],
|
| 721 |
+
"orientation": {
|
| 722 |
+
"w": 0.7082597172855356,
|
| 723 |
+
"xyz": [
|
| 724 |
+
0.7052179345644252,
|
| 725 |
+
-0.030068274992747446,
|
| 726 |
+
0.011477651251842396
|
| 727 |
+
]
|
| 728 |
+
}
|
| 729 |
+
},
|
| 730 |
+
"grasp_32": {
|
| 731 |
+
"confidence": 0.9486109018325806,
|
| 732 |
+
"position": [
|
| 733 |
+
-0.002731842192588374,
|
| 734 |
+
0.10875233193564782,
|
| 735 |
+
-0.007288322871318087
|
| 736 |
+
],
|
| 737 |
+
"orientation": {
|
| 738 |
+
"w": 0.02549450944063222,
|
| 739 |
+
"xyz": [
|
| 740 |
+
0.03297043247493611,
|
| 741 |
+
0.7047677697957745,
|
| 742 |
+
-0.7082128008077004
|
| 743 |
+
]
|
| 744 |
+
}
|
| 745 |
+
},
|
| 746 |
+
"grasp_33": {
|
| 747 |
+
"confidence": 0.9396176934242249,
|
| 748 |
+
"position": [
|
| 749 |
+
-0.001779275800799951,
|
| 750 |
+
-0.12243105540346733,
|
| 751 |
+
-0.010542782576521859
|
| 752 |
+
],
|
| 753 |
+
"orientation": {
|
| 754 |
+
"w": 0.7156065719454605,
|
| 755 |
+
"xyz": [
|
| 756 |
+
-0.6979976833955297,
|
| 757 |
+
0.011353286535532248,
|
| 758 |
+
-0.024032707874536728
|
| 759 |
+
]
|
| 760 |
+
}
|
| 761 |
+
},
|
| 762 |
+
"grasp_34": {
|
| 763 |
+
"confidence": 0.9386599659919739,
|
| 764 |
+
"position": [
|
| 765 |
+
0.005512113013537601,
|
| 766 |
+
-0.10784338483881584,
|
| 767 |
+
-0.05416165626957081
|
| 768 |
+
],
|
| 769 |
+
"orientation": {
|
| 770 |
+
"w": 0.8625993838345549,
|
| 771 |
+
"xyz": [
|
| 772 |
+
-0.5047336904881995,
|
| 773 |
+
-0.005266076485443527,
|
| 774 |
+
-0.0337412675052071
|
| 775 |
+
]
|
| 776 |
+
}
|
| 777 |
+
},
|
| 778 |
+
"grasp_35": {
|
| 779 |
+
"confidence": 0.9383658766746521,
|
| 780 |
+
"position": [
|
| 781 |
+
0.003961171518312767,
|
| 782 |
+
-0.09272793004583946,
|
| 783 |
+
-0.05566729567362927
|
| 784 |
+
],
|
| 785 |
+
"orientation": {
|
| 786 |
+
"w": 0.8666466287935901,
|
| 787 |
+
"xyz": [
|
| 788 |
+
-0.497602555777262,
|
| 789 |
+
-0.004429510093910682,
|
| 790 |
+
-0.035995787600356974
|
| 791 |
+
]
|
| 792 |
+
}
|
| 793 |
+
},
|
| 794 |
+
"grasp_36": {
|
| 795 |
+
"confidence": 0.8982536196708679,
|
| 796 |
+
"position": [
|
| 797 |
+
0.0012850100465584546,
|
| 798 |
+
-0.10412083635401359,
|
| 799 |
+
-0.005334104498615488
|
| 800 |
+
],
|
| 801 |
+
"orientation": {
|
| 802 |
+
"w": 0.7070806947039664,
|
| 803 |
+
"xyz": [
|
| 804 |
+
-0.7066989378366617,
|
| 805 |
+
-0.008325270961721198,
|
| 806 |
+
-0.023327929631769297
|
| 807 |
+
]
|
| 808 |
+
}
|
| 809 |
+
},
|
| 810 |
+
"grasp_37": {
|
| 811 |
+
"confidence": 0.8634095191955566,
|
| 812 |
+
"position": [
|
| 813 |
+
0.0019330372160766274,
|
| 814 |
+
0.10285683652091393,
|
| 815 |
+
-0.004260040441295132
|
| 816 |
+
],
|
| 817 |
+
"orientation": {
|
| 818 |
+
"w": 0.7044694051585438,
|
| 819 |
+
"xyz": [
|
| 820 |
+
0.7088292398270051,
|
| 821 |
+
-0.032276438065066415,
|
| 822 |
+
0.01556269602830635
|
| 823 |
+
]
|
| 824 |
+
}
|
| 825 |
+
},
|
| 826 |
+
"grasp_38": {
|
| 827 |
+
"confidence": 0.8120518326759338,
|
| 828 |
+
"position": [
|
| 829 |
+
0.002813511557178572,
|
| 830 |
+
-0.10473227570128074,
|
| 831 |
+
-0.007613613357534632
|
| 832 |
+
],
|
| 833 |
+
"orientation": {
|
| 834 |
+
"w": 0.004508642956031106,
|
| 835 |
+
"xyz": [
|
| 836 |
+
-0.014612966320726374,
|
| 837 |
+
-0.7101050601504149,
|
| 838 |
+
-0.7039296391705496
|
| 839 |
+
]
|
| 840 |
+
}
|
| 841 |
+
},
|
| 842 |
+
"grasp_39": {
|
| 843 |
+
"confidence": 0.08831360936164856,
|
| 844 |
+
"position": [
|
| 845 |
+
-0.10236912427353673,
|
| 846 |
+
-0.018045565805550723,
|
| 847 |
+
0.00076166438520886
|
| 848 |
+
],
|
| 849 |
+
"orientation": {
|
| 850 |
+
"w": 0.4623230759022923,
|
| 851 |
+
"xyz": [
|
| 852 |
+
0.5528186253973171,
|
| 853 |
+
0.4480873523062884,
|
| 854 |
+
0.5290242580498598
|
| 855 |
+
]
|
| 856 |
+
}
|
| 857 |
+
}
|
| 858 |
+
}
|
| 859 |
+
}
|
| 860 |
+
],
|
| 861 |
+
"quality_check": {
|
| 862 |
+
"success": true,
|
| 863 |
+
"message": "YES"
|
| 864 |
+
}
|
| 865 |
+
}
|
dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2c3b24b4d5e2393814cd17792250d367343a133dc30fc5d8b1d40e4653878590
|
| 3 |
+
size 3786560
|