Add asset desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675
Browse files
.gitattributes
CHANGED
|
@@ -6399,3 +6399,4 @@ dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/affo
|
|
| 6399 |
dataset/desktop_supplies/office_stationery/86c8b37f313c509f9b24374b4686a528/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6400 |
dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6401 |
dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6399 |
dataset/desktop_supplies/office_stationery/86c8b37f313c509f9b24374b4686a528/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6400 |
dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6401 |
dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6402 |
+
dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,997 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "barrel",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main barrel to pick up and hold the writing instrument",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the barrel to reposition or place the object on a surface",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the barrel to stabilize the object while pressing the rear button",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide structural body",
|
| 24 |
+
"connect front tip area to rear housing"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Long light gray cylindrical barrel with a smooth matte plastic surface, occupying most of the object's length between the front tip and blue rear housing.",
|
| 27 |
+
"id": 3,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_40": {
|
| 30 |
+
"confidence": 0.9166929721832275,
|
| 31 |
+
"position": [
|
| 32 |
+
-0.053641857113689184,
|
| 33 |
+
0.02294980874285102,
|
| 34 |
+
-0.060561100366612663
|
| 35 |
+
],
|
| 36 |
+
"orientation": {
|
| 37 |
+
"w": 0.8906628616970416,
|
| 38 |
+
"xyz": [
|
| 39 |
+
0.2822810514524299,
|
| 40 |
+
0.3457614356969444,
|
| 41 |
+
-0.08652227672302139
|
| 42 |
+
]
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"grasp_42": {
|
| 46 |
+
"confidence": 0.14938697218894958,
|
| 47 |
+
"position": [
|
| 48 |
+
-0.006172577850520611,
|
| 49 |
+
-0.12268234277144074,
|
| 50 |
+
0.042972424653271446
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.5176248198907291,
|
| 54 |
+
"xyz": [
|
| 55 |
+
-0.8489924519521412,
|
| 56 |
+
-0.07212899625310609,
|
| 57 |
+
-0.07793439716133524
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_43": {
|
| 62 |
+
"confidence": 0.11745075136423111,
|
| 63 |
+
"position": [
|
| 64 |
+
-0.046690171118825674,
|
| 65 |
+
-0.12413241947069764,
|
| 66 |
+
0.009645756919780979
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.40878260171072406,
|
| 70 |
+
"xyz": [
|
| 71 |
+
-0.695862375481899,
|
| 72 |
+
-0.29750311832828336,
|
| 73 |
+
-0.5100629701441259
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_45": {
|
| 78 |
+
"confidence": 0.10023435950279236,
|
| 79 |
+
"position": [
|
| 80 |
+
-0.04128675302490592,
|
| 81 |
+
-0.12284916127100587,
|
| 82 |
+
-0.02898416143943905
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.24249207590566169,
|
| 86 |
+
"xyz": [
|
| 87 |
+
-0.4106571403038935,
|
| 88 |
+
-0.4259594131086136,
|
| 89 |
+
-0.7688412610055189
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_47": {
|
| 94 |
+
"confidence": 0.9903020262718201,
|
| 95 |
+
"position": [
|
| 96 |
+
0.08453784743323922,
|
| 97 |
+
-0.02667569974437356,
|
| 98 |
+
0.04712285253117443
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.5046843003475323,
|
| 102 |
+
"xyz": [
|
| 103 |
+
0.03528191673428572,
|
| 104 |
+
-0.862522155328624,
|
| 105 |
+
0.010221296470700643
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_48": {
|
| 110 |
+
"confidence": 0.9895484447479248,
|
| 111 |
+
"position": [
|
| 112 |
+
0.0867358879186213,
|
| 113 |
+
-0.002703465521335602,
|
| 114 |
+
0.04249105381677509
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.527670868119163,
|
| 118 |
+
"xyz": [
|
| 119 |
+
0.02271463600533902,
|
| 120 |
+
-0.8491390246317189,
|
| 121 |
+
-0.0032275527892653014
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_49": {
|
| 126 |
+
"confidence": 0.9894039630889893,
|
| 127 |
+
"position": [
|
| 128 |
+
0.07379317888990045,
|
| 129 |
+
0.009473783429712057,
|
| 130 |
+
0.0496348195047176
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
+
"w": 0.4650159580725261,
|
| 134 |
+
"xyz": [
|
| 135 |
+
0.10930217234039173,
|
| 136 |
+
-0.8611988326359259,
|
| 137 |
+
0.17363687547891543
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_50": {
|
| 142 |
+
"confidence": 0.9891045093536377,
|
| 143 |
+
"position": [
|
| 144 |
+
0.09006741503253579,
|
| 145 |
+
-0.02704862365499139,
|
| 146 |
+
0.03599916550228954
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
+
"w": 0.5537259518254652,
|
| 150 |
+
"xyz": [
|
| 151 |
+
0.03070969416648124,
|
| 152 |
+
-0.83209030208855,
|
| 153 |
+
0.008379387171382452
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_51": {
|
| 158 |
+
"confidence": 0.9884071946144104,
|
| 159 |
+
"position": [
|
| 160 |
+
0.02965196082368493,
|
| 161 |
+
-0.012138614896684885,
|
| 162 |
+
0.08938893454978825
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.08961258740021705,
|
| 166 |
+
"xyz": [
|
| 167 |
+
0.9793590240162123,
|
| 168 |
+
0.061521350287145116,
|
| 169 |
+
-0.17041305617908725
|
| 170 |
+
]
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
"grasp_52": {
|
| 174 |
+
"confidence": 0.9883953332901001,
|
| 175 |
+
"position": [
|
| 176 |
+
0.08630060264840722,
|
| 177 |
+
-0.013221091125160456,
|
| 178 |
+
0.043641464439133415
|
| 179 |
+
],
|
| 180 |
+
"orientation": {
|
| 181 |
+
"w": 0.015413463227871169,
|
| 182 |
+
"xyz": [
|
| 183 |
+
-0.8552228463768752,
|
| 184 |
+
-0.017078649013796965,
|
| 185 |
+
0.5177495803322514
|
| 186 |
+
]
|
| 187 |
+
}
|
| 188 |
+
},
|
| 189 |
+
"grasp_54": {
|
| 190 |
+
"confidence": 0.987733006477356,
|
| 191 |
+
"position": [
|
| 192 |
+
0.05430274689570069,
|
| 193 |
+
0.024274844210594893,
|
| 194 |
+
0.06919643807123066
|
| 195 |
+
],
|
| 196 |
+
"orientation": {
|
| 197 |
+
"w": 0.3419531449109664,
|
| 198 |
+
"xyz": [
|
| 199 |
+
0.09615071743613289,
|
| 200 |
+
-0.9161820707589222,
|
| 201 |
+
0.18556265637759584
|
| 202 |
+
]
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
"grasp_56": {
|
| 206 |
+
"confidence": 0.9877113699913025,
|
| 207 |
+
"position": [
|
| 208 |
+
0.009745636489242315,
|
| 209 |
+
-0.007382548879832029,
|
| 210 |
+
0.09552373516271473
|
| 211 |
+
],
|
| 212 |
+
"orientation": {
|
| 213 |
+
"w": 0.02410996295652672,
|
| 214 |
+
"xyz": [
|
| 215 |
+
-0.9981967176946301,
|
| 216 |
+
-0.017218695093684705,
|
| 217 |
+
0.05220669506081052
|
| 218 |
+
]
|
| 219 |
+
}
|
| 220 |
+
},
|
| 221 |
+
"grasp_57": {
|
| 222 |
+
"confidence": 0.9876956939697266,
|
| 223 |
+
"position": [
|
| 224 |
+
0.08708508918061852,
|
| 225 |
+
-0.01593649247661233,
|
| 226 |
+
0.04831972124884487
|
| 227 |
+
],
|
| 228 |
+
"orientation": {
|
| 229 |
+
"w": 3.2825773894894076e-05,
|
| 230 |
+
"xyz": [
|
| 231 |
+
0.8621572318621538,
|
| 232 |
+
0.02077084962038389,
|
| 233 |
+
-0.5062148538677074
|
| 234 |
+
]
|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
+
"grasp_58": {
|
| 238 |
+
"confidence": 0.9876076579093933,
|
| 239 |
+
"position": [
|
| 240 |
+
0.03877898911014199,
|
| 241 |
+
-0.008421431761234999,
|
| 242 |
+
0.08827168273637653
|
| 243 |
+
],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.21036352932612162,
|
| 246 |
+
"xyz": [
|
| 247 |
+
0.02242052169440202,
|
| 248 |
+
-0.9772504843761446,
|
| 249 |
+
-0.015033180734614435
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
"grasp_59": {
|
| 254 |
+
"confidence": 0.9873908162117004,
|
| 255 |
+
"position": [
|
| 256 |
+
0.0028653074987232685,
|
| 257 |
+
0.002629933413118124,
|
| 258 |
+
0.09407367336461903
|
| 259 |
+
],
|
| 260 |
+
"orientation": {
|
| 261 |
+
"w": 0.13484729829863817,
|
| 262 |
+
"xyz": [
|
| 263 |
+
0.9893584156567512,
|
| 264 |
+
0.05054634618986514,
|
| 265 |
+
-0.020765317179746678
|
| 266 |
+
]
|
| 267 |
+
}
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"part_name": "tip cone",
|
| 273 |
+
"mask_color": "Magenta",
|
| 274 |
+
"graspable": false,
|
| 275 |
+
"grasp_scenarios": [],
|
| 276 |
+
"functional_labels": [
|
| 277 |
+
"form pointed front end",
|
| 278 |
+
"guide precise contact at the front"
|
| 279 |
+
],
|
| 280 |
+
"semantic_description": "Small pale beige pointed conical tip at the front end, with a smooth matte surface and sharpened-looking point.",
|
| 281 |
+
"id": 7,
|
| 282 |
+
"grasp_group": {}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "grip section",
|
| 286 |
+
"mask_color": "Lime Green",
|
| 287 |
+
"graspable": true,
|
| 288 |
+
"grasp_scenarios": [
|
| 289 |
+
{
|
| 290 |
+
"scenario": "grasp the ribbed grip area for controlled pickup and manipulation",
|
| 291 |
+
"confidence": 0.91
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"scenario": "hold near the front for precise orientation of the object",
|
| 295 |
+
"confidence": 0.87
|
| 296 |
+
}
|
| 297 |
+
],
|
| 298 |
+
"functional_labels": [
|
| 299 |
+
"improve hand traction",
|
| 300 |
+
"provide precision hold area",
|
| 301 |
+
"increase control near tip"
|
| 302 |
+
],
|
| 303 |
+
"semantic_description": "Short light gray ribbed grip band near the front of the barrel, with a matte slightly textured appearance distinct from the smoother main barrel.",
|
| 304 |
+
"id": 9,
|
| 305 |
+
"grasp_group": {
|
| 306 |
+
"grasp_61": {
|
| 307 |
+
"confidence": 0.7372885346412659,
|
| 308 |
+
"position": [
|
| 309 |
+
0.013596503529697657,
|
| 310 |
+
-0.14004007959738374,
|
| 311 |
+
0.039318093684414634
|
| 312 |
+
],
|
| 313 |
+
"orientation": {
|
| 314 |
+
"w": 0.5190386877067568,
|
| 315 |
+
"xyz": [
|
| 316 |
+
-0.8493114431301747,
|
| 317 |
+
0.011892884468936327,
|
| 318 |
+
0.09553780681382854
|
| 319 |
+
]
|
| 320 |
+
}
|
| 321 |
+
},
|
| 322 |
+
"grasp_63": {
|
| 323 |
+
"confidence": 0.9833035469055176,
|
| 324 |
+
"position": [
|
| 325 |
+
0.018027205485850573,
|
| 326 |
+
-0.009955622721463442,
|
| 327 |
+
0.08725855278680683
|
| 328 |
+
],
|
| 329 |
+
"orientation": {
|
| 330 |
+
"w": 0.11567336022540464,
|
| 331 |
+
"xyz": [
|
| 332 |
+
0.02808594055432851,
|
| 333 |
+
-0.9692367383346457,
|
| 334 |
+
0.21543212095637107
|
| 335 |
+
]
|
| 336 |
+
}
|
| 337 |
+
},
|
| 338 |
+
"grasp_65": {
|
| 339 |
+
"confidence": 0.9815136194229126,
|
| 340 |
+
"position": [
|
| 341 |
+
0.0884027169086039,
|
| 342 |
+
-0.04396616527810693,
|
| 343 |
+
0.046617513176897774
|
| 344 |
+
],
|
| 345 |
+
"orientation": {
|
| 346 |
+
"w": 0.013075143303281762,
|
| 347 |
+
"xyz": [
|
| 348 |
+
0.8665272714435134,
|
| 349 |
+
0.030570988263528054,
|
| 350 |
+
-0.4980210268139785
|
| 351 |
+
]
|
| 352 |
+
}
|
| 353 |
+
},
|
| 354 |
+
"grasp_68": {
|
| 355 |
+
"confidence": 0.9714251756668091,
|
| 356 |
+
"position": [
|
| 357 |
+
0.042775599751621485,
|
| 358 |
+
-0.0794884362258017,
|
| 359 |
+
0.08061349916170002
|
| 360 |
+
],
|
| 361 |
+
"orientation": {
|
| 362 |
+
"w": 0.2438099404452532,
|
| 363 |
+
"xyz": [
|
| 364 |
+
-0.02785468499261608,
|
| 365 |
+
-0.959250868917351,
|
| 366 |
+
-0.14006641262398176
|
| 367 |
+
]
|
| 368 |
+
}
|
| 369 |
+
},
|
| 370 |
+
"grasp_69": {
|
| 371 |
+
"confidence": 0.9701988697052002,
|
| 372 |
+
"position": [
|
| 373 |
+
-0.0321069466881454,
|
| 374 |
+
-0.06120633566752076,
|
| 375 |
+
0.09058955836007954
|
| 376 |
+
],
|
| 377 |
+
"orientation": {
|
| 378 |
+
"w": 0.0602966064877117,
|
| 379 |
+
"xyz": [
|
| 380 |
+
-0.981143870312936,
|
| 381 |
+
-0.039819907344536054,
|
| 382 |
+
-0.1792634931392647
|
| 383 |
+
]
|
| 384 |
+
}
|
| 385 |
+
},
|
| 386 |
+
"grasp_71": {
|
| 387 |
+
"confidence": 0.9668883085250854,
|
| 388 |
+
"position": [
|
| 389 |
+
0.04536336148157716,
|
| 390 |
+
-0.05471527436748147,
|
| 391 |
+
0.08393642085502506
|
| 392 |
+
],
|
| 393 |
+
"orientation": {
|
| 394 |
+
"w": 0.038852513265368704,
|
| 395 |
+
"xyz": [
|
| 396 |
+
-0.9696461149448172,
|
| 397 |
+
-0.01739504623076743,
|
| 398 |
+
0.24077854213367098
|
| 399 |
+
]
|
| 400 |
+
}
|
| 401 |
+
},
|
| 402 |
+
"grasp_73": {
|
| 403 |
+
"confidence": 0.9641169309616089,
|
| 404 |
+
"position": [
|
| 405 |
+
0.027626630384474993,
|
| 406 |
+
-0.10189847880974412,
|
| 407 |
+
0.07772535609910847
|
| 408 |
+
],
|
| 409 |
+
"orientation": {
|
| 410 |
+
"w": 0.2667489663732365,
|
| 411 |
+
"xyz": [
|
| 412 |
+
-0.9527187357581649,
|
| 413 |
+
0.005774843290735743,
|
| 414 |
+
0.14539137064881627
|
| 415 |
+
]
|
| 416 |
+
}
|
| 417 |
+
},
|
| 418 |
+
"grasp_74": {
|
| 419 |
+
"confidence": 0.962444543838501,
|
| 420 |
+
"position": [
|
| 421 |
+
0.06873994180932641,
|
| 422 |
+
-0.09569901460781693,
|
| 423 |
+
0.05218281003544689
|
| 424 |
+
],
|
| 425 |
+
"orientation": {
|
| 426 |
+
"w": 0.219057962446267,
|
| 427 |
+
"xyz": [
|
| 428 |
+
-0.8863705611808237,
|
| 429 |
+
0.07843323632319882,
|
| 430 |
+
0.40026124568930094
|
| 431 |
+
]
|
| 432 |
+
}
|
| 433 |
+
},
|
| 434 |
+
"grasp_75": {
|
| 435 |
+
"confidence": 0.9621602892875671,
|
| 436 |
+
"position": [
|
| 437 |
+
-0.09607925405725837,
|
| 438 |
+
-0.05878842854872346,
|
| 439 |
+
0.006382608440617332
|
| 440 |
+
],
|
| 441 |
+
"orientation": {
|
| 442 |
+
"w": 0.6786557423228718,
|
| 443 |
+
"xyz": [
|
| 444 |
+
-0.02169888303987112,
|
| 445 |
+
0.7327687584803506,
|
| 446 |
+
0.04478268060511565
|
| 447 |
+
]
|
| 448 |
+
}
|
| 449 |
+
},
|
| 450 |
+
"grasp_76": {
|
| 451 |
+
"confidence": 0.9587171077728271,
|
| 452 |
+
"position": [
|
| 453 |
+
-0.01101658446714282,
|
| 454 |
+
-0.0711258971132338,
|
| 455 |
+
0.09181709366748692
|
| 456 |
+
],
|
| 457 |
+
"orientation": {
|
| 458 |
+
"w": 0.0747206070359979,
|
| 459 |
+
"xyz": [
|
| 460 |
+
-0.010710931655683747,
|
| 461 |
+
0.9921497061299624,
|
| 462 |
+
0.09970490185276104
|
| 463 |
+
]
|
| 464 |
+
}
|
| 465 |
+
},
|
| 466 |
+
"grasp_77": {
|
| 467 |
+
"confidence": 0.9565862417221069,
|
| 468 |
+
"position": [
|
| 469 |
+
-0.08294802298769355,
|
| 470 |
+
-0.10197217995300889,
|
| 471 |
+
-0.01615037617375492
|
| 472 |
+
],
|
| 473 |
+
"orientation": {
|
| 474 |
+
"w": 0.16053911756138675,
|
| 475 |
+
"xyz": [
|
| 476 |
+
-0.6128349914130063,
|
| 477 |
+
-0.20451531130714162,
|
| 478 |
+
-0.7462130744454795
|
| 479 |
+
]
|
| 480 |
+
}
|
| 481 |
+
},
|
| 482 |
+
"grasp_78": {
|
| 483 |
+
"confidence": 0.9554049372673035,
|
| 484 |
+
"position": [
|
| 485 |
+
0.037942247930914164,
|
| 486 |
+
-0.10312251234427094,
|
| 487 |
+
0.07677711325595737
|
| 488 |
+
],
|
| 489 |
+
"orientation": {
|
| 490 |
+
"w": 0.25437083534662464,
|
| 491 |
+
"xyz": [
|
| 492 |
+
-0.9470046763298471,
|
| 493 |
+
0.01856048683097994,
|
| 494 |
+
0.19527705820976266
|
| 495 |
+
]
|
| 496 |
+
}
|
| 497 |
+
},
|
| 498 |
+
"grasp_79": {
|
| 499 |
+
"confidence": 0.9547208547592163,
|
| 500 |
+
"position": [
|
| 501 |
+
0.04714642325416207,
|
| 502 |
+
-0.10518209869042039,
|
| 503 |
+
0.06721841323087574
|
| 504 |
+
],
|
| 505 |
+
"orientation": {
|
| 506 |
+
"w": 0.2737331744295811,
|
| 507 |
+
"xyz": [
|
| 508 |
+
-0.058935045185824944,
|
| 509 |
+
-0.9229312035956097,
|
| 510 |
+
-0.26418706080201665
|
| 511 |
+
]
|
| 512 |
+
}
|
| 513 |
+
}
|
| 514 |
+
}
|
| 515 |
+
},
|
| 516 |
+
{
|
| 517 |
+
"part_name": "upper housing",
|
| 518 |
+
"mask_color": "Blue",
|
| 519 |
+
"graspable": true,
|
| 520 |
+
"grasp_scenarios": [
|
| 521 |
+
{
|
| 522 |
+
"scenario": "grasp the blue rear housing to pick up the object from the back half",
|
| 523 |
+
"confidence": 0.84
|
| 524 |
+
},
|
| 525 |
+
{
|
| 526 |
+
"scenario": "hold the rear housing while actuating the rear button",
|
| 527 |
+
"confidence": 0.74
|
| 528 |
+
}
|
| 529 |
+
],
|
| 530 |
+
"functional_labels": [
|
| 531 |
+
"enclose rear mechanism",
|
| 532 |
+
"provide secondary grasp area",
|
| 533 |
+
"support clip attachment"
|
| 534 |
+
],
|
| 535 |
+
"semantic_description": "Blue plastic rear housing with a smooth matte finish, slightly thicker than the barrel, located near the back and bearing white printed branding.",
|
| 536 |
+
"id": 2,
|
| 537 |
+
"grasp_group": {
|
| 538 |
+
"grasp_20": {
|
| 539 |
+
"confidence": 0.9852849841117859,
|
| 540 |
+
"position": [
|
| 541 |
+
0.08420840511098504,
|
| 542 |
+
-0.020915827248245478,
|
| 543 |
+
0.013557349917391548
|
| 544 |
+
],
|
| 545 |
+
"orientation": {
|
| 546 |
+
"w": 0.6165929444260141,
|
| 547 |
+
"xyz": [
|
| 548 |
+
-0.1433685563956547,
|
| 549 |
+
-0.7455376350188706,
|
| 550 |
+
-0.20840401313686974
|
| 551 |
+
]
|
| 552 |
+
}
|
| 553 |
+
},
|
| 554 |
+
"grasp_21": {
|
| 555 |
+
"confidence": 0.9839090704917908,
|
| 556 |
+
"position": [
|
| 557 |
+
0.05723125720396638,
|
| 558 |
+
-0.017078070435673,
|
| 559 |
+
0.06385206955383183
|
| 560 |
+
],
|
| 561 |
+
"orientation": {
|
| 562 |
+
"w": 0.3569973767384824,
|
| 563 |
+
"xyz": [
|
| 564 |
+
-0.07583565506693439,
|
| 565 |
+
-0.8988938226956767,
|
| 566 |
+
-0.24247004339085704
|
| 567 |
+
]
|
| 568 |
+
}
|
| 569 |
+
},
|
| 570 |
+
"grasp_22": {
|
| 571 |
+
"confidence": 0.9814198017120361,
|
| 572 |
+
"position": [
|
| 573 |
+
0.07165154675021768,
|
| 574 |
+
-0.01568271266296506,
|
| 575 |
+
0.04677811044166447
|
| 576 |
+
],
|
| 577 |
+
"orientation": {
|
| 578 |
+
"w": 0.46589230501376633,
|
| 579 |
+
"xyz": [
|
| 580 |
+
-0.10026449360743248,
|
| 581 |
+
-0.846060966443666,
|
| 582 |
+
-0.23889795417921472
|
| 583 |
+
]
|
| 584 |
+
}
|
| 585 |
+
},
|
| 586 |
+
"grasp_23": {
|
| 587 |
+
"confidence": 0.9810941219329834,
|
| 588 |
+
"position": [
|
| 589 |
+
0.06973118940368295,
|
| 590 |
+
0.076074433978647,
|
| 591 |
+
0.04430205899188877
|
| 592 |
+
],
|
| 593 |
+
"orientation": {
|
| 594 |
+
"w": 0.2312697698714143,
|
| 595 |
+
"xyz": [
|
| 596 |
+
0.8284647350892533,
|
| 597 |
+
0.16299004168015696,
|
| 598 |
+
-0.4833163793729915
|
| 599 |
+
]
|
| 600 |
+
}
|
| 601 |
+
},
|
| 602 |
+
"grasp_24": {
|
| 603 |
+
"confidence": 0.9789113998413086,
|
| 604 |
+
"position": [
|
| 605 |
+
0.07505624601617455,
|
| 606 |
+
0.08029367541894317,
|
| 607 |
+
0.032136873927811394
|
| 608 |
+
],
|
| 609 |
+
"orientation": {
|
| 610 |
+
"w": 0.21590330689207418,
|
| 611 |
+
"xyz": [
|
| 612 |
+
0.7918786843985182,
|
| 613 |
+
0.18998563649692357,
|
| 614 |
+
-0.5387201213925445
|
| 615 |
+
]
|
| 616 |
+
}
|
| 617 |
+
},
|
| 618 |
+
"grasp_25": {
|
| 619 |
+
"confidence": 0.9787246584892273,
|
| 620 |
+
"position": [
|
| 621 |
+
0.06641654530540109,
|
| 622 |
+
-0.014400654006749392,
|
| 623 |
+
0.05488325062106014
|
| 624 |
+
],
|
| 625 |
+
"orientation": {
|
| 626 |
+
"w": 0.4172649654320346,
|
| 627 |
+
"xyz": [
|
| 628 |
+
-0.09192594641322631,
|
| 629 |
+
-0.8695765500334596,
|
| 630 |
+
-0.24754028486479024
|
| 631 |
+
]
|
| 632 |
+
}
|
| 633 |
+
},
|
| 634 |
+
"grasp_26": {
|
| 635 |
+
"confidence": 0.9786044359207153,
|
| 636 |
+
"position": [
|
| 637 |
+
0.06704727420583367,
|
| 638 |
+
0.08028603112325072,
|
| 639 |
+
0.05133951979587437
|
| 640 |
+
],
|
| 641 |
+
"orientation": {
|
| 642 |
+
"w": 0.4447059374108636,
|
| 643 |
+
"xyz": [
|
| 644 |
+
0.14275412051710779,
|
| 645 |
+
-0.8550437649532747,
|
| 646 |
+
0.22529547337095115
|
| 647 |
+
]
|
| 648 |
+
}
|
| 649 |
+
},
|
| 650 |
+
"grasp_27": {
|
| 651 |
+
"confidence": 0.9770037531852722,
|
| 652 |
+
"position": [
|
| 653 |
+
0.07755976030603051,
|
| 654 |
+
0.08641718840226531,
|
| 655 |
+
0.02583154070089222
|
| 656 |
+
],
|
| 657 |
+
"orientation": {
|
| 658 |
+
"w": 0.21851240230591254,
|
| 659 |
+
"xyz": [
|
| 660 |
+
0.7638837003905029,
|
| 661 |
+
0.19369588233369983,
|
| 662 |
+
-0.5755136205887581
|
| 663 |
+
]
|
| 664 |
+
}
|
| 665 |
+
},
|
| 666 |
+
"grasp_28": {
|
| 667 |
+
"confidence": 0.9769511818885803,
|
| 668 |
+
"position": [
|
| 669 |
+
0.06969394395127892,
|
| 670 |
+
0.08108008420094848,
|
| 671 |
+
0.04111154156635166
|
| 672 |
+
],
|
| 673 |
+
"orientation": {
|
| 674 |
+
"w": 0.21535154086792097,
|
| 675 |
+
"xyz": [
|
| 676 |
+
0.8112535375762154,
|
| 677 |
+
0.2072961752981356,
|
| 678 |
+
-0.5025133901923937
|
| 679 |
+
]
|
| 680 |
+
}
|
| 681 |
+
},
|
| 682 |
+
"grasp_29": {
|
| 683 |
+
"confidence": 0.9767639636993408,
|
| 684 |
+
"position": [
|
| 685 |
+
0.047006549779325724,
|
| 686 |
+
0.07407980924472213,
|
| 687 |
+
0.07014661806533695
|
| 688 |
+
],
|
| 689 |
+
"orientation": {
|
| 690 |
+
"w": 0.24322376058473089,
|
| 691 |
+
"xyz": [
|
| 692 |
+
0.9104390100081515,
|
| 693 |
+
0.12297648487544466,
|
| 694 |
+
-0.3111587946854115
|
| 695 |
+
]
|
| 696 |
+
}
|
| 697 |
+
},
|
| 698 |
+
"grasp_30": {
|
| 699 |
+
"confidence": 0.9708251357078552,
|
| 700 |
+
"position": [
|
| 701 |
+
0.04216838860884309,
|
| 702 |
+
0.09867659723386168,
|
| 703 |
+
0.06800520944307209
|
| 704 |
+
],
|
| 705 |
+
"orientation": {
|
| 706 |
+
"w": 0.29153787333308395,
|
| 707 |
+
"xyz": [
|
| 708 |
+
0.9024089053776143,
|
| 709 |
+
0.11847943817882411,
|
| 710 |
+
-0.29432373101132914
|
| 711 |
+
]
|
| 712 |
+
}
|
| 713 |
+
},
|
| 714 |
+
"grasp_31": {
|
| 715 |
+
"confidence": 0.9613141417503357,
|
| 716 |
+
"position": [
|
| 717 |
+
-0.041279887314885855,
|
| 718 |
+
0.08314931159839034,
|
| 719 |
+
-0.07019133341600536
|
| 720 |
+
],
|
| 721 |
+
"orientation": {
|
| 722 |
+
"w": 0.9252831635242037,
|
| 723 |
+
"xyz": [
|
| 724 |
+
0.2773893045497406,
|
| 725 |
+
0.2563454614133902,
|
| 726 |
+
-0.03454338479085174
|
| 727 |
+
]
|
| 728 |
+
}
|
| 729 |
+
},
|
| 730 |
+
"grasp_33": {
|
| 731 |
+
"confidence": 0.9040287137031555,
|
| 732 |
+
"position": [
|
| 733 |
+
0.03532907599583268,
|
| 734 |
+
0.12818770622834563,
|
| 735 |
+
0.037208119061688194
|
| 736 |
+
],
|
| 737 |
+
"orientation": {
|
| 738 |
+
"w": 0.4595663410501671,
|
| 739 |
+
"xyz": [
|
| 740 |
+
0.775675322259516,
|
| 741 |
+
0.22561253687093497,
|
| 742 |
+
-0.3690874636424521
|
| 743 |
+
]
|
| 744 |
+
}
|
| 745 |
+
},
|
| 746 |
+
"grasp_34": {
|
| 747 |
+
"confidence": 0.9035273194313049,
|
| 748 |
+
"position": [
|
| 749 |
+
0.0027237976901233196,
|
| 750 |
+
0.12413485115393996,
|
| 751 |
+
0.055720222768286476
|
| 752 |
+
],
|
| 753 |
+
"orientation": {
|
| 754 |
+
"w": 0.14801781068431422,
|
| 755 |
+
"xyz": [
|
| 756 |
+
0.16901521556538965,
|
| 757 |
+
-0.8549698956779846,
|
| 758 |
+
0.46749445142373985
|
| 759 |
+
]
|
| 760 |
+
}
|
| 761 |
+
},
|
| 762 |
+
"grasp_35": {
|
| 763 |
+
"confidence": 0.8882709741592407,
|
| 764 |
+
"position": [
|
| 765 |
+
0.04577290127053857,
|
| 766 |
+
0.1236840239726007,
|
| 767 |
+
0.0007132785431167576
|
| 768 |
+
],
|
| 769 |
+
"orientation": {
|
| 770 |
+
"w": 0.3399401102043052,
|
| 771 |
+
"xyz": [
|
| 772 |
+
0.5719014385284974,
|
| 773 |
+
0.40128637413911994,
|
| 774 |
+
-0.629554375740173
|
| 775 |
+
]
|
| 776 |
+
}
|
| 777 |
+
},
|
| 778 |
+
"grasp_38": {
|
| 779 |
+
"confidence": 0.8822721242904663,
|
| 780 |
+
"position": [
|
| 781 |
+
0.014246529433876276,
|
| 782 |
+
0.12727385526522994,
|
| 783 |
+
0.052536317733029136
|
| 784 |
+
],
|
| 785 |
+
"orientation": {
|
| 786 |
+
"w": 0.4947034450847971,
|
| 787 |
+
"xyz": [
|
| 788 |
+
0.8565919480732446,
|
| 789 |
+
0.08437197158971788,
|
| 790 |
+
-0.12000044302993709
|
| 791 |
+
]
|
| 792 |
+
}
|
| 793 |
+
},
|
| 794 |
+
"grasp_39": {
|
| 795 |
+
"confidence": 0.872667133808136,
|
| 796 |
+
"position": [
|
| 797 |
+
0.04061888763681054,
|
| 798 |
+
0.127859344240278,
|
| 799 |
+
0.007676217359403381
|
| 800 |
+
],
|
| 801 |
+
"orientation": {
|
| 802 |
+
"w": 0.39520394933184716,
|
| 803 |
+
"xyz": [
|
| 804 |
+
0.6361509377272022,
|
| 805 |
+
0.34857865505736263,
|
| 806 |
+
-0.5635767419790425
|
| 807 |
+
]
|
| 808 |
+
}
|
| 809 |
+
}
|
| 810 |
+
}
|
| 811 |
+
},
|
| 812 |
+
{
|
| 813 |
+
"part_name": "pocket clip",
|
| 814 |
+
"mask_color": "Red",
|
| 815 |
+
"graspable": true,
|
| 816 |
+
"grasp_scenarios": [
|
| 817 |
+
{
|
| 818 |
+
"scenario": "pinch the clip lightly to pull the object from a pocket or edge",
|
| 819 |
+
"confidence": 0.47
|
| 820 |
+
},
|
| 821 |
+
{
|
| 822 |
+
"scenario": "use the clip as a light reorientation contact point",
|
| 823 |
+
"confidence": 0.35
|
| 824 |
+
}
|
| 825 |
+
],
|
| 826 |
+
"functional_labels": [
|
| 827 |
+
"clip to pocket",
|
| 828 |
+
"retain object on an edge",
|
| 829 |
+
"aid retrieval"
|
| 830 |
+
],
|
| 831 |
+
"semantic_description": "Slim white clip mounted along the side of the blue housing, with a smooth slightly glossy surface and curved elongated shape.",
|
| 832 |
+
"id": 0,
|
| 833 |
+
"grasp_group": {
|
| 834 |
+
"grasp_5": {
|
| 835 |
+
"confidence": 0.8231809139251709,
|
| 836 |
+
"position": [
|
| 837 |
+
-0.08258452406153083,
|
| 838 |
+
-0.015680639538913965,
|
| 839 |
+
-0.004262724771251669
|
| 840 |
+
],
|
| 841 |
+
"orientation": {
|
| 842 |
+
"w": 0.6826295473126514,
|
| 843 |
+
"xyz": [
|
| 844 |
+
-0.25948654803383964,
|
| 845 |
+
0.6492702057673928,
|
| 846 |
+
0.21244253912052194
|
| 847 |
+
]
|
| 848 |
+
}
|
| 849 |
+
},
|
| 850 |
+
"grasp_6": {
|
| 851 |
+
"confidence": 0.7245293855667114,
|
| 852 |
+
"position": [
|
| 853 |
+
0.008178859483450651,
|
| 854 |
+
0.13045272743329406,
|
| 855 |
+
0.04635753634283901
|
| 856 |
+
],
|
| 857 |
+
"orientation": {
|
| 858 |
+
"w": 0.27146300874086243,
|
| 859 |
+
"xyz": [
|
| 860 |
+
0.21482365009491755,
|
| 861 |
+
-0.8191789270704044,
|
| 862 |
+
0.4572794765666144
|
| 863 |
+
]
|
| 864 |
+
}
|
| 865 |
+
},
|
| 866 |
+
"grasp_7": {
|
| 867 |
+
"confidence": 0.6432015299797058,
|
| 868 |
+
"position": [
|
| 869 |
+
-0.0657059564255178,
|
| 870 |
+
0.10194418346509337,
|
| 871 |
+
-0.0074547346412146
|
| 872 |
+
],
|
| 873 |
+
"orientation": {
|
| 874 |
+
"w": 0.2963963433765828,
|
| 875 |
+
"xyz": [
|
| 876 |
+
0.5631731803415385,
|
| 877 |
+
-0.3585948242380228,
|
| 878 |
+
0.6829311302076432
|
| 879 |
+
]
|
| 880 |
+
}
|
| 881 |
+
},
|
| 882 |
+
"grasp_11": {
|
| 883 |
+
"confidence": 0.9357673525810242,
|
| 884 |
+
"position": [
|
| 885 |
+
-0.05703852837905288,
|
| 886 |
+
0.11278865253552794,
|
| 887 |
+
-0.04256016236831783
|
| 888 |
+
],
|
| 889 |
+
"orientation": {
|
| 890 |
+
"w": 0.8391697322388737,
|
| 891 |
+
"xyz": [
|
| 892 |
+
0.4100353707269948,
|
| 893 |
+
0.34224206605845475,
|
| 894 |
+
-0.10264269806933665
|
| 895 |
+
]
|
| 896 |
+
}
|
| 897 |
+
},
|
| 898 |
+
"grasp_12": {
|
| 899 |
+
"confidence": 0.9309595823287964,
|
| 900 |
+
"position": [
|
| 901 |
+
0.01853760378435254,
|
| 902 |
+
0.09553684806451201,
|
| 903 |
+
0.07556812989423634
|
| 904 |
+
],
|
| 905 |
+
"orientation": {
|
| 906 |
+
"w": 0.14690665690799115,
|
| 907 |
+
"xyz": [
|
| 908 |
+
0.05865149994062245,
|
| 909 |
+
-0.9463248395988955,
|
| 910 |
+
0.2818647435720841
|
| 911 |
+
]
|
| 912 |
+
}
|
| 913 |
+
},
|
| 914 |
+
"grasp_14": {
|
| 915 |
+
"confidence": 0.8923028707504272,
|
| 916 |
+
"position": [
|
| 917 |
+
-0.04029640695080161,
|
| 918 |
+
0.11931073432788253,
|
| 919 |
+
-0.04326341149499058
|
| 920 |
+
],
|
| 921 |
+
"orientation": {
|
| 922 |
+
"w": 0.8238044750411876,
|
| 923 |
+
"xyz": [
|
| 924 |
+
0.48131889415049006,
|
| 925 |
+
0.2772166621362555,
|
| 926 |
+
-0.1132661965014109
|
| 927 |
+
]
|
| 928 |
+
}
|
| 929 |
+
},
|
| 930 |
+
"grasp_16": {
|
| 931 |
+
"confidence": 0.8896837830543518,
|
| 932 |
+
"position": [
|
| 933 |
+
-0.07086305459961295,
|
| 934 |
+
0.1216296381317079,
|
| 935 |
+
0.005020298183808336
|
| 936 |
+
],
|
| 937 |
+
"orientation": {
|
| 938 |
+
"w": 0.6245426780911931,
|
| 939 |
+
"xyz": [
|
| 940 |
+
0.31476083368407737,
|
| 941 |
+
0.6439601084977432,
|
| 942 |
+
-0.3101409993611934
|
| 943 |
+
]
|
| 944 |
+
}
|
| 945 |
+
},
|
| 946 |
+
"grasp_17": {
|
| 947 |
+
"confidence": 0.884921133518219,
|
| 948 |
+
"position": [
|
| 949 |
+
-0.06196951260790229,
|
| 950 |
+
0.11923627322539687,
|
| 951 |
+
0.008347807106474647
|
| 952 |
+
],
|
| 953 |
+
"orientation": {
|
| 954 |
+
"w": 0.3347064272682971,
|
| 955 |
+
"xyz": [
|
| 956 |
+
0.6375215960123202,
|
| 957 |
+
-0.3266610460979592,
|
| 958 |
+
0.6122339284337179
|
| 959 |
+
]
|
| 960 |
+
}
|
| 961 |
+
}
|
| 962 |
+
}
|
| 963 |
+
},
|
| 964 |
+
{
|
| 965 |
+
"part_name": "click button",
|
| 966 |
+
"mask_color": "Green",
|
| 967 |
+
"graspable": false,
|
| 968 |
+
"grasp_scenarios": [],
|
| 969 |
+
"functional_labels": [
|
| 970 |
+
"rear push actuator",
|
| 971 |
+
"actuate internal mechanism",
|
| 972 |
+
"mark rear end"
|
| 973 |
+
],
|
| 974 |
+
"semantic_description": "Small blue rear push button protruding from the top end, with a rounded cylindrical form and smooth plastic surface.",
|
| 975 |
+
"id": 1,
|
| 976 |
+
"grasp_group": {}
|
| 977 |
+
},
|
| 978 |
+
{
|
| 979 |
+
"part_name": "barrel collar",
|
| 980 |
+
"mask_color": "Pink",
|
| 981 |
+
"graspable": false,
|
| 982 |
+
"grasp_scenarios": [],
|
| 983 |
+
"functional_labels": [
|
| 984 |
+
"transition between barrel and housing",
|
| 985 |
+
"join adjacent body sections",
|
| 986 |
+
"support assembly alignment"
|
| 987 |
+
],
|
| 988 |
+
"semantic_description": "Narrow light beige or pale peach ring-like collar between the light gray barrel and blue rear housing, visible as a small transition band.",
|
| 989 |
+
"id": 8,
|
| 990 |
+
"grasp_group": {}
|
| 991 |
+
}
|
| 992 |
+
],
|
| 993 |
+
"quality_check": {
|
| 994 |
+
"success": false,
|
| 995 |
+
"message": "Multiple mask-color and visual-description mismatches; front tip and clip colors/materials are incorrect."
|
| 996 |
+
}
|
| 997 |
+
}
|
dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b8cf51e46fcb7b01a66014f5f3a991d5cfe660a59144b3e900f1bd3791887bce
|
| 3 |
+
size 3790684
|