Add asset desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e
Browse files
.gitattributes
CHANGED
|
@@ -6616,4 +6616,4 @@ dataset/desktop_supplies/office_tools/975523fc1df05dbda2067ff05e1eb32b/affordanc
|
|
| 6616 |
dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6617 |
dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6618 |
dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6619 |
-
dataset/desktop_supplies/office_tools/
|
|
|
|
| 6616 |
dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6617 |
dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6618 |
dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6619 |
+
dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,522 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "large finger loop handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the large handle loop to pick up and reposition the scissors",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the large handle side to stabilize the scissors during cutting setup",
|
| 14 |
+
"confidence": 0.87
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the handle frame to rotate the scissors orientation",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide primary grip",
|
| 23 |
+
"support hand insertion",
|
| 24 |
+
"control opening and closing",
|
| 25 |
+
"stabilize the tool during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large black plastic handle loop with a matte to slightly satin finish, hard smooth texture, rounded oval shape, and oversized rear position forming the main grip area.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_3": {
|
| 31 |
+
"confidence": 0.9585034847259521,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.11957982135936618,
|
| 34 |
+
-0.011403817276004702,
|
| 35 |
+
0.0055511449281766545
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.687125625017067,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.0025540723074770695,
|
| 41 |
+
0.721377670327843,
|
| 42 |
+
0.08640664854006747
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_4": {
|
| 47 |
+
"confidence": 0.9582000970840454,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.1133762295357883,
|
| 50 |
+
-0.017142339202109724,
|
| 51 |
+
0.0002992281333717983
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.7029865239874546,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.06724190654044498,
|
| 57 |
+
0.705546480253913,
|
| 58 |
+
0.059098538883429134
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_5": {
|
| 63 |
+
"confidence": 0.9574505090713501,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.1168002407066524,
|
| 66 |
+
0.005458594241645187,
|
| 67 |
+
0.002166183647204889
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7056492782858432,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.011710216515658792,
|
| 73 |
+
0.7082065109677654,
|
| 74 |
+
-0.01911817738932452
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_6": {
|
| 79 |
+
"confidence": 0.9571245312690735,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.11852288199588656,
|
| 82 |
+
0.004153337038587779,
|
| 83 |
+
0.004543786850263132
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7005678475298979,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.003909539662866811,
|
| 89 |
+
0.7132449548541103,
|
| 90 |
+
-0.02170347626783614
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_7": {
|
| 95 |
+
"confidence": 0.9569934010505676,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.1213224078528583,
|
| 98 |
+
-0.011654562840703875,
|
| 99 |
+
0.002172707096178783
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6915983774727391,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.017566100489913226,
|
| 105 |
+
0.7150941369016588,
|
| 106 |
+
0.100117389895686
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_8": {
|
| 111 |
+
"confidence": 0.9530626535415649,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.11236297292634845,
|
| 114 |
+
-0.011483641865197569,
|
| 115 |
+
0.006933209002454532
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6850640165999368,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.005198367073778398,
|
| 121 |
+
0.7226149488927076,
|
| 122 |
+
0.09212983108916115
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_9": {
|
| 127 |
+
"confidence": 0.9528840780258179,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.12072426034137607,
|
| 130 |
+
0.004598077561240643,
|
| 131 |
+
-0.012589028123329626
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7462325895971618,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.009367964457288196,
|
| 137 |
+
0.6652070332651073,
|
| 138 |
+
-0.02342576273411938
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_10": {
|
| 143 |
+
"confidence": 0.9491978287696838,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.11373822344467044,
|
| 146 |
+
-0.009327882493380457,
|
| 147 |
+
-0.0029515777896449436
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.7054238748777093,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.0831464894885797,
|
| 153 |
+
0.6866085566566666,
|
| 154 |
+
0.15502421734713542
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_11": {
|
| 159 |
+
"confidence": 0.946237325668335,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.11774039221927524,
|
| 162 |
+
-0.017549243348184973,
|
| 163 |
+
0.00789132526188041
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.674194792292527,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.052711446669880924,
|
| 169 |
+
0.7182938580808523,
|
| 170 |
+
0.1635139715098677
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_12": {
|
| 175 |
+
"confidence": 0.9448810815811157,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.11505740089341998,
|
| 178 |
+
-0.010302489215973765,
|
| 179 |
+
0.010471186582435621
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.6742306313468386,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.05977830992463811,
|
| 185 |
+
0.7245077574237081,
|
| 186 |
+
0.13010810447111615
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_13": {
|
| 191 |
+
"confidence": 0.9404748678207397,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.12534835888072848,
|
| 194 |
+
-0.0030263669905252755,
|
| 195 |
+
-0.003068031062866794
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.7142019045559111,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.0204651041888065,
|
| 201 |
+
0.699445506122645,
|
| 202 |
+
0.016516749198542083
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_14": {
|
| 207 |
+
"confidence": 0.9185537695884705,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.12370032025501132,
|
| 210 |
+
0.02555905975168571,
|
| 211 |
+
-0.006392939500074135
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.7242460316315378,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.11955064878375911,
|
| 217 |
+
0.6767822516482151,
|
| 218 |
+
-0.056045623337812184
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_17": {
|
| 223 |
+
"confidence": 0.9086568355560303,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.10591415269300342,
|
| 226 |
+
-0.014806435036007315,
|
| 227 |
+
-0.004232659954141127
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.7039927073692712,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.020448679557756453,
|
| 233 |
+
0.7039731068120761,
|
| 234 |
+
0.09164051702484644
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_19": {
|
| 239 |
+
"confidence": 0.872633159160614,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.10399775905534625,
|
| 242 |
+
-0.0034656962961889803,
|
| 243 |
+
0.02946535402952577
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.611695118877323,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.005301603522280609,
|
| 249 |
+
0.7903821142051838,
|
| 250 |
+
0.03312232006207667
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"part_name": "small finger loop and attached blade",
|
| 258 |
+
"mask_color": "Yellow",
|
| 259 |
+
"graspable": true,
|
| 260 |
+
"grasp_scenarios": [
|
| 261 |
+
{
|
| 262 |
+
"scenario": "grasp the small handle loop to pick up the scissors when accessible",
|
| 263 |
+
"confidence": 0.74
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"scenario": "pinch the small loop together with the other handle to control orientation",
|
| 267 |
+
"confidence": 0.76
|
| 268 |
+
},
|
| 269 |
+
{
|
| 270 |
+
"scenario": "hold the small loop to steady the scissors for handoff or placement",
|
| 271 |
+
"confidence": 0.68
|
| 272 |
+
}
|
| 273 |
+
],
|
| 274 |
+
"functional_labels": [
|
| 275 |
+
"provide secondary grip",
|
| 276 |
+
"support finger insertion",
|
| 277 |
+
"assist opening and closing",
|
| 278 |
+
"carry one cutting blade as part of the moving half"
|
| 279 |
+
],
|
| 280 |
+
"semantic_description": "Smaller black plastic finger loop connected directly to one dark metallic blade; the loop is rounded and smaller than the main handle, while the attached blade is slim, pointed, and slightly reflective at the front.",
|
| 281 |
+
"id": 3,
|
| 282 |
+
"grasp_group": {
|
| 283 |
+
"grasp_40": {
|
| 284 |
+
"confidence": 0.9512999057769775,
|
| 285 |
+
"position": [
|
| 286 |
+
-0.0881711314432323,
|
| 287 |
+
-0.07862812333041802,
|
| 288 |
+
0.01654701957522775
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.6024850903164274,
|
| 292 |
+
"xyz": [
|
| 293 |
+
-0.2922645783230955,
|
| 294 |
+
0.7052388041612306,
|
| 295 |
+
0.23287627897505403
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_41": {
|
| 300 |
+
"confidence": 0.9478082060813904,
|
| 301 |
+
"position": [
|
| 302 |
+
-0.1076774368993938,
|
| 303 |
+
-0.037792761402670294,
|
| 304 |
+
0.0008453552545688581
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.16282217805789967,
|
| 308 |
+
"xyz": [
|
| 309 |
+
-0.7023744542283067,
|
| 310 |
+
-0.035614375411055055,
|
| 311 |
+
-0.6920192776534846
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_44": {
|
| 316 |
+
"confidence": 0.9431860446929932,
|
| 317 |
+
"position": [
|
| 318 |
+
-0.05787603510543704,
|
| 319 |
+
-0.10366086714202538,
|
| 320 |
+
-0.004470502975891577
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.5987776394457976,
|
| 324 |
+
"xyz": [
|
| 325 |
+
-0.3735668886969708,
|
| 326 |
+
0.5781789817117956,
|
| 327 |
+
0.4094168820111038
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_45": {
|
| 332 |
+
"confidence": 0.9422639012336731,
|
| 333 |
+
"position": [
|
| 334 |
+
-0.055585778784006834,
|
| 335 |
+
-0.10585620306665078,
|
| 336 |
+
-0.0023741992372379173
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.5868975888110417,
|
| 340 |
+
"xyz": [
|
| 341 |
+
-0.39280471419425544,
|
| 342 |
+
0.5763142542162044,
|
| 343 |
+
0.41123905109045156
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_46": {
|
| 348 |
+
"confidence": 0.9384791254997253,
|
| 349 |
+
"position": [
|
| 350 |
+
-0.05921713216230273,
|
| 351 |
+
-0.10293812357122079,
|
| 352 |
+
-0.006083921547542559
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.6021869870883608,
|
| 356 |
+
"xyz": [
|
| 357 |
+
-0.37776532048172695,
|
| 358 |
+
0.5778362352496051,
|
| 359 |
+
0.4009606968960215
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_47": {
|
| 364 |
+
"confidence": 0.9349753260612488,
|
| 365 |
+
"position": [
|
| 366 |
+
-0.05866074515506625,
|
| 367 |
+
-0.10520555131370202,
|
| 368 |
+
-0.006331020984362112
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.5973099577137733,
|
| 372 |
+
"xyz": [
|
| 373 |
+
-0.3753208359901497,
|
| 374 |
+
0.5775935953387247,
|
| 375 |
+
0.410780626504356
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
},
|
| 379 |
+
"grasp_54": {
|
| 380 |
+
"confidence": 0.9097933173179626,
|
| 381 |
+
"position": [
|
| 382 |
+
0.15952135669067502,
|
| 383 |
+
0.02807487122481689,
|
| 384 |
+
-0.001393761038343655
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.06324461024801172,
|
| 388 |
+
"xyz": [
|
| 389 |
+
0.7094554723640505,
|
| 390 |
+
0.07999817802593312,
|
| 391 |
+
-0.6973330219628282
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
}
|
| 396 |
+
},
|
| 397 |
+
{
|
| 398 |
+
"part_name": "opposing blade and shank",
|
| 399 |
+
"mask_color": "Green",
|
| 400 |
+
"graspable": true,
|
| 401 |
+
"grasp_scenarios": [
|
| 402 |
+
{
|
| 403 |
+
"scenario": "carefully pinch the blunt shank area near the pivot to stabilize or reorient the scissors",
|
| 404 |
+
"confidence": 0.42
|
| 405 |
+
},
|
| 406 |
+
{
|
| 407 |
+
"scenario": "hold the closed blade side near the pivot for precise placement while avoiding the tips",
|
| 408 |
+
"confidence": 0.36
|
| 409 |
+
}
|
| 410 |
+
],
|
| 411 |
+
"functional_labels": [
|
| 412 |
+
"cut material",
|
| 413 |
+
"shear against the opposing blade",
|
| 414 |
+
"provide pointed tip for precision",
|
| 415 |
+
"form the second cutting half"
|
| 416 |
+
],
|
| 417 |
+
"semantic_description": "One slim dark metallic blade with a reflective semi-gloss finish, hard smooth surface, tapered pointed shape, and front position extending from the pivot toward the tip.",
|
| 418 |
+
"id": 1,
|
| 419 |
+
"grasp_group": {
|
| 420 |
+
"grasp_20": {
|
| 421 |
+
"confidence": 0.9101306796073914,
|
| 422 |
+
"position": [
|
| 423 |
+
0.16175109194591641,
|
| 424 |
+
-0.007127166318241507,
|
| 425 |
+
-0.002522551472793566
|
| 426 |
+
],
|
| 427 |
+
"orientation": {
|
| 428 |
+
"w": 0.7071218497169799,
|
| 429 |
+
"xyz": [
|
| 430 |
+
0.0033777448340463773,
|
| 431 |
+
-0.7029504784457563,
|
| 432 |
+
-0.07634071879119213
|
| 433 |
+
]
|
| 434 |
+
}
|
| 435 |
+
},
|
| 436 |
+
"grasp_28": {
|
| 437 |
+
"confidence": 0.8535913825035095,
|
| 438 |
+
"position": [
|
| 439 |
+
0.15691210376098752,
|
| 440 |
+
-0.007204815337900072,
|
| 441 |
+
-0.0015557678598270286
|
| 442 |
+
],
|
| 443 |
+
"orientation": {
|
| 444 |
+
"w": 0.7057494092341055,
|
| 445 |
+
"xyz": [
|
| 446 |
+
-0.0036928089642467308,
|
| 447 |
+
-0.7042932187324352,
|
| 448 |
+
-0.07664983088807804
|
| 449 |
+
]
|
| 450 |
+
}
|
| 451 |
+
},
|
| 452 |
+
"grasp_32": {
|
| 453 |
+
"confidence": 0.6639146208763123,
|
| 454 |
+
"position": [
|
| 455 |
+
0.1521368627436459,
|
| 456 |
+
0.01239358022576198,
|
| 457 |
+
-0.0023391761533275712
|
| 458 |
+
],
|
| 459 |
+
"orientation": {
|
| 460 |
+
"w": 0.7107922124203592,
|
| 461 |
+
"xyz": [
|
| 462 |
+
0.07635834239243422,
|
| 463 |
+
-0.6991566041027998,
|
| 464 |
+
-0.011130015682458003
|
| 465 |
+
]
|
| 466 |
+
}
|
| 467 |
+
},
|
| 468 |
+
"grasp_34": {
|
| 469 |
+
"confidence": 0.6366332173347473,
|
| 470 |
+
"position": [
|
| 471 |
+
0.15284960018470883,
|
| 472 |
+
-0.0016101485234685242,
|
| 473 |
+
0.006073676031519426
|
| 474 |
+
],
|
| 475 |
+
"orientation": {
|
| 476 |
+
"w": 0.014866474908551301,
|
| 477 |
+
"xyz": [
|
| 478 |
+
0.7336255916871044,
|
| 479 |
+
-0.0391651679724313,
|
| 480 |
+
-0.6782614309860397
|
| 481 |
+
]
|
| 482 |
+
}
|
| 483 |
+
},
|
| 484 |
+
"grasp_39": {
|
| 485 |
+
"confidence": 0.22687675058841705,
|
| 486 |
+
"position": [
|
| 487 |
+
0.14699980663135648,
|
| 488 |
+
-0.006015973223838955,
|
| 489 |
+
-0.004299055803130614
|
| 490 |
+
],
|
| 491 |
+
"orientation": {
|
| 492 |
+
"w": 0.7137922663058512,
|
| 493 |
+
"xyz": [
|
| 494 |
+
0.026504533385940842,
|
| 495 |
+
-0.6971506827872768,
|
| 496 |
+
-0.061473862422853534
|
| 497 |
+
]
|
| 498 |
+
}
|
| 499 |
+
}
|
| 500 |
+
}
|
| 501 |
+
},
|
| 502 |
+
{
|
| 503 |
+
"part_name": "pivot screw",
|
| 504 |
+
"mask_color": "Blue",
|
| 505 |
+
"graspable": false,
|
| 506 |
+
"grasp_scenarios": [],
|
| 507 |
+
"functional_labels": [
|
| 508 |
+
"connect the two halves",
|
| 509 |
+
"act as rotation joint",
|
| 510 |
+
"maintain blade alignment",
|
| 511 |
+
"enable opening and closing"
|
| 512 |
+
],
|
| 513 |
+
"semantic_description": "Small round silver metal fastener with a reflective smooth finish at the center joint, hard and slightly raised where the blades and handles rotate together.",
|
| 514 |
+
"id": 2,
|
| 515 |
+
"grasp_group": {}
|
| 516 |
+
}
|
| 517 |
+
],
|
| 518 |
+
"quality_check": {
|
| 519 |
+
"success": false,
|
| 520 |
+
"message": "Yellow mask includes small loop and full blade half; description says black handle and dark blade, but blade is metallic silver and scenarios overstate graspability."
|
| 521 |
+
}
|
| 522 |
+
}
|
dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8e9b9435a6ed2dca4d0ef860d208a7ed8b58eff08be75badd9eaffafb00ae568
|
| 3 |
+
size 3781704
|