Add asset desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b
Browse files
.gitattributes
CHANGED
|
@@ -6675,4 +6675,4 @@ dataset/desktop_supplies/office_tools/df8450421228510f802d6fe8d541f448/affordanc
|
|
| 6675 |
dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6676 |
dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6677 |
dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6678 |
-
dataset/desktop_supplies/office_tools/
|
|
|
|
| 6675 |
dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6676 |
dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6677 |
dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6678 |
+
dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,508 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the container from above by clamping across the lid and sidewalls",
|
| 10 |
+
"confidence": 0.84
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch near the front edge of the lid to lift it after releasing the latch",
|
| 14 |
+
"confidence": 0.71
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the lid while aligning it during closing",
|
| 18 |
+
"confidence": 0.58
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the contents",
|
| 23 |
+
"open for access",
|
| 24 |
+
"provide top protection",
|
| 25 |
+
"form top surface for handling"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long rectangular translucent clear plastic lid with a glossy smooth surface, rounded corners, and a slightly raised rim, forming the top cover of the storage box.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9125803112983704,
|
| 32 |
+
"position": [
|
| 33 |
+
0.0013568942376878113,
|
| 34 |
+
0.1212585448520258,
|
| 35 |
+
0.014527664054185152
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6931609514921356,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.7204633418853519,
|
| 41 |
+
0.01851221134417047,
|
| 42 |
+
0.01085202087432801
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9091492295265198,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.006351153977448121,
|
| 50 |
+
-0.12721981562208384,
|
| 51 |
+
0.010775980073958635
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.0435127450035208,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.011577171397783666,
|
| 57 |
+
0.7087780895747415,
|
| 58 |
+
0.7039930609483765
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.8888619542121887,
|
| 64 |
+
"position": [
|
| 65 |
+
0.003713905898621306,
|
| 66 |
+
-0.11304750002454966,
|
| 67 |
+
0.019149504136294127
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.03490473468898461,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.024180062920149552,
|
| 73 |
+
0.7224523188072158,
|
| 74 |
+
0.6901156650182247
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.8800926804542542,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0025426371430512518,
|
| 82 |
+
-0.11961768276523799,
|
| 83 |
+
0.010345372837036848
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7208193589211623,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6930515141974775,
|
| 89 |
+
-0.008028391064816343,
|
| 90 |
+
-0.00588178629151552
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.8800564408302307,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.0030097394774202257,
|
| 98 |
+
0.12849179946351796,
|
| 99 |
+
0.01365715404972434
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7028901933903753,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.7111676918271355,
|
| 105 |
+
0.012431250579946651,
|
| 106 |
+
0.0055994772902427095
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.8780624866485596,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.001436807360732928,
|
| 114 |
+
-0.1214988426072523,
|
| 115 |
+
0.011245742905884981
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.7169591987817499,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.6969855083024318,
|
| 121 |
+
0.0008634087923917733,
|
| 122 |
+
-0.013415029775948328
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.8762327432632446,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.01184619838022627,
|
| 130 |
+
0.1264000340597704,
|
| 131 |
+
0.014100210275501013
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7001759880149705,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.7131298760530508,
|
| 137 |
+
0.03026866728908173,
|
| 138 |
+
0.01682775886336016
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.8693726658821106,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.0010826258512679487,
|
| 146 |
+
-0.1259752259356901,
|
| 147 |
+
0.0116957719437778
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.7043535166908229,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.7086208311563983,
|
| 153 |
+
-0.021058902622018927,
|
| 154 |
+
-0.036043914837907004
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.8620989322662354,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.003574786620447412,
|
| 162 |
+
-0.12371217168401927,
|
| 163 |
+
0.013930957298725843
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.708748473420802,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.7053463679365802,
|
| 169 |
+
-0.0018536828294014596,
|
| 170 |
+
-0.012596290022267203
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.8550182580947876,
|
| 176 |
+
"position": [
|
| 177 |
+
0.005533509742235765,
|
| 178 |
+
-0.12163632817100734,
|
| 179 |
+
0.00952433468773961
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.7209238734421305,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.6928888633571756,
|
| 185 |
+
-0.011204808342997086,
|
| 186 |
+
-0.006945790580868835
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.836746335029602,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.00038069821312092245,
|
| 194 |
+
-0.12560883618425578,
|
| 195 |
+
0.01433341158553958
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.7087948622378223,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.7053478994253469,
|
| 201 |
+
-0.003057935992931582,
|
| 202 |
+
-0.009210486902417818
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.8316471576690674,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.014293133892351761,
|
| 210 |
+
0.11808334582019597,
|
| 211 |
+
0.01938424212858081
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.04555955880128851,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.0032955617966308804,
|
| 217 |
+
0.7281347754490838,
|
| 218 |
+
-0.6839102387418895
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.8150695562362671,
|
| 224 |
+
"position": [
|
| 225 |
+
0.001023282267851755,
|
| 226 |
+
-0.12725685990881175,
|
| 227 |
+
0.018117026891559362
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.6942081941158266,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.719710042083978,
|
| 233 |
+
-0.006021687645932583,
|
| 234 |
+
-0.007495186709906214
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.8110227584838867,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.010245152428979054,
|
| 242 |
+
0.11812079988885671,
|
| 243 |
+
0.01551056420430541
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.022039136845748826,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.01967190804847225,
|
| 249 |
+
0.7228442164633508,
|
| 250 |
+
-0.6903792662054032
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.6104931235313416,
|
| 256 |
+
"position": [
|
| 257 |
+
0.014211498521035537,
|
| 258 |
+
-0.12902437604498118,
|
| 259 |
+
0.016214473638683558
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.6909748999091093,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.7209890101688529,
|
| 265 |
+
-0.04518770065299427,
|
| 266 |
+
-0.02620317959769951
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_16": {
|
| 271 |
+
"confidence": 0.20287497341632843,
|
| 272 |
+
"position": [
|
| 273 |
+
0.03581708236015402,
|
| 274 |
+
0.10906722687650472,
|
| 275 |
+
0.046889988239854574
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.5601526404632347,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.8239185104753309,
|
| 281 |
+
-0.044435455033105975,
|
| 282 |
+
-0.07357171884752763
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_17": {
|
| 287 |
+
"confidence": 0.801342248916626,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.004021131579065695,
|
| 290 |
+
-0.11134215898346156,
|
| 291 |
+
-0.029090913478285074
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.843061679693434,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.5377625980559217,
|
| 297 |
+
-0.001755170321655286,
|
| 298 |
+
-0.007437186415061782
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_18": {
|
| 303 |
+
"confidence": 0.5618010759353638,
|
| 304 |
+
"position": [
|
| 305 |
+
0.008706214226549491,
|
| 306 |
+
0.11232735507655889,
|
| 307 |
+
0.016034043859690428
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.6965062884906454,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.716932400998838,
|
| 313 |
+
0.029317249529188683,
|
| 314 |
+
-0.005236541900016161
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_19": {
|
| 319 |
+
"confidence": 0.5202319025993347,
|
| 320 |
+
"position": [
|
| 321 |
+
0.01897747939801775,
|
| 322 |
+
-0.10558639175724238,
|
| 323 |
+
-0.023655849043279886
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.8249407697834246,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.5623998959813749,
|
| 329 |
+
-0.005525326849572076,
|
| 330 |
+
0.056111978333283075
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"part_name": "box body",
|
| 338 |
+
"mask_color": "Pink",
|
| 339 |
+
"graspable": true,
|
| 340 |
+
"grasp_scenarios": [
|
| 341 |
+
{
|
| 342 |
+
"scenario": "grasp the box body from the long sides to pick up and move the container",
|
| 343 |
+
"confidence": 0.92
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"scenario": "hold the body steady while opening or closing the lid",
|
| 347 |
+
"confidence": 0.82
|
| 348 |
+
},
|
| 349 |
+
{
|
| 350 |
+
"scenario": "stabilize the container on one side during manipulation",
|
| 351 |
+
"confidence": 0.63
|
| 352 |
+
}
|
| 353 |
+
],
|
| 354 |
+
"functional_labels": [
|
| 355 |
+
"contain contents",
|
| 356 |
+
"support the lid",
|
| 357 |
+
"provide main structure",
|
| 358 |
+
"provide primary grasp surface"
|
| 359 |
+
],
|
| 360 |
+
"semantic_description": "Rectangular translucent clear plastic base with glossy smooth walls, rounded edges, and the main storage volume beneath the lid.",
|
| 361 |
+
"id": 8,
|
| 362 |
+
"grasp_group": {}
|
| 363 |
+
},
|
| 364 |
+
{
|
| 365 |
+
"part_name": "front label area",
|
| 366 |
+
"mask_color": "Green",
|
| 367 |
+
"graspable": false,
|
| 368 |
+
"grasp_scenarios": [],
|
| 369 |
+
"functional_labels": [
|
| 370 |
+
"display product information",
|
| 371 |
+
"identify contents",
|
| 372 |
+
"provide branding"
|
| 373 |
+
],
|
| 374 |
+
"semantic_description": "Flat rectangular labeled area on one long side near the front, showing a white background with blue printed characters and a red stripe visible through the clear plastic.",
|
| 375 |
+
"id": 1,
|
| 376 |
+
"grasp_group": {}
|
| 377 |
+
},
|
| 378 |
+
{
|
| 379 |
+
"part_name": "front latch",
|
| 380 |
+
"mask_color": "Magenta",
|
| 381 |
+
"graspable": true,
|
| 382 |
+
"grasp_scenarios": [
|
| 383 |
+
{
|
| 384 |
+
"scenario": "pinch the front latch to release or secure the lid",
|
| 385 |
+
"confidence": 0.87
|
| 386 |
+
},
|
| 387 |
+
{
|
| 388 |
+
"scenario": "pull the latch outward slightly to open the closure",
|
| 389 |
+
"confidence": 0.77
|
| 390 |
+
}
|
| 391 |
+
],
|
| 392 |
+
"functional_labels": [
|
| 393 |
+
"lock the lid",
|
| 394 |
+
"release the lid",
|
| 395 |
+
"assist opening",
|
| 396 |
+
"secure closure"
|
| 397 |
+
],
|
| 398 |
+
"semantic_description": "Small centered translucent plastic latch at the front edge, glossy and smooth with a narrow protruding clasp shape sized for fingertip or small gripper engagement.",
|
| 399 |
+
"id": 7,
|
| 400 |
+
"grasp_group": {
|
| 401 |
+
"grasp_20": {
|
| 402 |
+
"confidence": 0.9621905088424683,
|
| 403 |
+
"position": [
|
| 404 |
+
0.0103495403600391,
|
| 405 |
+
0.0107993382262066,
|
| 406 |
+
0.10887579387053847
|
| 407 |
+
],
|
| 408 |
+
"orientation": {
|
| 409 |
+
"w": 0.041426079889742125,
|
| 410 |
+
"xyz": [
|
| 411 |
+
0.009466036987831748,
|
| 412 |
+
-0.9990966323706642,
|
| 413 |
+
-0.00043958424922628633
|
| 414 |
+
]
|
| 415 |
+
}
|
| 416 |
+
},
|
| 417 |
+
"grasp_21": {
|
| 418 |
+
"confidence": 0.7452771663665771,
|
| 419 |
+
"position": [
|
| 420 |
+
0.10258380635059439,
|
| 421 |
+
0.03888864733744413,
|
| 422 |
+
0.010573680978268385
|
| 423 |
+
],
|
| 424 |
+
"orientation": {
|
| 425 |
+
"w": 0.18370574837133258,
|
| 426 |
+
"xyz": [
|
| 427 |
+
0.691982195451923,
|
| 428 |
+
0.16670186000920417,
|
| 429 |
+
-0.6779552559441793
|
| 430 |
+
]
|
| 431 |
+
}
|
| 432 |
+
}
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"part_name": "end wall",
|
| 437 |
+
"mask_color": "Purple",
|
| 438 |
+
"graspable": false,
|
| 439 |
+
"grasp_scenarios": [],
|
| 440 |
+
"functional_labels": [
|
| 441 |
+
"close one short end of the container",
|
| 442 |
+
"form sidewall structure",
|
| 443 |
+
"support enclosure shape"
|
| 444 |
+
],
|
| 445 |
+
"semantic_description": "Short translucent clear plastic end wall on one narrow side of the box, glossy and smooth, forming the visible end face of the body.",
|
| 446 |
+
"id": 5,
|
| 447 |
+
"grasp_group": {}
|
| 448 |
+
},
|
| 449 |
+
{
|
| 450 |
+
"part_name": "left embossed circle",
|
| 451 |
+
"mask_color": "Orange",
|
| 452 |
+
"graspable": false,
|
| 453 |
+
"grasp_scenarios": [],
|
| 454 |
+
"functional_labels": [
|
| 455 |
+
"provide molded surface detail",
|
| 456 |
+
"serve as decorative or tooling mark feature"
|
| 457 |
+
],
|
| 458 |
+
"semantic_description": "Small circular embossed feature on the lid top near one corner, translucent clear plastic with a glossy smooth finish and shallow raised ring detail.",
|
| 459 |
+
"id": 4,
|
| 460 |
+
"grasp_group": {}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"part_name": "right embossed circle",
|
| 464 |
+
"mask_color": "Yellow",
|
| 465 |
+
"graspable": false,
|
| 466 |
+
"grasp_scenarios": [],
|
| 467 |
+
"functional_labels": [
|
| 468 |
+
"provide molded surface detail",
|
| 469 |
+
"serve as decorative or tooling mark feature"
|
| 470 |
+
],
|
| 471 |
+
"semantic_description": "Small circular embossed feature on the lid top near the opposite corner, translucent clear plastic with a glossy smooth finish and shallow raised ring detail.",
|
| 472 |
+
"id": 3,
|
| 473 |
+
"grasp_group": {}
|
| 474 |
+
},
|
| 475 |
+
{
|
| 476 |
+
"part_name": "side nub",
|
| 477 |
+
"mask_color": "Lime Green",
|
| 478 |
+
"graspable": false,
|
| 479 |
+
"grasp_scenarios": [],
|
| 480 |
+
"functional_labels": [
|
| 481 |
+
"provide small retaining detail",
|
| 482 |
+
"assist lid alignment",
|
| 483 |
+
"guide closure"
|
| 484 |
+
],
|
| 485 |
+
"semantic_description": "Tiny translucent plastic protrusion along a side edge near the front half of the container, glossy and smooth with a very small profile.",
|
| 486 |
+
"id": 9,
|
| 487 |
+
"grasp_group": {}
|
| 488 |
+
},
|
| 489 |
+
{
|
| 490 |
+
"part_name": "upper side strip",
|
| 491 |
+
"mask_color": "Cyan",
|
| 492 |
+
"graspable": false,
|
| 493 |
+
"grasp_scenarios": [],
|
| 494 |
+
"functional_labels": [
|
| 495 |
+
"form upper side edge detail",
|
| 496 |
+
"define lid-body seam",
|
| 497 |
+
"support enclosure interface"
|
| 498 |
+
],
|
| 499 |
+
"semantic_description": "Narrow translucent strip along the upper side edge below the lid, glossy smooth plastic, appearing as a thin elongated band at the lid-body interface.",
|
| 500 |
+
"id": 6,
|
| 501 |
+
"grasp_group": {}
|
| 502 |
+
}
|
| 503 |
+
],
|
| 504 |
+
"quality_check": {
|
| 505 |
+
"success": false,
|
| 506 |
+
"message": "Several parts misidentified or over-segmented; front green area is side panel not label, cyan strip and side nub functions unsupported."
|
| 507 |
+
}
|
| 508 |
+
}
|
dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c00a338b421bc06a54efa28a7ff595e945f5b848682afb1d682e151022e291c8
|
| 3 |
+
size 3787380
|