Add asset desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb
Browse files
.gitattributes
CHANGED
|
@@ -6524,4 +6524,4 @@ dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/affordanc
|
|
| 6524 |
dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6525 |
dataset/desktop_supplies/office_tools/1bacd3889582519e93e11f08cdb6545a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6526 |
dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6527 |
-
dataset/desktop_supplies/office_tools/
|
|
|
|
| 6524 |
dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6525 |
dataset/desktop_supplies/office_tools/1bacd3889582519e93e11f08cdb6545a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6526 |
dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6527 |
+
dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,652 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape roll outer body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical body to pick up and move the tape roll",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer rim to stabilize the roll while dispensing tape",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"support the tape roll structure",
|
| 20 |
+
"protect the wound tape layers",
|
| 21 |
+
"stabilize during dispensing"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large pale translucent plastic cylindrical outer wall with a smooth slightly glossy finish and hard slick texture, forming the side of the roll and enclosing the tape layers.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9210114479064941,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.009399887741892599,
|
| 30 |
+
-0.06163949952679104,
|
| 31 |
+
0.08194009782164358
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.011607579172316832,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.11072365384015313,
|
| 37 |
+
0.9492882247339621,
|
| 38 |
+
0.29403639735156567
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9200212359428406,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.016405141548602842,
|
| 46 |
+
0.10840067579192691,
|
| 47 |
+
-0.0008673460979480296
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7139218698352539,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.693300911852953,
|
| 53 |
+
0.09539751980505295,
|
| 54 |
+
0.023424828918132065
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9199500679969788,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.015209843040793203,
|
| 62 |
+
0.060310981560178334,
|
| 63 |
+
0.08279851646511815
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.2872486443172789,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.9516065232943962,
|
| 69 |
+
0.09602537194623578,
|
| 70 |
+
0.0520804099832571
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9072301983833313,
|
| 76 |
+
"position": [
|
| 77 |
+
0.0020261649187887087,
|
| 78 |
+
-0.020155234869889682,
|
| 79 |
+
-0.09629355548531748
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.9927531623147378,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.10207917960767297,
|
| 85 |
+
0.007573869550763779,
|
| 86 |
+
0.06295741659836594
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.9065427184104919,
|
| 92 |
+
"position": [
|
| 93 |
+
0.03726204800477717,
|
| 94 |
+
0.08475341959638172,
|
| 95 |
+
0.04877646834938787
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.09896877728572405,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.19704092908528123,
|
| 101 |
+
-0.8392178056496256,
|
| 102 |
+
0.49708503102427504
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_6": {
|
| 107 |
+
"confidence": 0.9051231741905212,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.04725618344673421,
|
| 110 |
+
0.09592298730058246,
|
| 111 |
+
-0.019832877354929224
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.21310598437597555,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.12321521240979695,
|
| 117 |
+
0.6337415851158652,
|
| 118 |
+
-0.7333317490391273
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_7": {
|
| 123 |
+
"confidence": 0.9051055908203125,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.05003133472928312,
|
| 126 |
+
0.002225912034191424,
|
| 127 |
+
0.08639807076542638
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.16477858414552182,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.7288479561906959,
|
| 133 |
+
0.6373621610014811,
|
| 134 |
+
0.1881439626646704
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_8": {
|
| 139 |
+
"confidence": 0.9043937921524048,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.036696006180136465,
|
| 142 |
+
0.09258422567290836,
|
| 143 |
+
-0.04203297002823092
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.8187478894272141,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.5395944077463921,
|
| 149 |
+
0.1318227454109694,
|
| 150 |
+
0.14530152263351212
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_9": {
|
| 155 |
+
"confidence": 0.9042928218841553,
|
| 156 |
+
"position": [
|
| 157 |
+
0.10392042937746737,
|
| 158 |
+
0.00039078964982763864,
|
| 159 |
+
-0.0006080620805732906
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.5255735504245544,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.4832361844754748,
|
| 165 |
+
-0.5056174977691483,
|
| 166 |
+
0.48436162013249867
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_10": {
|
| 171 |
+
"confidence": 0.9037898778915405,
|
| 172 |
+
"position": [
|
| 173 |
+
0.01857078018656466,
|
| 174 |
+
-0.005158589829079574,
|
| 175 |
+
0.09528086156933568
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.07338912486209051,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.6971872756899545,
|
| 181 |
+
-0.708588249891835,
|
| 182 |
+
-0.08029091532186287
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_11": {
|
| 187 |
+
"confidence": 0.902102530002594,
|
| 188 |
+
"position": [
|
| 189 |
+
0.005051359432400204,
|
| 190 |
+
-0.004909848936222261,
|
| 191 |
+
0.09815607042401098
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.024488224792692026,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.9984189623399858,
|
| 197 |
+
0.04714031930932063,
|
| 198 |
+
0.018376419179585858
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_12": {
|
| 203 |
+
"confidence": 0.900922954082489,
|
| 204 |
+
"position": [
|
| 205 |
+
0.10819502118101809,
|
| 206 |
+
-0.011428938854805892,
|
| 207 |
+
-0.005539708683500066
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.5379273615545362,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.5137490477497788,
|
| 213 |
+
-0.47107544156077374,
|
| 214 |
+
0.4741139082388247
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_13": {
|
| 219 |
+
"confidence": 0.899837851524353,
|
| 220 |
+
"position": [
|
| 221 |
+
0.0030539081344613805,
|
| 222 |
+
0.004055164612509543,
|
| 223 |
+
0.09901384086697362
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.011215883292630752,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.1555836992011008,
|
| 229 |
+
-0.9876748317086166,
|
| 230 |
+
-0.012897415021007724
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_14": {
|
| 235 |
+
"confidence": 0.8938072323799133,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.007954614804475568,
|
| 238 |
+
0.04876822172445827,
|
| 239 |
+
0.08782537849037908
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.2539503668846883,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.9619415484268947,
|
| 245 |
+
0.0969876487427524,
|
| 246 |
+
0.027768049275253268
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_15": {
|
| 251 |
+
"confidence": 0.8932658433914185,
|
| 252 |
+
"position": [
|
| 253 |
+
-0.055678930701105855,
|
| 254 |
+
0.0784009800736385,
|
| 255 |
+
0.04565344945876859
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.5010498455655268,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.8061074976031418,
|
| 261 |
+
0.26980316904239465,
|
| 262 |
+
0.1623145235074288
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_16": {
|
| 267 |
+
"confidence": 0.8930757641792297,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.041606601895182393,
|
| 270 |
+
0.10638331933660083,
|
| 271 |
+
0.0026636096590664238
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.6725839464627338,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.7078896128071536,
|
| 277 |
+
0.0726927537525236,
|
| 278 |
+
0.203073618651532
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_17": {
|
| 283 |
+
"confidence": 0.8923020362854004,
|
| 284 |
+
"position": [
|
| 285 |
+
-0.05294760373362806,
|
| 286 |
+
0.017211296919413144,
|
| 287 |
+
0.08484877468436025
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.21650482741778748,
|
| 291 |
+
"xyz": [
|
| 292 |
+
0.7293681431744409,
|
| 293 |
+
0.6336101101250036,
|
| 294 |
+
0.14030680587356945
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_18": {
|
| 299 |
+
"confidence": 0.8917708992958069,
|
| 300 |
+
"position": [
|
| 301 |
+
-0.06187854763993528,
|
| 302 |
+
0.07673398717088276,
|
| 303 |
+
-0.047698447393486276
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.3053166943694234,
|
| 307 |
+
"xyz": [
|
| 308 |
+
-0.17114155682734095,
|
| 309 |
+
0.49955582017416267,
|
| 310 |
+
-0.7924242968234642
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
"grasp_19": {
|
| 315 |
+
"confidence": 0.8911459445953369,
|
| 316 |
+
"position": [
|
| 317 |
+
0.10595467629900668,
|
| 318 |
+
-0.013920908470026916,
|
| 319 |
+
-0.0005488909664563835
|
| 320 |
+
],
|
| 321 |
+
"orientation": {
|
| 322 |
+
"w": 0.5540635905366424,
|
| 323 |
+
"xyz": [
|
| 324 |
+
-0.5200327661187774,
|
| 325 |
+
-0.46495336337302207,
|
| 326 |
+
0.4543102790963593
|
| 327 |
+
]
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
{
|
| 333 |
+
"part_name": "top tape edge surface",
|
| 334 |
+
"mask_color": "Yellow",
|
| 335 |
+
"graspable": true,
|
| 336 |
+
"grasp_scenarios": [
|
| 337 |
+
{
|
| 338 |
+
"scenario": "pinch the top annular edge to lift the tape roll from above",
|
| 339 |
+
"confidence": 0.72
|
| 340 |
+
},
|
| 341 |
+
{
|
| 342 |
+
"scenario": "hold the top edge to orient the roll before dispensing",
|
| 343 |
+
"confidence": 0.64
|
| 344 |
+
}
|
| 345 |
+
],
|
| 346 |
+
"functional_labels": [
|
| 347 |
+
"provide an upper contact surface",
|
| 348 |
+
"expose tape edge area",
|
| 349 |
+
"support top-side handling",
|
| 350 |
+
"indicate roll opening boundary"
|
| 351 |
+
],
|
| 352 |
+
"semantic_description": "Flat annular upper surface of the translucent white tape with a faintly glossy smooth plastic finish, encircling the center hole as a medium-width ring.",
|
| 353 |
+
"id": 3,
|
| 354 |
+
"grasp_group": {
|
| 355 |
+
"grasp_62": {
|
| 356 |
+
"confidence": 0.8710480332374573,
|
| 357 |
+
"position": [
|
| 358 |
+
-0.05288105887302663,
|
| 359 |
+
0.09083665474099689,
|
| 360 |
+
0.01924099968164228
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.4818281464685499,
|
| 364 |
+
"xyz": [
|
| 365 |
+
0.7743627212199299,
|
| 366 |
+
-0.09201954037708082,
|
| 367 |
+
0.39967038599868443
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_66": {
|
| 372 |
+
"confidence": 0.6349932551383972,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.09362205919751432,
|
| 375 |
+
0.01837950325352722,
|
| 376 |
+
-0.0016378530126530677
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.04746091591001777,
|
| 380 |
+
"xyz": [
|
| 381 |
+
-0.6972162276070327,
|
| 382 |
+
0.024717375171963596,
|
| 383 |
+
-0.714860856941411
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_67": {
|
| 388 |
+
"confidence": 0.9592404961585999,
|
| 389 |
+
"position": [
|
| 390 |
+
0.11142924371233676,
|
| 391 |
+
0.022720055047102505,
|
| 392 |
+
-0.00519895731122233
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.10851331312463376,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.6999149747446065,
|
| 398 |
+
0.0710789691277337,
|
| 399 |
+
-0.702347256811551
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_68": {
|
| 404 |
+
"confidence": 0.9563928842544556,
|
| 405 |
+
"position": [
|
| 406 |
+
0.08035855683556292,
|
| 407 |
+
0.07897414578837925,
|
| 408 |
+
-0.003840710181975737
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.2896708333715668,
|
| 412 |
+
"xyz": [
|
| 413 |
+
0.6445657275146426,
|
| 414 |
+
0.29414689564075713,
|
| 415 |
+
-0.6435086906889814
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_69": {
|
| 420 |
+
"confidence": 0.9398976564407349,
|
| 421 |
+
"position": [
|
| 422 |
+
0.0973743418144295,
|
| 423 |
+
0.06489360644263797,
|
| 424 |
+
-0.004057310434291139
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.21375235975525442,
|
| 428 |
+
"xyz": [
|
| 429 |
+
0.6754818102190927,
|
| 430 |
+
0.22550448674585466,
|
| 431 |
+
-0.6687166658755307
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_73": {
|
| 436 |
+
"confidence": 0.8018770217895508,
|
| 437 |
+
"position": [
|
| 438 |
+
0.08082689288130496,
|
| 439 |
+
0.06491495235604816,
|
| 440 |
+
0.029732039285590872
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.39049744650093643,
|
| 444 |
+
"xyz": [
|
| 445 |
+
-0.17751631065794582,
|
| 446 |
+
-0.7828313160253494,
|
| 447 |
+
0.4507491923194756
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_77": {
|
| 452 |
+
"confidence": 0.9716939926147461,
|
| 453 |
+
"position": [
|
| 454 |
+
0.0976656967686722,
|
| 455 |
+
0.054825126517243916,
|
| 456 |
+
-0.000307612170217908
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.6859258119915493,
|
| 460 |
+
"xyz": [
|
| 461 |
+
0.17461371389963026,
|
| 462 |
+
-0.6828529300670165,
|
| 463 |
+
0.18090800772990193
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_79": {
|
| 468 |
+
"confidence": 0.9705383777618408,
|
| 469 |
+
"position": [
|
| 470 |
+
-0.04893266838917043,
|
| 471 |
+
0.10093404664439731,
|
| 472 |
+
0.0004556284111458808
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.3843096363605502,
|
| 476 |
+
"xyz": [
|
| 477 |
+
0.6077436479737225,
|
| 478 |
+
-0.35798318317682154,
|
| 479 |
+
0.5956524173631833
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
}
|
| 484 |
+
},
|
| 485 |
+
{
|
| 486 |
+
"part_name": "inner cardboard core",
|
| 487 |
+
"mask_color": "Green",
|
| 488 |
+
"graspable": true,
|
| 489 |
+
"grasp_scenarios": [
|
| 490 |
+
{
|
| 491 |
+
"scenario": "insert gripper fingers into the core to pick up the tape roll",
|
| 492 |
+
"confidence": 0.9
|
| 493 |
+
},
|
| 494 |
+
{
|
| 495 |
+
"scenario": "hold the inner core to stabilize the roll while peeling tape",
|
| 496 |
+
"confidence": 0.86
|
| 497 |
+
}
|
| 498 |
+
],
|
| 499 |
+
"functional_labels": [
|
| 500 |
+
"mount on a spindle",
|
| 501 |
+
"provide inner gripping surface",
|
| 502 |
+
"maintain roll shape",
|
| 503 |
+
"support rotation during dispensing"
|
| 504 |
+
],
|
| 505 |
+
"semantic_description": "Brown cardboard inner ring with a matte slightly fibrous texture and printed blue markings, lining the central hole as a rigid cylindrical core.",
|
| 506 |
+
"id": 1,
|
| 507 |
+
"grasp_group": {
|
| 508 |
+
"grasp_30": {
|
| 509 |
+
"confidence": 0.763033390045166,
|
| 510 |
+
"position": [
|
| 511 |
+
0.006620967193157412,
|
| 512 |
+
-0.08691925243692822,
|
| 513 |
+
0.047914384020259604
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.18680354513337005,
|
| 517 |
+
"xyz": [
|
| 518 |
+
-0.2508625427975064,
|
| 519 |
+
-0.8199943219751791,
|
| 520 |
+
-0.4793555382753391
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_31": {
|
| 525 |
+
"confidence": 0.7488569617271423,
|
| 526 |
+
"position": [
|
| 527 |
+
-0.00743853636959102,
|
| 528 |
+
-0.08811210529165692,
|
| 529 |
+
0.04791499496786855
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.5190756567067926,
|
| 533 |
+
"xyz": [
|
| 534 |
+
-0.8006087605257053,
|
| 535 |
+
0.2720081516946117,
|
| 536 |
+
0.12489051443399134
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_36": {
|
| 541 |
+
"confidence": 0.6428887844085693,
|
| 542 |
+
"position": [
|
| 543 |
+
0.0384870314883301,
|
| 544 |
+
0.08373612477225834,
|
| 545 |
+
0.05602731378166936
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.5061953155471567,
|
| 549 |
+
"xyz": [
|
| 550 |
+
0.766587174867707,
|
| 551 |
+
-0.39241959382039227,
|
| 552 |
+
0.046013783068775314
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
}
|
| 556 |
+
}
|
| 557 |
+
},
|
| 558 |
+
{
|
| 559 |
+
"part_name": "bottom tape edge surface",
|
| 560 |
+
"mask_color": "Blue",
|
| 561 |
+
"graspable": true,
|
| 562 |
+
"grasp_scenarios": [
|
| 563 |
+
{
|
| 564 |
+
"scenario": "pinch the bottom annular edge to lift or reposition the tape roll",
|
| 565 |
+
"confidence": 0.68
|
| 566 |
+
},
|
| 567 |
+
{
|
| 568 |
+
"scenario": "support the roll from below at the bottom edge during placement",
|
| 569 |
+
"confidence": 0.61
|
| 570 |
+
}
|
| 571 |
+
],
|
| 572 |
+
"functional_labels": [
|
| 573 |
+
"provide a lower contact surface",
|
| 574 |
+
"support bottom-side handling",
|
| 575 |
+
"stabilize placement on a surface",
|
| 576 |
+
"define lower roll boundary"
|
| 577 |
+
],
|
| 578 |
+
"semantic_description": "Flat annular lower surface of the translucent white tape with a smooth slightly glossy plastic finish, visible as the bottom ring around the central opening.",
|
| 579 |
+
"id": 2,
|
| 580 |
+
"grasp_group": {
|
| 581 |
+
"grasp_40": {
|
| 582 |
+
"confidence": 0.9030226469039917,
|
| 583 |
+
"position": [
|
| 584 |
+
-0.026248487280099653,
|
| 585 |
+
-0.10361448363619274,
|
| 586 |
+
0.014322254894068465
|
| 587 |
+
],
|
| 588 |
+
"orientation": {
|
| 589 |
+
"w": 0.4616695081415876,
|
| 590 |
+
"xyz": [
|
| 591 |
+
-0.574622850969458,
|
| 592 |
+
-0.4781428427741099,
|
| 593 |
+
-0.47754504112170354
|
| 594 |
+
]
|
| 595 |
+
}
|
| 596 |
+
},
|
| 597 |
+
"grasp_53": {
|
| 598 |
+
"confidence": 0.9424168467521667,
|
| 599 |
+
"position": [
|
| 600 |
+
0.11463878247013781,
|
| 601 |
+
-0.011084301073424285,
|
| 602 |
+
-0.008712514216313139
|
| 603 |
+
],
|
| 604 |
+
"orientation": {
|
| 605 |
+
"w": 0.7218059261291303,
|
| 606 |
+
"xyz": [
|
| 607 |
+
-0.02158996245266553,
|
| 608 |
+
-0.6915531837697962,
|
| 609 |
+
-0.01686038386334251
|
| 610 |
+
]
|
| 611 |
+
}
|
| 612 |
+
},
|
| 613 |
+
"grasp_54": {
|
| 614 |
+
"confidence": 0.9254639744758606,
|
| 615 |
+
"position": [
|
| 616 |
+
-0.110142037839978,
|
| 617 |
+
-0.007451702516846126,
|
| 618 |
+
-0.006805131124565378
|
| 619 |
+
],
|
| 620 |
+
"orientation": {
|
| 621 |
+
"w": 0.04353834245608133,
|
| 622 |
+
"xyz": [
|
| 623 |
+
0.7008949387978859,
|
| 624 |
+
-0.013397643716046126,
|
| 625 |
+
0.7118084016408786
|
| 626 |
+
]
|
| 627 |
+
}
|
| 628 |
+
},
|
| 629 |
+
"grasp_55": {
|
| 630 |
+
"confidence": 0.913943350315094,
|
| 631 |
+
"position": [
|
| 632 |
+
0.054621092407614924,
|
| 633 |
+
0.09850443466348224,
|
| 634 |
+
-0.005519220983842388
|
| 635 |
+
],
|
| 636 |
+
"orientation": {
|
| 637 |
+
"w": 0.396277547187695,
|
| 638 |
+
"xyz": [
|
| 639 |
+
0.5774751576546355,
|
| 640 |
+
0.40052262971161634,
|
| 641 |
+
-0.5908199141663636
|
| 642 |
+
]
|
| 643 |
+
}
|
| 644 |
+
}
|
| 645 |
+
}
|
| 646 |
+
}
|
| 647 |
+
],
|
| 648 |
+
"quality_check": {
|
| 649 |
+
"success": true,
|
| 650 |
+
"message": "YES"
|
| 651 |
+
}
|
| 652 |
+
}
|
dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3b522fc896023e500418f28c872aaaadc4fdf821d68a98ea99306242ec1ab1a9
|
| 3 |
+
size 3786204
|