Add asset desktop_supplies/office_stationery/5edb9133c674554db3573800759e3e06
Browse files
.gitattributes
CHANGED
|
@@ -6346,4 +6346,4 @@ dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/affo
|
|
| 6346 |
dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6347 |
dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6348 |
dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6349 |
-
dataset/desktop_supplies/office_stationery/
|
|
|
|
| 6346 |
dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6347 |
dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6348 |
dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6349 |
+
dataset/desktop_supplies/office_stationery/5edb9133c674554db3573800759e3e06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/5edb9133c674554db3573800759e3e06/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1269 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base of pen holder",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottom base from the side or underside to pick up the pen holder",
|
| 10 |
+
"confidence": 0.77
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the pen holder during placement or repositioning",
|
| 14 |
+
"confidence": 0.73
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support on a desk",
|
| 19 |
+
"provide stability",
|
| 20 |
+
"form the bottom closure",
|
| 21 |
+
"bear the stored items' weight"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Round dark gray to black circular bottom base with a smooth hard surface and slightly raised edge, located at the bottom of the holder for stable support.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_15": {
|
| 27 |
+
"confidence": 0.8124964237213135,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.05749109591124579,
|
| 30 |
+
-0.07425237216375535,
|
| 31 |
+
-0.08670656941831112
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.8122849579524941,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.48478836526187474,
|
| 37 |
+
0.1777733998492279,
|
| 38 |
+
-0.2712379145637276
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"part_name": "main mesh body",
|
| 46 |
+
"mask_color": "Green",
|
| 47 |
+
"graspable": true,
|
| 48 |
+
"grasp_scenarios": [
|
| 49 |
+
{
|
| 50 |
+
"scenario": "grasp the lower side mesh body to lift and relocate the empty or lightly loaded pen holder",
|
| 51 |
+
"confidence": 0.8
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"scenario": "hold the body to stabilize the holder while inserting or removing stationery",
|
| 55 |
+
"confidence": 0.74
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"functional_labels": [
|
| 59 |
+
"contain pens and tools",
|
| 60 |
+
"form the main side wall",
|
| 61 |
+
"allow visibility of contents",
|
| 62 |
+
"reduce weight with open lattice"
|
| 63 |
+
],
|
| 64 |
+
"semantic_description": "White or light gray open lattice body forming the lower main side wall, with a hard plastic-like surface and diamond-shaped holes around the tapered cylindrical holder.",
|
| 65 |
+
"id": 1,
|
| 66 |
+
"grasp_group": {
|
| 67 |
+
"grasp_20": {
|
| 68 |
+
"confidence": 0.8472229838371277,
|
| 69 |
+
"position": [
|
| 70 |
+
0.004640766710508615,
|
| 71 |
+
0.11356558881379897,
|
| 72 |
+
-0.017733827233314514
|
| 73 |
+
],
|
| 74 |
+
"orientation": {
|
| 75 |
+
"w": 0.7118242554847459,
|
| 76 |
+
"xyz": [
|
| 77 |
+
0.7019203189565835,
|
| 78 |
+
-0.02421387406125375,
|
| 79 |
+
0.005271000134786131
|
| 80 |
+
]
|
| 81 |
+
}
|
| 82 |
+
},
|
| 83 |
+
"grasp_21": {
|
| 84 |
+
"confidence": 0.8376603722572327,
|
| 85 |
+
"position": [
|
| 86 |
+
0.01961763558210805,
|
| 87 |
+
0.10759139291621977,
|
| 88 |
+
-0.021352505311369896
|
| 89 |
+
],
|
| 90 |
+
"orientation": {
|
| 91 |
+
"w": 0.07148916779807614,
|
| 92 |
+
"xyz": [
|
| 93 |
+
-0.045083058994683796,
|
| 94 |
+
-0.7144300852768861,
|
| 95 |
+
0.694583666616543
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
+
"grasp_22": {
|
| 100 |
+
"confidence": 0.8364830017089844,
|
| 101 |
+
"position": [
|
| 102 |
+
-0.0010893983126152307,
|
| 103 |
+
-0.006365399829519447,
|
| 104 |
+
-0.12373082898557186
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.996775361418947,
|
| 108 |
+
"xyz": [
|
| 109 |
+
-0.001980444627654692,
|
| 110 |
+
0.024197961565342707,
|
| 111 |
+
0.07648147071864066
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_23": {
|
| 116 |
+
"confidence": 0.8359847068786621,
|
| 117 |
+
"position": [
|
| 118 |
+
-0.00026837881887331605,
|
| 119 |
+
-0.0026227799462503754,
|
| 120 |
+
-0.12331404350697994
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.9866725797172242,
|
| 124 |
+
"xyz": [
|
| 125 |
+
-0.0022072658763231242,
|
| 126 |
+
0.012938412562836121,
|
| 127 |
+
0.1621879955232909
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_25": {
|
| 132 |
+
"confidence": 0.8306505084037781,
|
| 133 |
+
"position": [
|
| 134 |
+
-0.001050773134920746,
|
| 135 |
+
-0.008500158342940267,
|
| 136 |
+
-0.12396703474223614
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.9984086503841316,
|
| 140 |
+
"xyz": [
|
| 141 |
+
-0.01760277708273604,
|
| 142 |
+
0.017741478255490772,
|
| 143 |
+
-0.050552438382560606
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_26": {
|
| 148 |
+
"confidence": 0.8276620507240295,
|
| 149 |
+
"position": [
|
| 150 |
+
-0.014859372924547642,
|
| 151 |
+
-0.06093397505901521,
|
| 152 |
+
-0.10941357724368572
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.9511425424055606,
|
| 156 |
+
"xyz": [
|
| 157 |
+
-0.28406205856001987,
|
| 158 |
+
0.051413586392438204,
|
| 159 |
+
-0.10951371625142603
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"grasp_27": {
|
| 164 |
+
"confidence": 0.8272665143013,
|
| 165 |
+
"position": [
|
| 166 |
+
0.0002134981332346797,
|
| 167 |
+
-0.0055632912772125565,
|
| 168 |
+
-0.12505166791379452
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
+
"w": 0.2888155900727986,
|
| 172 |
+
"xyz": [
|
| 173 |
+
0.005153376672872021,
|
| 174 |
+
0.025794311636071265,
|
| 175 |
+
0.9570233284131532
|
| 176 |
+
]
|
| 177 |
+
}
|
| 178 |
+
},
|
| 179 |
+
"grasp_29": {
|
| 180 |
+
"confidence": 0.8217251896858215,
|
| 181 |
+
"position": [
|
| 182 |
+
0.0278438197565265,
|
| 183 |
+
0.11074032865144545,
|
| 184 |
+
-0.024407632648944855
|
| 185 |
+
],
|
| 186 |
+
"orientation": {
|
| 187 |
+
"w": 0.08481310138106024,
|
| 188 |
+
"xyz": [
|
| 189 |
+
-0.07466075344652626,
|
| 190 |
+
-0.6980363357723998,
|
| 191 |
+
0.7070910716947039
|
| 192 |
+
]
|
| 193 |
+
}
|
| 194 |
+
},
|
| 195 |
+
"grasp_30": {
|
| 196 |
+
"confidence": 0.8149732947349548,
|
| 197 |
+
"position": [
|
| 198 |
+
0.1109700853121467,
|
| 199 |
+
-0.031205655563098844,
|
| 200 |
+
-0.01711247395724058
|
| 201 |
+
],
|
| 202 |
+
"orientation": {
|
| 203 |
+
"w": 0.5533689038745888,
|
| 204 |
+
"xyz": [
|
| 205 |
+
-0.5526320341724734,
|
| 206 |
+
-0.44159289228604737,
|
| 207 |
+
0.43974584536237943
|
| 208 |
+
]
|
| 209 |
+
}
|
| 210 |
+
},
|
| 211 |
+
"grasp_32": {
|
| 212 |
+
"confidence": 0.8144102692604065,
|
| 213 |
+
"position": [
|
| 214 |
+
0.10597310756566003,
|
| 215 |
+
-0.033411154079658445,
|
| 216 |
+
-0.017786357551813126
|
| 217 |
+
],
|
| 218 |
+
"orientation": {
|
| 219 |
+
"w": 0.5673934224386984,
|
| 220 |
+
"xyz": [
|
| 221 |
+
-0.566637816752519,
|
| 222 |
+
-0.4273938013543013,
|
| 223 |
+
0.417517457554963
|
| 224 |
+
]
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
"grasp_33": {
|
| 228 |
+
"confidence": 0.8129202723503113,
|
| 229 |
+
"position": [
|
| 230 |
+
-0.05882168764946982,
|
| 231 |
+
0.09986826263047988,
|
| 232 |
+
-0.02297058515250683
|
| 233 |
+
],
|
| 234 |
+
"orientation": {
|
| 235 |
+
"w": 0.6916145816253536,
|
| 236 |
+
"xyz": [
|
| 237 |
+
0.6685020840930171,
|
| 238 |
+
0.1764344101995906,
|
| 239 |
+
0.20891417602451628
|
| 240 |
+
]
|
| 241 |
+
}
|
| 242 |
+
},
|
| 243 |
+
"grasp_34": {
|
| 244 |
+
"confidence": 0.8108487129211426,
|
| 245 |
+
"position": [
|
| 246 |
+
-0.02175591530976817,
|
| 247 |
+
-0.11448142446897691,
|
| 248 |
+
-0.03226679190993309
|
| 249 |
+
],
|
| 250 |
+
"orientation": {
|
| 251 |
+
"w": 0.7211153509251724,
|
| 252 |
+
"xyz": [
|
| 253 |
+
-0.6853767722945117,
|
| 254 |
+
0.06915702252723743,
|
| 255 |
+
-0.07395023255129321
|
| 256 |
+
]
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"grasp_36": {
|
| 260 |
+
"confidence": 0.8029122352600098,
|
| 261 |
+
"position": [
|
| 262 |
+
0.02931096201064065,
|
| 263 |
+
0.10833655528404051,
|
| 264 |
+
-0.022703388705849648
|
| 265 |
+
],
|
| 266 |
+
"orientation": {
|
| 267 |
+
"w": 0.7044976008706866,
|
| 268 |
+
"xyz": [
|
| 269 |
+
0.6982809770762828,
|
| 270 |
+
-0.09194519736429552,
|
| 271 |
+
-0.0873664014508979
|
| 272 |
+
]
|
| 273 |
+
}
|
| 274 |
+
},
|
| 275 |
+
"grasp_37": {
|
| 276 |
+
"confidence": 0.802487850189209,
|
| 277 |
+
"position": [
|
| 278 |
+
0.10669600759865716,
|
| 279 |
+
-0.038358488607627805,
|
| 280 |
+
0.0013281246647238731
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.40754529524774236,
|
| 284 |
+
"xyz": [
|
| 285 |
+
0.411352062059111,
|
| 286 |
+
-0.5813486426667959,
|
| 287 |
+
-0.5716030694727082
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"grasp_38": {
|
| 292 |
+
"confidence": 0.8003720045089722,
|
| 293 |
+
"position": [
|
| 294 |
+
0.1065181249869056,
|
| 295 |
+
-0.02609768092952436,
|
| 296 |
+
-0.007078805705532432
|
| 297 |
+
],
|
| 298 |
+
"orientation": {
|
| 299 |
+
"w": 0.43879642726208334,
|
| 300 |
+
"xyz": [
|
| 301 |
+
0.44480723074469963,
|
| 302 |
+
-0.5501057140647184,
|
| 303 |
+
-0.5540649115876304
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
},
|
| 307 |
+
"grasp_39": {
|
| 308 |
+
"confidence": 0.7985876202583313,
|
| 309 |
+
"position": [
|
| 310 |
+
-0.02549569885013625,
|
| 311 |
+
0.11148293547012145,
|
| 312 |
+
0.006762494333088398
|
| 313 |
+
],
|
| 314 |
+
"orientation": {
|
| 315 |
+
"w": 0.060283045003176036,
|
| 316 |
+
"xyz": [
|
| 317 |
+
-0.0985750483319663,
|
| 318 |
+
0.7051295624422531,
|
| 319 |
+
-0.6996007536455996
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
}
|
| 323 |
+
}
|
| 324 |
+
},
|
| 325 |
+
{
|
| 326 |
+
"part_name": "middle band",
|
| 327 |
+
"mask_color": "Orange",
|
| 328 |
+
"graspable": true,
|
| 329 |
+
"grasp_scenarios": [
|
| 330 |
+
{
|
| 331 |
+
"scenario": "grasp the solid middle band to lift the pen holder securely",
|
| 332 |
+
"confidence": 0.86
|
| 333 |
+
},
|
| 334 |
+
{
|
| 335 |
+
"scenario": "hold the band to rotate or reposition the holder on a desk",
|
| 336 |
+
"confidence": 0.8
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"functional_labels": [
|
| 340 |
+
"reinforce the structure",
|
| 341 |
+
"provide a solid grip area",
|
| 342 |
+
"stiffen the side wall",
|
| 343 |
+
"visually divide the body"
|
| 344 |
+
],
|
| 345 |
+
"semantic_description": "Solid white or light gray band wrapped around the middle circumference, with a smooth hard surface and broader width than the open lattice sections.",
|
| 346 |
+
"id": 4,
|
| 347 |
+
"grasp_group": {
|
| 348 |
+
"grasp_80": {
|
| 349 |
+
"confidence": 0.7878077030181885,
|
| 350 |
+
"position": [
|
| 351 |
+
0.023387774650473148,
|
| 352 |
+
0.10757844380714232,
|
| 353 |
+
0.019054770469665527
|
| 354 |
+
],
|
| 355 |
+
"orientation": {
|
| 356 |
+
"w": 0.09967160406587279,
|
| 357 |
+
"xyz": [
|
| 358 |
+
-0.06933818981236475,
|
| 359 |
+
-0.7011462812024883,
|
| 360 |
+
0.7026035006548157
|
| 361 |
+
]
|
| 362 |
+
}
|
| 363 |
+
},
|
| 364 |
+
"grasp_81": {
|
| 365 |
+
"confidence": 0.7835832238197327,
|
| 366 |
+
"position": [
|
| 367 |
+
0.008609214622993022,
|
| 368 |
+
0.11654693863965804,
|
| 369 |
+
0.015346299856901169
|
| 370 |
+
],
|
| 371 |
+
"orientation": {
|
| 372 |
+
"w": 0.7262969411079535,
|
| 373 |
+
"xyz": [
|
| 374 |
+
0.687024971355368,
|
| 375 |
+
-0.02061283497407973,
|
| 376 |
+
-0.008034494739339178
|
| 377 |
+
]
|
| 378 |
+
}
|
| 379 |
+
},
|
| 380 |
+
"grasp_82": {
|
| 381 |
+
"confidence": 0.7607402205467224,
|
| 382 |
+
"position": [
|
| 383 |
+
-0.021234274085145444,
|
| 384 |
+
0.10695880882121855,
|
| 385 |
+
0.011280921287834644
|
| 386 |
+
],
|
| 387 |
+
"orientation": {
|
| 388 |
+
"w": 0.05345972941702347,
|
| 389 |
+
"xyz": [
|
| 390 |
+
-0.0816559147962923,
|
| 391 |
+
0.701937349053544,
|
| 392 |
+
-0.705519898311254
|
| 393 |
+
]
|
| 394 |
+
}
|
| 395 |
+
},
|
| 396 |
+
"grasp_83": {
|
| 397 |
+
"confidence": 0.7463367581367493,
|
| 398 |
+
"position": [
|
| 399 |
+
0.11237086151959375,
|
| 400 |
+
-0.01638724983058637,
|
| 401 |
+
0.015539903193712234
|
| 402 |
+
],
|
| 403 |
+
"orientation": {
|
| 404 |
+
"w": 0.5313112182381614,
|
| 405 |
+
"xyz": [
|
| 406 |
+
-0.5207956232577103,
|
| 407 |
+
-0.47885811042843796,
|
| 408 |
+
0.46602061998027466
|
| 409 |
+
]
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"grasp_84": {
|
| 413 |
+
"confidence": 0.7284532189369202,
|
| 414 |
+
"position": [
|
| 415 |
+
-0.07237099314806983,
|
| 416 |
+
0.07966304056026274,
|
| 417 |
+
0.01029222272336483
|
| 418 |
+
],
|
| 419 |
+
"orientation": {
|
| 420 |
+
"w": 0.6692479787329189,
|
| 421 |
+
"xyz": [
|
| 422 |
+
0.6444649622103975,
|
| 423 |
+
0.2654735470722982,
|
| 424 |
+
0.25747980746051835
|
| 425 |
+
]
|
| 426 |
+
}
|
| 427 |
+
},
|
| 428 |
+
"grasp_85": {
|
| 429 |
+
"confidence": 0.7270662188529968,
|
| 430 |
+
"position": [
|
| 431 |
+
0.01591694337548688,
|
| 432 |
+
-0.11354039378784364,
|
| 433 |
+
0.014452077448368073
|
| 434 |
+
],
|
| 435 |
+
"orientation": {
|
| 436 |
+
"w": 0.7188266817692349,
|
| 437 |
+
"xyz": [
|
| 438 |
+
-0.6910047491587366,
|
| 439 |
+
-0.05719824630578385,
|
| 440 |
+
0.05028915227209432
|
| 441 |
+
]
|
| 442 |
+
}
|
| 443 |
+
},
|
| 444 |
+
"grasp_86": {
|
| 445 |
+
"confidence": 0.7256786227226257,
|
| 446 |
+
"position": [
|
| 447 |
+
-0.03110821935115382,
|
| 448 |
+
-0.10788419612072175,
|
| 449 |
+
0.011501193046569824
|
| 450 |
+
],
|
| 451 |
+
"orientation": {
|
| 452 |
+
"w": 0.7154639889442378,
|
| 453 |
+
"xyz": [
|
| 454 |
+
-0.683796120604703,
|
| 455 |
+
0.09850430718208503,
|
| 456 |
+
-0.10407231830095595
|
| 457 |
+
]
|
| 458 |
+
}
|
| 459 |
+
},
|
| 460 |
+
"grasp_87": {
|
| 461 |
+
"confidence": 0.7254853248596191,
|
| 462 |
+
"position": [
|
| 463 |
+
-0.05304694006917998,
|
| 464 |
+
0.09553746364690596,
|
| 465 |
+
0.01130098570138216
|
| 466 |
+
],
|
| 467 |
+
"orientation": {
|
| 468 |
+
"w": 0.6909278319050984,
|
| 469 |
+
"xyz": [
|
| 470 |
+
0.6718241026905166,
|
| 471 |
+
0.1867519819370631,
|
| 472 |
+
0.19077422096703922
|
| 473 |
+
]
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"grasp_88": {
|
| 477 |
+
"confidence": 0.7182779908180237,
|
| 478 |
+
"position": [
|
| 479 |
+
-0.04278788546798751,
|
| 480 |
+
-0.1041183076085872,
|
| 481 |
+
0.011674253270030022
|
| 482 |
+
],
|
| 483 |
+
"orientation": {
|
| 484 |
+
"w": 0.6944541113535,
|
| 485 |
+
"xyz": [
|
| 486 |
+
-0.6919553465957956,
|
| 487 |
+
0.12960013887204447,
|
| 488 |
+
-0.14877865957878478
|
| 489 |
+
]
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"grasp_89": {
|
| 493 |
+
"confidence": 0.7130772471427917,
|
| 494 |
+
"position": [
|
| 495 |
+
0.007332604203838855,
|
| 496 |
+
0.12177125595189864,
|
| 497 |
+
0.012010738253593445
|
| 498 |
+
],
|
| 499 |
+
"orientation": {
|
| 500 |
+
"w": 0.7323027850986106,
|
| 501 |
+
"xyz": [
|
| 502 |
+
0.6805921399945858,
|
| 503 |
+
-0.021852976544863734,
|
| 504 |
+
0.007029746121861551
|
| 505 |
+
]
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"grasp_90": {
|
| 509 |
+
"confidence": 0.7116575837135315,
|
| 510 |
+
"position": [
|
| 511 |
+
-0.013251741591375321,
|
| 512 |
+
0.10771204016782576,
|
| 513 |
+
0.014082523062825203
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.7144435704824628,
|
| 517 |
+
"xyz": [
|
| 518 |
+
0.6964586190424182,
|
| 519 |
+
0.03723823779939872,
|
| 520 |
+
0.055938271365803295
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_91": {
|
| 525 |
+
"confidence": 0.7112094163894653,
|
| 526 |
+
"position": [
|
| 527 |
+
-0.06390723789809272,
|
| 528 |
+
0.08579316965915496,
|
| 529 |
+
0.008581004105508327
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.6787860535712879,
|
| 533 |
+
"xyz": [
|
| 534 |
+
0.6585942706719384,
|
| 535 |
+
0.2309340922080827,
|
| 536 |
+
0.22841305823276156
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_92": {
|
| 541 |
+
"confidence": 0.7094288468360901,
|
| 542 |
+
"position": [
|
| 543 |
+
-0.08235724474070594,
|
| 544 |
+
0.07142690054752165,
|
| 545 |
+
0.014658577740192413
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.2822556892570655,
|
| 549 |
+
"xyz": [
|
| 550 |
+
-0.29300866674628423,
|
| 551 |
+
0.640906264341174,
|
| 552 |
+
-0.650935332749594
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_93": {
|
| 557 |
+
"confidence": 0.7029141783714294,
|
| 558 |
+
"position": [
|
| 559 |
+
-0.07202299142954871,
|
| 560 |
+
0.07873782746173674,
|
| 561 |
+
0.020306847989559174
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.25337716463415805,
|
| 565 |
+
"xyz": [
|
| 566 |
+
-0.24561019610109786,
|
| 567 |
+
0.6624427677597576,
|
| 568 |
+
-0.6607913615173298
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_94": {
|
| 573 |
+
"confidence": 0.69997239112854,
|
| 574 |
+
"position": [
|
| 575 |
+
0.019309790630359203,
|
| 576 |
+
-0.1087150774183101,
|
| 577 |
+
0.007552602328360081
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.7153042383252888,
|
| 581 |
+
"xyz": [
|
| 582 |
+
-0.6927065900655383,
|
| 583 |
+
-0.06257054250182603,
|
| 584 |
+
0.067693086239883
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"grasp_95": {
|
| 589 |
+
"confidence": 0.6991255879402161,
|
| 590 |
+
"position": [
|
| 591 |
+
-0.001010786188999191,
|
| 592 |
+
-0.11185347803257173,
|
| 593 |
+
0.014591915532946587
|
| 594 |
+
],
|
| 595 |
+
"orientation": {
|
| 596 |
+
"w": 0.7175917160268345,
|
| 597 |
+
"xyz": [
|
| 598 |
+
-0.6964046985530753,
|
| 599 |
+
-0.009064863507655785,
|
| 600 |
+
0.0006731808454315275
|
| 601 |
+
]
|
| 602 |
+
}
|
| 603 |
+
},
|
| 604 |
+
"grasp_96": {
|
| 605 |
+
"confidence": 0.6973821520805359,
|
| 606 |
+
"position": [
|
| 607 |
+
-0.024528088222723454,
|
| 608 |
+
0.10499713055469329,
|
| 609 |
+
0.022707663476467133
|
| 610 |
+
],
|
| 611 |
+
"orientation": {
|
| 612 |
+
"w": 0.6991852248073334,
|
| 613 |
+
"xyz": [
|
| 614 |
+
0.7026773284698792,
|
| 615 |
+
0.1005480523093144,
|
| 616 |
+
0.08529175014241332
|
| 617 |
+
]
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"grasp_97": {
|
| 621 |
+
"confidence": 0.694584846496582,
|
| 622 |
+
"position": [
|
| 623 |
+
-0.013691758911591023,
|
| 624 |
+
-0.10998186983488267,
|
| 625 |
+
0.009123667143285275
|
| 626 |
+
],
|
| 627 |
+
"orientation": {
|
| 628 |
+
"w": 0.05341199756314609,
|
| 629 |
+
"xyz": [
|
| 630 |
+
0.05199789914090398,
|
| 631 |
+
0.6932830405046388,
|
| 632 |
+
0.7167998345074378
|
| 633 |
+
]
|
| 634 |
+
}
|
| 635 |
+
},
|
| 636 |
+
"grasp_98": {
|
| 637 |
+
"confidence": 0.6944895386695862,
|
| 638 |
+
"position": [
|
| 639 |
+
-0.08211178536294028,
|
| 640 |
+
0.07911173484899336,
|
| 641 |
+
0.016141047701239586
|
| 642 |
+
],
|
| 643 |
+
"orientation": {
|
| 644 |
+
"w": 0.2618168470666833,
|
| 645 |
+
"xyz": [
|
| 646 |
+
-0.2894631186049887,
|
| 647 |
+
0.6508671133628906,
|
| 648 |
+
-0.6511797311819473
|
| 649 |
+
]
|
| 650 |
+
}
|
| 651 |
+
},
|
| 652 |
+
"grasp_99": {
|
| 653 |
+
"confidence": 0.6910363435745239,
|
| 654 |
+
"position": [
|
| 655 |
+
-0.022718398075085133,
|
| 656 |
+
-0.1150421477141208,
|
| 657 |
+
0.01597832515835762
|
| 658 |
+
],
|
| 659 |
+
"orientation": {
|
| 660 |
+
"w": 0.7198858763721884,
|
| 661 |
+
"xyz": [
|
| 662 |
+
-0.6869193297572088,
|
| 663 |
+
0.05929328678045798,
|
| 664 |
+
-0.07994038746793652
|
| 665 |
+
]
|
| 666 |
+
}
|
| 667 |
+
}
|
| 668 |
+
}
|
| 669 |
+
},
|
| 670 |
+
{
|
| 671 |
+
"part_name": "upper mesh wall",
|
| 672 |
+
"mask_color": "Yellow",
|
| 673 |
+
"graspable": true,
|
| 674 |
+
"grasp_scenarios": [
|
| 675 |
+
{
|
| 676 |
+
"scenario": "grasp the upper mesh wall to lift the pen holder when the rim is not used",
|
| 677 |
+
"confidence": 0.63
|
| 678 |
+
},
|
| 679 |
+
{
|
| 680 |
+
"scenario": "pinch the upper wall to steady the holder during use",
|
| 681 |
+
"confidence": 0.66
|
| 682 |
+
}
|
| 683 |
+
],
|
| 684 |
+
"functional_labels": [
|
| 685 |
+
"contain upper portions of pens",
|
| 686 |
+
"continue the side enclosure",
|
| 687 |
+
"allow airflow and visibility",
|
| 688 |
+
"lightweight structural support"
|
| 689 |
+
],
|
| 690 |
+
"semantic_description": "Upper white or light gray lattice section beneath the rim, with the same open diamond-pattern texture as the body and a hard plastic-like appearance.",
|
| 691 |
+
"id": 3,
|
| 692 |
+
"grasp_group": {
|
| 693 |
+
"grasp_60": {
|
| 694 |
+
"confidence": 0.7713516354560852,
|
| 695 |
+
"position": [
|
| 696 |
+
0.1109710538876243,
|
| 697 |
+
0.027491862398164812,
|
| 698 |
+
0.028250837698578835
|
| 699 |
+
],
|
| 700 |
+
"orientation": {
|
| 701 |
+
"w": 0.5772450710961681,
|
| 702 |
+
"xyz": [
|
| 703 |
+
0.546812769976471,
|
| 704 |
+
-0.43528511407626724,
|
| 705 |
+
-0.42226862534345294
|
| 706 |
+
]
|
| 707 |
+
}
|
| 708 |
+
},
|
| 709 |
+
"grasp_61": {
|
| 710 |
+
"confidence": 0.754467785358429,
|
| 711 |
+
"position": [
|
| 712 |
+
0.11005088483216241,
|
| 713 |
+
0.03391659862973029,
|
| 714 |
+
0.030174629762768745
|
| 715 |
+
],
|
| 716 |
+
"orientation": {
|
| 717 |
+
"w": 0.4226925574991075,
|
| 718 |
+
"xyz": [
|
| 719 |
+
-0.40508078968048866,
|
| 720 |
+
-0.5707098705985321,
|
| 721 |
+
0.5757871128013395
|
| 722 |
+
]
|
| 723 |
+
}
|
| 724 |
+
},
|
| 725 |
+
"grasp_62": {
|
| 726 |
+
"confidence": 0.7522187829017639,
|
| 727 |
+
"position": [
|
| 728 |
+
-0.0032601027633063495,
|
| 729 |
+
0.11463550708867842,
|
| 730 |
+
0.020551031455397606
|
| 731 |
+
],
|
| 732 |
+
"orientation": {
|
| 733 |
+
"w": 0.722616077823116,
|
| 734 |
+
"xyz": [
|
| 735 |
+
0.6910636387330457,
|
| 736 |
+
0.011185643620339913,
|
| 737 |
+
0.01148619473009435
|
| 738 |
+
]
|
| 739 |
+
}
|
| 740 |
+
},
|
| 741 |
+
"grasp_63": {
|
| 742 |
+
"confidence": 0.7469302415847778,
|
| 743 |
+
"position": [
|
| 744 |
+
0.11223446374060586,
|
| 745 |
+
-0.004387599903566297,
|
| 746 |
+
0.03351707570254803
|
| 747 |
+
],
|
| 748 |
+
"orientation": {
|
| 749 |
+
"w": 0.5054591888031778,
|
| 750 |
+
"xyz": [
|
| 751 |
+
-0.5055949840918692,
|
| 752 |
+
-0.49483453881708284,
|
| 753 |
+
0.49398734772184266
|
| 754 |
+
]
|
| 755 |
+
}
|
| 756 |
+
},
|
| 757 |
+
"grasp_64": {
|
| 758 |
+
"confidence": 0.7348642945289612,
|
| 759 |
+
"position": [
|
| 760 |
+
0.11034074967028573,
|
| 761 |
+
0.025517996844428126,
|
| 762 |
+
0.02666221559047699
|
| 763 |
+
],
|
| 764 |
+
"orientation": {
|
| 765 |
+
"w": 0.43511421666719263,
|
| 766 |
+
"xyz": [
|
| 767 |
+
-0.43094900808450864,
|
| 768 |
+
-0.5555853908561547,
|
| 769 |
+
0.5623908288301717
|
| 770 |
+
]
|
| 771 |
+
}
|
| 772 |
+
},
|
| 773 |
+
"grasp_65": {
|
| 774 |
+
"confidence": 0.7256731390953064,
|
| 775 |
+
"position": [
|
| 776 |
+
0.10313252155901864,
|
| 777 |
+
0.04261853404022986,
|
| 778 |
+
0.03315517120063305
|
| 779 |
+
],
|
| 780 |
+
"orientation": {
|
| 781 |
+
"w": 0.6074196319120256,
|
| 782 |
+
"xyz": [
|
| 783 |
+
0.5774660726316362,
|
| 784 |
+
-0.38078269961908584,
|
| 785 |
+
-0.3906134424185309
|
| 786 |
+
]
|
| 787 |
+
}
|
| 788 |
+
},
|
| 789 |
+
"grasp_66": {
|
| 790 |
+
"confidence": 0.7244157195091248,
|
| 791 |
+
"position": [
|
| 792 |
+
-0.04480099881766364,
|
| 793 |
+
0.09831845990993315,
|
| 794 |
+
0.026875313371419907
|
| 795 |
+
],
|
| 796 |
+
"orientation": {
|
| 797 |
+
"w": 0.14090053424640922,
|
| 798 |
+
"xyz": [
|
| 799 |
+
-0.15733003751133762,
|
| 800 |
+
0.688096340853581,
|
| 801 |
+
-0.6942029418330564
|
| 802 |
+
]
|
| 803 |
+
}
|
| 804 |
+
},
|
| 805 |
+
"grasp_67": {
|
| 806 |
+
"confidence": 0.7239367365837097,
|
| 807 |
+
"position": [
|
| 808 |
+
0.10962063615443185,
|
| 809 |
+
-0.02901290685258573,
|
| 810 |
+
0.03137168101966381
|
| 811 |
+
],
|
| 812 |
+
"orientation": {
|
| 813 |
+
"w": 0.4343095638990148,
|
| 814 |
+
"xyz": [
|
| 815 |
+
0.439426195576922,
|
| 816 |
+
-0.5453847827007094,
|
| 817 |
+
-0.5664232164602191
|
| 818 |
+
]
|
| 819 |
+
}
|
| 820 |
+
},
|
| 821 |
+
"grasp_69": {
|
| 822 |
+
"confidence": 0.7037003040313721,
|
| 823 |
+
"position": [
|
| 824 |
+
-0.0638232475030236,
|
| 825 |
+
0.08531368009425933,
|
| 826 |
+
0.0241903867572546
|
| 827 |
+
],
|
| 828 |
+
"orientation": {
|
| 829 |
+
"w": 0.21249016513357638,
|
| 830 |
+
"xyz": [
|
| 831 |
+
-0.21120215615038687,
|
| 832 |
+
0.6700239990819652,
|
| 833 |
+
-0.6791976292752677
|
| 834 |
+
]
|
| 835 |
+
}
|
| 836 |
+
},
|
| 837 |
+
"grasp_71": {
|
| 838 |
+
"confidence": 0.6892130970954895,
|
| 839 |
+
"position": [
|
| 840 |
+
0.0030701631330884993,
|
| 841 |
+
0.10641656301595503,
|
| 842 |
+
0.025940600782632828
|
| 843 |
+
],
|
| 844 |
+
"orientation": {
|
| 845 |
+
"w": 0.011220174416012823,
|
| 846 |
+
"xyz": [
|
| 847 |
+
0.0057596784661594945,
|
| 848 |
+
0.7098696372753286,
|
| 849 |
+
-0.7042201586610782
|
| 850 |
+
]
|
| 851 |
+
}
|
| 852 |
+
},
|
| 853 |
+
"grasp_72": {
|
| 854 |
+
"confidence": 0.6625565886497498,
|
| 855 |
+
"position": [
|
| 856 |
+
-0.06374493445036933,
|
| 857 |
+
0.08336554698325926,
|
| 858 |
+
0.025023555383086205
|
| 859 |
+
],
|
| 860 |
+
"orientation": {
|
| 861 |
+
"w": 0.20803394339655426,
|
| 862 |
+
"xyz": [
|
| 863 |
+
-0.2183321094085942,
|
| 864 |
+
0.6723183035668036,
|
| 865 |
+
-0.6760481248292379
|
| 866 |
+
]
|
| 867 |
+
}
|
| 868 |
+
},
|
| 869 |
+
"grasp_73": {
|
| 870 |
+
"confidence": 0.6577497124671936,
|
| 871 |
+
"position": [
|
| 872 |
+
0.1012935767066665,
|
| 873 |
+
0.03449158601142699,
|
| 874 |
+
0.03189730457961559
|
| 875 |
+
],
|
| 876 |
+
"orientation": {
|
| 877 |
+
"w": 0.41508243727457184,
|
| 878 |
+
"xyz": [
|
| 879 |
+
-0.39324908924109075,
|
| 880 |
+
-0.5814254821232213,
|
| 881 |
+
0.5787971430605315
|
| 882 |
+
]
|
| 883 |
+
}
|
| 884 |
+
},
|
| 885 |
+
"grasp_74": {
|
| 886 |
+
"confidence": 0.657147228717804,
|
| 887 |
+
"position": [
|
| 888 |
+
-0.07039079273818061,
|
| 889 |
+
0.08406459770776564,
|
| 890 |
+
0.036031948402523994
|
| 891 |
+
],
|
| 892 |
+
"orientation": {
|
| 893 |
+
"w": 0.22806233422203012,
|
| 894 |
+
"xyz": [
|
| 895 |
+
-0.23909873232694476,
|
| 896 |
+
0.6602278202622534,
|
| 897 |
+
-0.6744765327723423
|
| 898 |
+
]
|
| 899 |
+
}
|
| 900 |
+
},
|
| 901 |
+
"grasp_75": {
|
| 902 |
+
"confidence": 0.6551610827445984,
|
| 903 |
+
"position": [
|
| 904 |
+
0.047116046596784145,
|
| 905 |
+
0.10141527883388335,
|
| 906 |
+
0.02506941743195057
|
| 907 |
+
],
|
| 908 |
+
"orientation": {
|
| 909 |
+
"w": 0.16542345699200767,
|
| 910 |
+
"xyz": [
|
| 911 |
+
-0.1468545222650389,
|
| 912 |
+
-0.6738901679638426,
|
| 913 |
+
0.704940331296759
|
| 914 |
+
]
|
| 915 |
+
}
|
| 916 |
+
},
|
| 917 |
+
"grasp_76": {
|
| 918 |
+
"confidence": 0.6550840735435486,
|
| 919 |
+
"position": [
|
| 920 |
+
0.0013735623215325177,
|
| 921 |
+
-0.0016829223823151551,
|
| 922 |
+
0.12900803424417973
|
| 923 |
+
],
|
| 924 |
+
"orientation": {
|
| 925 |
+
"w": 0.015149445302459454,
|
| 926 |
+
"xyz": [
|
| 927 |
+
-0.9954833656377198,
|
| 928 |
+
-0.09355327695041485,
|
| 929 |
+
0.005580987140693558
|
| 930 |
+
]
|
| 931 |
+
}
|
| 932 |
+
},
|
| 933 |
+
"grasp_77": {
|
| 934 |
+
"confidence": 0.6535468101501465,
|
| 935 |
+
"position": [
|
| 936 |
+
-0.09023922140477225,
|
| 937 |
+
0.06393194429256255,
|
| 938 |
+
0.03043144755065441
|
| 939 |
+
],
|
| 940 |
+
"orientation": {
|
| 941 |
+
"w": 0.3295948495809569,
|
| 942 |
+
"xyz": [
|
| 943 |
+
-0.3196227007984842,
|
| 944 |
+
0.6210163259113195,
|
| 945 |
+
-0.6352537187735263
|
| 946 |
+
]
|
| 947 |
+
}
|
| 948 |
+
},
|
| 949 |
+
"grasp_78": {
|
| 950 |
+
"confidence": 0.6475306749343872,
|
| 951 |
+
"position": [
|
| 952 |
+
-0.07721163536189124,
|
| 953 |
+
0.07289594642497832,
|
| 954 |
+
0.022334471344947815
|
| 955 |
+
],
|
| 956 |
+
"orientation": {
|
| 957 |
+
"w": 0.6577361066371746,
|
| 958 |
+
"xyz": [
|
| 959 |
+
0.6369566546812641,
|
| 960 |
+
0.28291366453521327,
|
| 961 |
+
0.2857084046756079
|
| 962 |
+
]
|
| 963 |
+
}
|
| 964 |
+
},
|
| 965 |
+
"grasp_79": {
|
| 966 |
+
"confidence": 0.6464248895645142,
|
| 967 |
+
"position": [
|
| 968 |
+
0.005883028556127101,
|
| 969 |
+
-0.1114795780958957,
|
| 970 |
+
0.023856179788708687
|
| 971 |
+
],
|
| 972 |
+
"orientation": {
|
| 973 |
+
"w": 0.7238580973065153,
|
| 974 |
+
"xyz": [
|
| 975 |
+
-0.6887943280560056,
|
| 976 |
+
-0.0371843450431828,
|
| 977 |
+
0.01446212589408259
|
| 978 |
+
]
|
| 979 |
+
}
|
| 980 |
+
}
|
| 981 |
+
}
|
| 982 |
+
},
|
| 983 |
+
{
|
| 984 |
+
"part_name": "top rim",
|
| 985 |
+
"mask_color": "Blue",
|
| 986 |
+
"graspable": true,
|
| 987 |
+
"grasp_scenarios": [
|
| 988 |
+
{
|
| 989 |
+
"scenario": "grasp the top rim to pick up and carry the pen holder",
|
| 990 |
+
"confidence": 0.89
|
| 991 |
+
},
|
| 992 |
+
{
|
| 993 |
+
"scenario": "hold the rim to steady the holder while accessing contents",
|
| 994 |
+
"confidence": 0.84
|
| 995 |
+
}
|
| 996 |
+
],
|
| 997 |
+
"functional_labels": [
|
| 998 |
+
"define the opening",
|
| 999 |
+
"protect the top edge",
|
| 1000 |
+
"provide a comfortable grip edge",
|
| 1001 |
+
"reinforce the mouth of the holder"
|
| 1002 |
+
],
|
| 1003 |
+
"semantic_description": "Thick white circular top rim with a smooth rounded profile and fine vertical ribbing around the edge, surrounding the opening at the top.",
|
| 1004 |
+
"id": 2,
|
| 1005 |
+
"grasp_group": {
|
| 1006 |
+
"grasp_40": {
|
| 1007 |
+
"confidence": 0.7706505060195923,
|
| 1008 |
+
"position": [
|
| 1009 |
+
0.11807665770174935,
|
| 1010 |
+
0.008967263136582915,
|
| 1011 |
+
0.038398509845137596
|
| 1012 |
+
],
|
| 1013 |
+
"orientation": {
|
| 1014 |
+
"w": 0.5447034740253512,
|
| 1015 |
+
"xyz": [
|
| 1016 |
+
0.5025074512845303,
|
| 1017 |
+
-0.47246858789232027,
|
| 1018 |
+
-0.4770302089420292
|
| 1019 |
+
]
|
| 1020 |
+
}
|
| 1021 |
+
},
|
| 1022 |
+
"grasp_41": {
|
| 1023 |
+
"confidence": 0.7555473446846008,
|
| 1024 |
+
"position": [
|
| 1025 |
+
0.10922759567620233,
|
| 1026 |
+
0.026692636754887644,
|
| 1027 |
+
0.04275571368634701
|
| 1028 |
+
],
|
| 1029 |
+
"orientation": {
|
| 1030 |
+
"w": 0.5697353254423031,
|
| 1031 |
+
"xyz": [
|
| 1032 |
+
0.5468745097407206,
|
| 1033 |
+
-0.43359979718898356,
|
| 1034 |
+
-0.43395984309227453
|
| 1035 |
+
]
|
| 1036 |
+
}
|
| 1037 |
+
},
|
| 1038 |
+
"grasp_43": {
|
| 1039 |
+
"confidence": 0.7312954664230347,
|
| 1040 |
+
"position": [
|
| 1041 |
+
0.09939548914553598,
|
| 1042 |
+
-0.05140958495758241,
|
| 1043 |
+
0.04223334603011608
|
| 1044 |
+
],
|
| 1045 |
+
"orientation": {
|
| 1046 |
+
"w": 0.6121494828148955,
|
| 1047 |
+
"xyz": [
|
| 1048 |
+
-0.5986694666943381,
|
| 1049 |
+
-0.36520752802497225,
|
| 1050 |
+
0.3653646696264732
|
| 1051 |
+
]
|
| 1052 |
+
}
|
| 1053 |
+
},
|
| 1054 |
+
"grasp_44": {
|
| 1055 |
+
"confidence": 0.7311118245124817,
|
| 1056 |
+
"position": [
|
| 1057 |
+
0.1105750257265754,
|
| 1058 |
+
-0.026709515157563146,
|
| 1059 |
+
0.04608035646378994
|
| 1060 |
+
],
|
| 1061 |
+
"orientation": {
|
| 1062 |
+
"w": 0.42971003311412687,
|
| 1063 |
+
"xyz": [
|
| 1064 |
+
0.44595644576478705,
|
| 1065 |
+
-0.5586455531486554,
|
| 1066 |
+
-0.5517130430478576
|
| 1067 |
+
]
|
| 1068 |
+
}
|
| 1069 |
+
},
|
| 1070 |
+
"grasp_46": {
|
| 1071 |
+
"confidence": 0.7245134115219116,
|
| 1072 |
+
"position": [
|
| 1073 |
+
0.0997354814899154,
|
| 1074 |
+
-0.0006503761615022086,
|
| 1075 |
+
0.08810742385685444
|
| 1076 |
+
],
|
| 1077 |
+
"orientation": {
|
| 1078 |
+
"w": 0.3772962133956302,
|
| 1079 |
+
"xyz": [
|
| 1080 |
+
0.6189127139940441,
|
| 1081 |
+
-0.5732642459414767,
|
| 1082 |
+
-0.38205068268358877
|
| 1083 |
+
]
|
| 1084 |
+
}
|
| 1085 |
+
},
|
| 1086 |
+
"grasp_47": {
|
| 1087 |
+
"confidence": 0.7227967977523804,
|
| 1088 |
+
"position": [
|
| 1089 |
+
-0.024634488101582974,
|
| 1090 |
+
0.09679243944265181,
|
| 1091 |
+
0.09469210542738438
|
| 1092 |
+
],
|
| 1093 |
+
"orientation": {
|
| 1094 |
+
"w": 0.03842535488903413,
|
| 1095 |
+
"xyz": [
|
| 1096 |
+
-0.1256934688254463,
|
| 1097 |
+
0.8530136277688244,
|
| 1098 |
+
-0.5050667231534345
|
| 1099 |
+
]
|
| 1100 |
+
}
|
| 1101 |
+
},
|
| 1102 |
+
"grasp_49": {
|
| 1103 |
+
"confidence": 0.719552218914032,
|
| 1104 |
+
"position": [
|
| 1105 |
+
0.09180658106924966,
|
| 1106 |
+
-0.0349708139183349,
|
| 1107 |
+
0.08959213085472584
|
| 1108 |
+
],
|
| 1109 |
+
"orientation": {
|
| 1110 |
+
"w": 0.29837958817811006,
|
| 1111 |
+
"xyz": [
|
| 1112 |
+
0.47302852055156164,
|
| 1113 |
+
-0.7073925311829805,
|
| 1114 |
+
-0.43221458435596455
|
| 1115 |
+
]
|
| 1116 |
+
}
|
| 1117 |
+
},
|
| 1118 |
+
"grasp_50": {
|
| 1119 |
+
"confidence": 0.7191814184188843,
|
| 1120 |
+
"position": [
|
| 1121 |
+
0.10633893852354959,
|
| 1122 |
+
-0.009043887745065149,
|
| 1123 |
+
0.08567892201244831
|
| 1124 |
+
],
|
| 1125 |
+
"orientation": {
|
| 1126 |
+
"w": 0.36942517803763514,
|
| 1127 |
+
"xyz": [
|
| 1128 |
+
0.5739181424004288,
|
| 1129 |
+
-0.6209216578838798,
|
| 1130 |
+
-0.3854857953624712
|
| 1131 |
+
]
|
| 1132 |
+
}
|
| 1133 |
+
},
|
| 1134 |
+
"grasp_52": {
|
| 1135 |
+
"confidence": 0.7130613923072815,
|
| 1136 |
+
"position": [
|
| 1137 |
+
-0.02071269805310294,
|
| 1138 |
+
0.11672660194017226,
|
| 1139 |
+
0.0391427930444479
|
| 1140 |
+
],
|
| 1141 |
+
"orientation": {
|
| 1142 |
+
"w": 0.05583559526525377,
|
| 1143 |
+
"xyz": [
|
| 1144 |
+
-0.06942666231747889,
|
| 1145 |
+
0.6856918818393672,
|
| 1146 |
+
-0.7224188314547296
|
| 1147 |
+
]
|
| 1148 |
+
}
|
| 1149 |
+
},
|
| 1150 |
+
"grasp_53": {
|
| 1151 |
+
"confidence": 0.7128472328186035,
|
| 1152 |
+
"position": [
|
| 1153 |
+
0.10637052898528054,
|
| 1154 |
+
-0.035252237248641904,
|
| 1155 |
+
0.04283701069653034
|
| 1156 |
+
],
|
| 1157 |
+
"orientation": {
|
| 1158 |
+
"w": 0.5711035322939533,
|
| 1159 |
+
"xyz": [
|
| 1160 |
+
-0.5732015936503467,
|
| 1161 |
+
-0.4031475814288906,
|
| 1162 |
+
0.42749586667722095
|
| 1163 |
+
]
|
| 1164 |
+
}
|
| 1165 |
+
},
|
| 1166 |
+
"grasp_54": {
|
| 1167 |
+
"confidence": 0.7088701128959656,
|
| 1168 |
+
"position": [
|
| 1169 |
+
0.0862983072292991,
|
| 1170 |
+
0.0760027416763478,
|
| 1171 |
+
0.04380338825285435
|
| 1172 |
+
],
|
| 1173 |
+
"orientation": {
|
| 1174 |
+
"w": 0.313650431005003,
|
| 1175 |
+
"xyz": [
|
| 1176 |
+
-0.2788588624511107,
|
| 1177 |
+
-0.6368391902791377,
|
| 1178 |
+
0.6467588327092721
|
| 1179 |
+
]
|
| 1180 |
+
}
|
| 1181 |
+
},
|
| 1182 |
+
"grasp_55": {
|
| 1183 |
+
"confidence": 0.7054048180580139,
|
| 1184 |
+
"position": [
|
| 1185 |
+
0.10524637048365548,
|
| 1186 |
+
-0.04917604245565599,
|
| 1187 |
+
0.06874817050993443
|
| 1188 |
+
],
|
| 1189 |
+
"orientation": {
|
| 1190 |
+
"w": 0.4957270602152414,
|
| 1191 |
+
"xyz": [
|
| 1192 |
+
-0.6919383382954701,
|
| 1193 |
+
-0.36594642855907966,
|
| 1194 |
+
0.37624357694465976
|
| 1195 |
+
]
|
| 1196 |
+
}
|
| 1197 |
+
},
|
| 1198 |
+
"grasp_56": {
|
| 1199 |
+
"confidence": 0.6938554048538208,
|
| 1200 |
+
"position": [
|
| 1201 |
+
-0.02964357117889449,
|
| 1202 |
+
0.11038656018354231,
|
| 1203 |
+
0.045094309374690056
|
| 1204 |
+
],
|
| 1205 |
+
"orientation": {
|
| 1206 |
+
"w": 0.09073701881138083,
|
| 1207 |
+
"xyz": [
|
| 1208 |
+
-0.10304734053906306,
|
| 1209 |
+
0.7107563961341976,
|
| 1210 |
+
-0.6899082434493573
|
| 1211 |
+
]
|
| 1212 |
+
}
|
| 1213 |
+
},
|
| 1214 |
+
"grasp_57": {
|
| 1215 |
+
"confidence": 0.6898614764213562,
|
| 1216 |
+
"position": [
|
| 1217 |
+
0.04922000860096887,
|
| 1218 |
+
0.09913874648191268,
|
| 1219 |
+
0.03677060641348362
|
| 1220 |
+
],
|
| 1221 |
+
"orientation": {
|
| 1222 |
+
"w": 0.16283546258515905,
|
| 1223 |
+
"xyz": [
|
| 1224 |
+
-0.17353872832810652,
|
| 1225 |
+
-0.6512789376635943,
|
| 1226 |
+
0.7205585800271348
|
| 1227 |
+
]
|
| 1228 |
+
}
|
| 1229 |
+
},
|
| 1230 |
+
"grasp_58": {
|
| 1231 |
+
"confidence": 0.6888647675514221,
|
| 1232 |
+
"position": [
|
| 1233 |
+
-0.08622803742764518,
|
| 1234 |
+
-0.039894977140647825,
|
| 1235 |
+
0.09150432236492634
|
| 1236 |
+
],
|
| 1237 |
+
"orientation": {
|
| 1238 |
+
"w": 0.27334720904977067,
|
| 1239 |
+
"xyz": [
|
| 1240 |
+
0.47872380447376,
|
| 1241 |
+
0.713788632824868,
|
| 1242 |
+
0.4319845020193155
|
| 1243 |
+
]
|
| 1244 |
+
}
|
| 1245 |
+
},
|
| 1246 |
+
"grasp_59": {
|
| 1247 |
+
"confidence": 0.6866098642349243,
|
| 1248 |
+
"position": [
|
| 1249 |
+
0.10231855307938531,
|
| 1250 |
+
-0.0087884194435901,
|
| 1251 |
+
0.09230290539562702
|
| 1252 |
+
],
|
| 1253 |
+
"orientation": {
|
| 1254 |
+
"w": 0.3612571421635474,
|
| 1255 |
+
"xyz": [
|
| 1256 |
+
-0.6183504575182982,
|
| 1257 |
+
-0.5972301925461959,
|
| 1258 |
+
0.3611815139704293
|
| 1259 |
+
]
|
| 1260 |
+
}
|
| 1261 |
+
}
|
| 1262 |
+
}
|
| 1263 |
+
}
|
| 1264 |
+
],
|
| 1265 |
+
"quality_check": {
|
| 1266 |
+
"success": true,
|
| 1267 |
+
"message": "YES"
|
| 1268 |
+
}
|
| 1269 |
+
}
|
dataset/desktop_supplies/office_stationery/5edb9133c674554db3573800759e3e06/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4abec95d086d626292e98bc723472c15778370073ee948b381d4108cd2180285
|
| 3 |
+
size 3786092
|