xinjjj commited on
Commit
1ab3158
·
verified ·
1 Parent(s): 9d50e68

Add asset desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144

Browse files
.gitattributes CHANGED
@@ -6563,4 +6563,4 @@ dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/affordanc
6563
  dataset/desktop_supplies/office_tools/3f6eaa82eaeb512c86b1b59edb1f50fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6564
  dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6565
  dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6566
- dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6563
  dataset/desktop_supplies/office_tools/3f6eaa82eaeb512c86b1b59edb1f50fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6564
  dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6565
  dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6566
+ dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/affordance/affordance_annot.json ADDED
@@ -0,0 +1,722 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "upper handle loop",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the upper handle loop to pick up or reposition the scissors",
10
+ "confidence": 0.86
11
+ },
12
+ {
13
+ "scenario": "hold the upper handle loop to stabilize the scissors while another tool manipulates the blades",
14
+ "confidence": 0.67
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide finger insertion",
19
+ "enable opening and closing leverage",
20
+ "serve as a handle for manipulation",
21
+ "support orientation control"
22
+ ],
23
+ "semantic_description": "One handle loop made of pale cream plastic with a smooth slightly matte hard surface, oval shape, and medium size at the rear of the scissors near the pivot, positioned above the other loop in the shown views.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9499053955078125,
28
+ "position": [
29
+ -0.029004208103287965,
30
+ -0.16354256309568882,
31
+ -0.011546078487299383
32
+ ],
33
+ "orientation": {
34
+ "w": 0.47371976108120817,
35
+ "xyz": [
36
+ -0.5019712858978808,
37
+ -0.46024774379622346,
38
+ -0.5583783935877868
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9491270780563354,
44
+ "position": [
45
+ -0.031256893009413034,
46
+ -0.1627670470625162,
47
+ -0.003688502940349281
48
+ ],
49
+ "orientation": {
50
+ "w": 0.48073013584414526,
51
+ "xyz": [
52
+ -0.5299456123739124,
53
+ -0.44682990804281375,
54
+ -0.5370281349197261
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9486376047134399,
60
+ "position": [
61
+ -0.029045426577795297,
62
+ -0.1639337483793497,
63
+ -0.0011132591171190143
64
+ ],
65
+ "orientation": {
66
+ "w": 0.5307608168050112,
67
+ "xyz": [
68
+ -0.47562925357690106,
69
+ 0.519962579732471,
70
+ 0.4708595163786234
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9457176327705383,
76
+ "position": [
77
+ -0.02519732463406399,
78
+ -0.16285335458815098,
79
+ 0.0004366259090602398
80
+ ],
81
+ "orientation": {
82
+ "w": 0.48323679132151304,
83
+ "xyz": [
84
+ -0.5286752155943198,
85
+ -0.46727909482901675,
86
+ -0.5183000747302309
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.9363194108009338,
92
+ "position": [
93
+ -0.04868842038558796,
94
+ -0.15841875411570072,
95
+ -0.005506901419721544
96
+ ],
97
+ "orientation": {
98
+ "w": 0.42684243030330105,
99
+ "xyz": [
100
+ -0.5615324305525508,
101
+ -0.40011879865084043,
102
+ -0.5851425604899411
103
+ ]
104
+ }
105
+ },
106
+ "grasp_6": {
107
+ "confidence": 0.9314218759536743,
108
+ "position": [
109
+ -0.1319458683137782,
110
+ 0.017854581587016582,
111
+ -0.002675195108167827
112
+ ],
113
+ "orientation": {
114
+ "w": 0.09351287072770592,
115
+ "xyz": [
116
+ 0.6936258777648667,
117
+ -0.07586828898853615,
118
+ 0.7101989069472958
119
+ ]
120
+ }
121
+ },
122
+ "grasp_7": {
123
+ "confidence": 0.9271472096443176,
124
+ "position": [
125
+ -0.02016024786280468,
126
+ -0.15984497405588627,
127
+ -0.005744413356296718
128
+ ],
129
+ "orientation": {
130
+ "w": 0.49330302756218275,
131
+ "xyz": [
132
+ -0.49854073205661714,
133
+ -0.48696386585598295,
134
+ -0.5205530278742336
135
+ ]
136
+ }
137
+ },
138
+ "grasp_8": {
139
+ "confidence": 0.925446093082428,
140
+ "position": [
141
+ -0.12709120410727337,
142
+ 0.04118482209742069,
143
+ -0.0023448782740160823
144
+ ],
145
+ "orientation": {
146
+ "w": 0.685475592484855,
147
+ "xyz": [
148
+ 0.16143262843610437,
149
+ 0.6885030235613029,
150
+ -0.17328100048964445
151
+ ]
152
+ }
153
+ },
154
+ "grasp_9": {
155
+ "confidence": 0.9249840378761292,
156
+ "position": [
157
+ -0.13364604610251263,
158
+ 0.023952296003699303,
159
+ -0.012001390918157995
160
+ ],
161
+ "orientation": {
162
+ "w": 0.7272091318718138,
163
+ "xyz": [
164
+ 0.10157558279569494,
165
+ 0.6697474669000162,
166
+ -0.1108494929305961
167
+ ]
168
+ }
169
+ },
170
+ "grasp_10": {
171
+ "confidence": 0.9220251441001892,
172
+ "position": [
173
+ -0.029275239736307412,
174
+ -0.15995346941053867,
175
+ -0.0018044894095510244
176
+ ],
177
+ "orientation": {
178
+ "w": 0.4695549807871202,
179
+ "xyz": [
180
+ -0.5465940173168579,
181
+ -0.4469031966036999,
182
+ -0.5301232244646709
183
+ ]
184
+ }
185
+ },
186
+ "grasp_11": {
187
+ "confidence": 0.9217119216918945,
188
+ "position": [
189
+ -0.04620772722410038,
190
+ -0.1565686110407114,
191
+ 0.00012318571725700167
192
+ ],
193
+ "orientation": {
194
+ "w": 0.4193801090222655,
195
+ "xyz": [
196
+ -0.568354446168718,
197
+ -0.41306722558937314,
198
+ -0.5748643447115334
199
+ ]
200
+ }
201
+ },
202
+ "grasp_12": {
203
+ "confidence": 0.9211389422416687,
204
+ "position": [
205
+ -0.06449951726244763,
206
+ -0.15132961608469486,
207
+ -0.004251374746672809
208
+ ],
209
+ "orientation": {
210
+ "w": 0.6132442307238822,
211
+ "xyz": [
212
+ -0.3515679189032387,
213
+ 0.6082266219586492,
214
+ 0.36109816978584974
215
+ ]
216
+ }
217
+ },
218
+ "grasp_13": {
219
+ "confidence": 0.916597843170166,
220
+ "position": [
221
+ -0.025177427858579904,
222
+ -0.15904600359499454,
223
+ -0.0029950315365567803
224
+ ],
225
+ "orientation": {
226
+ "w": 0.48797561169714765,
227
+ "xyz": [
228
+ -0.5181042262829416,
229
+ -0.4754235767118614,
230
+ -0.5171269049305498
231
+ ]
232
+ }
233
+ },
234
+ "grasp_14": {
235
+ "confidence": 0.9139530062675476,
236
+ "position": [
237
+ -0.08145606267498806,
238
+ -0.14444939233362675,
239
+ -0.0036142518511042
240
+ ],
241
+ "orientation": {
242
+ "w": 0.31518196923547354,
243
+ "xyz": [
244
+ -0.6226706595460905,
245
+ -0.31328305121558064,
246
+ -0.6440460432533855
247
+ ]
248
+ }
249
+ },
250
+ "grasp_15": {
251
+ "confidence": 0.9122849702835083,
252
+ "position": [
253
+ -0.07905345159815624,
254
+ -0.14591270126402378,
255
+ -0.005815816461108625
256
+ ],
257
+ "orientation": {
258
+ "w": 0.3148247789283498,
259
+ "xyz": [
260
+ -0.6287584169451915,
261
+ -0.30836517256488316,
262
+ -0.6406708453194371
263
+ ]
264
+ }
265
+ },
266
+ "grasp_16": {
267
+ "confidence": 0.9121284484863281,
268
+ "position": [
269
+ -0.016406477720011026,
270
+ -0.15842070616781712,
271
+ -0.004141020937822759
272
+ ],
273
+ "orientation": {
274
+ "w": 0.5108891419585475,
275
+ "xyz": [
276
+ -0.499763334294072,
277
+ -0.4925253991365458,
278
+ -0.4966363111266801
279
+ ]
280
+ }
281
+ },
282
+ "grasp_17": {
283
+ "confidence": 0.9115712642669678,
284
+ "position": [
285
+ -0.02487857948290184,
286
+ -0.1589867565780878,
287
+ -0.004108021385036409
288
+ ],
289
+ "orientation": {
290
+ "w": 0.4674267949048187,
291
+ "xyz": [
292
+ -0.5191902331259131,
293
+ -0.4698565091389397,
294
+ -0.5396188970481275
295
+ ]
296
+ }
297
+ }
298
+ }
299
+ },
300
+ {
301
+ "part_name": "lower handle loop",
302
+ "mask_color": "Green",
303
+ "graspable": true,
304
+ "grasp_scenarios": [
305
+ {
306
+ "scenario": "grasp the lower handle loop to pick up the scissors by the handle end",
307
+ "confidence": 0.84
308
+ },
309
+ {
310
+ "scenario": "pinch the lower loop to rotate or orient the scissors safely away from the blades",
311
+ "confidence": 0.7
312
+ }
313
+ ],
314
+ "functional_labels": [
315
+ "provide finger insertion",
316
+ "enable scissor actuation",
317
+ "serve as a secondary handle",
318
+ "help control tool orientation"
319
+ ],
320
+ "semantic_description": "The second handle loop is pale cream plastic with a smooth slightly matte hard surface, oval rounded form, and medium size, positioned below the other loop behind the metal blades.",
321
+ "id": 1,
322
+ "grasp_group": {
323
+ "grasp_20": {
324
+ "confidence": 0.954733669757843,
325
+ "position": [
326
+ 0.07268449169350788,
327
+ -0.15380103327333927,
328
+ -0.004816155764274299
329
+ ],
330
+ "orientation": {
331
+ "w": 0.3588680807973003,
332
+ "xyz": [
333
+ -0.6100199157847589,
334
+ 0.34213108630768163,
335
+ 0.6180903839348612
336
+ ]
337
+ }
338
+ },
339
+ "grasp_21": {
340
+ "confidence": 0.9491918087005615,
341
+ "position": [
342
+ 0.07521807652665302,
343
+ -0.15107198990881443,
344
+ -0.0012231909204274416
345
+ ],
346
+ "orientation": {
347
+ "w": 0.6169029041637267,
348
+ "xyz": [
349
+ -0.3231978665466578,
350
+ -0.6246241481377514,
351
+ -0.35329678665003084
352
+ ]
353
+ }
354
+ },
355
+ "grasp_23": {
356
+ "confidence": 0.9318699240684509,
357
+ "position": [
358
+ 0.13670388859463856,
359
+ -0.026308856904506683,
360
+ 0.0009955136920325458
361
+ ],
362
+ "orientation": {
363
+ "w": 0.08105836127297097,
364
+ "xyz": [
365
+ -0.7088732662249401,
366
+ 0.060199874254252106,
367
+ 0.6980717797183166
368
+ ]
369
+ }
370
+ },
371
+ "grasp_25": {
372
+ "confidence": 0.9301547408103943,
373
+ "position": [
374
+ 0.1365897158975713,
375
+ -0.022796545177698135,
376
+ -0.0013216343941166997
377
+ ],
378
+ "orientation": {
379
+ "w": 0.05999234094547071,
380
+ "xyz": [
381
+ -0.7141036011155021,
382
+ 0.05143392268039437,
383
+ 0.6955656097734141
384
+ ]
385
+ }
386
+ },
387
+ "grasp_27": {
388
+ "confidence": 0.9235329031944275,
389
+ "position": [
390
+ 0.07773085933877155,
391
+ -0.1467448715120554,
392
+ -0.0044564827112481
393
+ ],
394
+ "orientation": {
395
+ "w": 0.3377084676862309,
396
+ "xyz": [
397
+ -0.6387597343546711,
398
+ 0.29775162229349994,
399
+ 0.62392544750295
400
+ ]
401
+ }
402
+ },
403
+ "grasp_28": {
404
+ "confidence": 0.9215365648269653,
405
+ "position": [
406
+ 0.06399169069482014,
407
+ -0.15285771526396275,
408
+ -0.0041748135117813945
409
+ ],
410
+ "orientation": {
411
+ "w": 0.37304127047756486,
412
+ "xyz": [
413
+ -0.60036140193323,
414
+ 0.3607489279016044,
415
+ 0.6084953644910481
416
+ ]
417
+ }
418
+ },
419
+ "grasp_29": {
420
+ "confidence": 0.9211449027061462,
421
+ "position": [
422
+ 0.061157698452007025,
423
+ -0.155267471447587,
424
+ -0.003295490867458284
425
+ ],
426
+ "orientation": {
427
+ "w": 0.6101739491793476,
428
+ "xyz": [
429
+ -0.35216503730956955,
430
+ -0.6011621977338458,
431
+ -0.37718901131321597
432
+ ]
433
+ }
434
+ },
435
+ "grasp_30": {
436
+ "confidence": 0.9204085469245911,
437
+ "position": [
438
+ 0.1371835867757909,
439
+ -0.04516788385808468,
440
+ -0.0037131906719878316
441
+ ],
442
+ "orientation": {
443
+ "w": 0.13565814198453338,
444
+ "xyz": [
445
+ -0.6932836110455896,
446
+ 0.12581010129745795,
447
+ 0.6965102451367209
448
+ ]
449
+ }
450
+ },
451
+ "grasp_31": {
452
+ "confidence": 0.9193440675735474,
453
+ "position": [
454
+ 0.11836051446152851,
455
+ 0.04412275739014149,
456
+ -0.001053236541338265
457
+ ],
458
+ "orientation": {
459
+ "w": 0.7039369798807001,
460
+ "xyz": [
461
+ 0.1375683087621105,
462
+ -0.6851870938548325,
463
+ 0.12675304807199197
464
+ ]
465
+ }
466
+ },
467
+ "grasp_34": {
468
+ "confidence": 0.9131495356559753,
469
+ "position": [
470
+ 0.11434421938611194,
471
+ 0.055259862914681435,
472
+ 0.0006582195055671036
473
+ ],
474
+ "orientation": {
475
+ "w": 0.19638308939037222,
476
+ "xyz": [
477
+ 0.6814058686883788,
478
+ 0.20762411573827777,
479
+ -0.6738040893927754
480
+ ]
481
+ }
482
+ },
483
+ "grasp_35": {
484
+ "confidence": 0.9117363691329956,
485
+ "position": [
486
+ 0.13434874516678974,
487
+ -0.03135575167834759,
488
+ -0.0010723009472712874
489
+ ],
490
+ "orientation": {
491
+ "w": 0.10554203031558375,
492
+ "xyz": [
493
+ 0.6968910882293058,
494
+ 0.13035107969938187,
495
+ -0.6972892419969228
496
+ ]
497
+ }
498
+ },
499
+ "grasp_38": {
500
+ "confidence": 0.9105263352394104,
501
+ "position": [
502
+ 0.12266864877892658,
503
+ 0.04045295901596546,
504
+ 3.368922625668347e-05
505
+ ],
506
+ "orientation": {
507
+ "w": 0.14619440235015102,
508
+ "xyz": [
509
+ 0.6950432257469396,
510
+ 0.15924936250239285,
511
+ -0.6856980032108542
512
+ ]
513
+ }
514
+ },
515
+ "grasp_39": {
516
+ "confidence": 0.9097797870635986,
517
+ "position": [
518
+ 0.11056295287562534,
519
+ 0.05918596871197224,
520
+ 0.0011154792737215757
521
+ ],
522
+ "orientation": {
523
+ "w": 0.19651352905975009,
524
+ "xyz": [
525
+ 0.6814193533952994,
526
+ 0.2103048408270538,
527
+ -0.6729204794323931
528
+ ]
529
+ }
530
+ }
531
+ }
532
+ },
533
+ {
534
+ "part_name": "blades of scissors",
535
+ "mask_color": "Blue",
536
+ "graspable": true,
537
+ "grasp_scenarios": [
538
+ {
539
+ "scenario": "grasp the closed blades near the middle to transfer or place the scissors when safe handle access is blocked",
540
+ "confidence": 0.33
541
+ },
542
+ {
543
+ "scenario": "hold the closed blade section to stabilize the tool during inspection or packaging",
544
+ "confidence": 0.29
545
+ }
546
+ ],
547
+ "functional_labels": [
548
+ "cut material",
549
+ "form the shearing edges",
550
+ "pierce with the tip",
551
+ "extend from the pivot to the cutting end"
552
+ ],
553
+ "semantic_description": "Long silver metal blades with a reflective smooth hard finish taper to pointed tips, forming the front working end of the scissors with a slim elongated triangular shape.",
554
+ "id": 2,
555
+ "grasp_group": {
556
+ "grasp_40": {
557
+ "confidence": 0.9924788475036621,
558
+ "position": [
559
+ 0.0976686353678815,
560
+ 0.12651615403592587,
561
+ -0.009498224942944944
562
+ ],
563
+ "orientation": {
564
+ "w": 0.7346816338685546,
565
+ "xyz": [
566
+ 0.03798713183776031,
567
+ -0.6765149259186416,
568
+ 0.033577219662534824
569
+ ]
570
+ }
571
+ },
572
+ "grasp_41": {
573
+ "confidence": 0.9920040965080261,
574
+ "position": [
575
+ -0.09673843282507733,
576
+ 0.12870854698121548,
577
+ -0.004737300681881607
578
+ ],
579
+ "orientation": {
580
+ "w": 0.7160396233490862,
581
+ "xyz": [
582
+ 0.041723175130298544,
583
+ 0.6960892536448771,
584
+ -0.031720425773674954
585
+ ]
586
+ }
587
+ },
588
+ "grasp_43": {
589
+ "confidence": 0.991072952747345,
590
+ "position": [
591
+ -0.09539307403611019,
592
+ 0.11576460860669613,
593
+ 0.00027100081206299365
594
+ ],
595
+ "orientation": {
596
+ "w": 0.7050182583677179,
597
+ "xyz": [
598
+ 0.037919768391817106,
599
+ 0.7074100345072589,
600
+ -0.03289969014596681
601
+ ]
602
+ }
603
+ },
604
+ "grasp_44": {
605
+ "confidence": 0.9905224442481995,
606
+ "position": [
607
+ 0.09737262380076572,
608
+ 0.10102600418031216,
609
+ 0.0013455006992444396
610
+ ],
611
+ "orientation": {
612
+ "w": 0.7095826824334953,
613
+ "xyz": [
614
+ 0.04576249270208279,
615
+ -0.7018751042510321,
616
+ 0.042066008662348386
617
+ ]
618
+ }
619
+ },
620
+ "grasp_47": {
621
+ "confidence": 0.9876300692558289,
622
+ "position": [
623
+ 0.09564235311700031,
624
+ 0.07099823467433453,
625
+ 0.0006007870542816818
626
+ ],
627
+ "orientation": {
628
+ "w": 0.12090719479758925,
629
+ "xyz": [
630
+ -0.7013461172820354,
631
+ 0.10104751906881582,
632
+ 0.6951866460955851
633
+ ]
634
+ }
635
+ },
636
+ "grasp_48": {
637
+ "confidence": 0.9874545335769653,
638
+ "position": [
639
+ -0.094915923953522,
640
+ 0.11014781706035137,
641
+ -9.20136080821976e-05
642
+ ],
643
+ "orientation": {
644
+ "w": 0.08080955508781902,
645
+ "xyz": [
646
+ 0.6930579032321703,
647
+ -0.0852710820621102,
648
+ 0.7112449656327228
649
+ ]
650
+ }
651
+ },
652
+ "grasp_51": {
653
+ "confidence": 0.9862644076347351,
654
+ "position": [
655
+ -0.08971059817122295,
656
+ 0.13181567750871181,
657
+ -0.0008699735626578331
658
+ ],
659
+ "orientation": {
660
+ "w": 0.6810999062594636,
661
+ "xyz": [
662
+ 0.13312030448319212,
663
+ 0.7031255287576209,
664
+ -0.1549076919877365
665
+ ]
666
+ }
667
+ },
668
+ "grasp_53": {
669
+ "confidence": 0.9843212366104126,
670
+ "position": [
671
+ -0.09578941512154415,
672
+ 0.10500874184072018,
673
+ 0.0004724347672890872
674
+ ],
675
+ "orientation": {
676
+ "w": 0.6919482302984664,
677
+ "xyz": [
678
+ 0.09155314601316064,
679
+ 0.7114022272126378,
680
+ -0.08205205152103925
681
+ ]
682
+ }
683
+ },
684
+ "grasp_57": {
685
+ "confidence": 0.9826434254646301,
686
+ "position": [
687
+ -0.08244114118861035,
688
+ 0.1685375925153494,
689
+ 0.003568214480765164
690
+ ],
691
+ "orientation": {
692
+ "w": 0.663425469142562,
693
+ "xyz": [
694
+ 0.19977891100430958,
695
+ 0.6908666895966136,
696
+ -0.20653873926389818
697
+ ]
698
+ }
699
+ }
700
+ }
701
+ },
702
+ {
703
+ "part_name": "pivot joint",
704
+ "mask_color": "Yellow",
705
+ "graspable": false,
706
+ "grasp_scenarios": [],
707
+ "functional_labels": [
708
+ "act as the rotation axis",
709
+ "connect the two blade-handle halves",
710
+ "enable opening and closing motion",
711
+ "maintain blade alignment"
712
+ ],
713
+ "semantic_description": "A tiny round silver pivot fastener at the center of the scissors, appearing as a smooth hard metal joint that joins both halves and allows rotation.",
714
+ "id": 3,
715
+ "grasp_group": {}
716
+ }
717
+ ],
718
+ "quality_check": {
719
+ "success": true,
720
+ "message": "YES"
721
+ }
722
+ }
dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76ac69ada92d6d5f2d01338c2584447a5fbf0c955eb560180103b54804c9bbf3
3
+ size 3782088