Add asset desktop_supplies/office_stationery/0e74144aca725b389152cab6dc645aac
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/0e74144aca725b389152cab6dc645aac/affordance/affordance_annot.json +984 -0
- dataset/desktop_supplies/office_stationery/0e74144aca725b389152cab6dc645aac/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/0e74144aca725b389152cab6dc645aac/glue_stick_034.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8171,3 +8171,4 @@ dataset/desktop_supplies/office_stationery/09b4f19c0be9527883c97921b7f5d736/affo
|
|
| 8171 |
dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8172 |
dataset/desktop_supplies/office_stationery/0b32a2ba04fe51638bf37032e495731e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8173 |
dataset/desktop_supplies/office_stationery/0b7c0d5465d75b429d934a5c4367fc2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8171 |
dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8172 |
dataset/desktop_supplies/office_stationery/0b32a2ba04fe51638bf37032e495731e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8173 |
dataset/desktop_supplies/office_stationery/0b7c0d5465d75b429d934a5c4367fc2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8174 |
+
dataset/desktop_supplies/office_stationery/0e74144aca725b389152cab6dc645aac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/0e74144aca725b389152cab6dc645aac/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,984 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cap",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap to remove or loosen it for opening the glue stick",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the cap to place it back on and press it closed",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the cap to stabilize the object during handoff or reorientation",
|
| 18 |
+
"confidence": 0.56
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the glue",
|
| 23 |
+
"protect the adhesive tip",
|
| 24 |
+
"enable opening and closing",
|
| 25 |
+
"provide a twisting surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A short blue plastic cap at the top with a glossy finish, hard ribbed sides, and a smooth rounded top, sized to cover the adhesive end and improve grip for twisting.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9691958427429199,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.09623709445804707,
|
| 34 |
+
-0.03212006940157153,
|
| 35 |
+
0.0512857788708061
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5667860379358831,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.580025791727585,
|
| 41 |
+
0.41725278077041106,
|
| 42 |
+
-0.41015092962358485
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9684996008872986,
|
| 48 |
+
"position": [
|
| 49 |
+
0.10416191691547283,
|
| 50 |
+
0.0005229282032814808,
|
| 51 |
+
0.04038927867077291
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4932042467075337,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.5015228976723533,
|
| 57 |
+
-0.5101842836068484,
|
| 58 |
+
0.4949104473544142
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9675474166870117,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.006012645400915062,
|
| 66 |
+
-0.10075543998391367,
|
| 67 |
+
0.04392549931071699
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6960875924229395,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.7171633091390995,
|
| 73 |
+
0.015453134340035035,
|
| 74 |
+
-0.03000087229666884
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9657980799674988,
|
| 80 |
+
"position": [
|
| 81 |
+
0.09171844149022945,
|
| 82 |
+
0.0413884800800588,
|
| 83 |
+
0.05669613345526159
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.3677233162209061,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.4022680567867032,
|
| 89 |
+
-0.6195631818873886,
|
| 90 |
+
0.5648906414927795
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9652891755104065,
|
| 96 |
+
"position": [
|
| 97 |
+
0.09149728590637096,
|
| 98 |
+
0.04934714184491895,
|
| 99 |
+
0.04365549026988447
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.3564392033029391,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.3494017084476288,
|
| 105 |
+
-0.616570428627939,
|
| 106 |
+
0.6088599568243945
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_25": {
|
| 111 |
+
"confidence": 0.9646044969558716,
|
| 112 |
+
"position": [
|
| 113 |
+
0.03878300139695057,
|
| 114 |
+
0.09395082117407583,
|
| 115 |
+
0.042525687953457236
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.13873347559388527,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.14884614552084982,
|
| 121 |
+
-0.6852100591094702,
|
| 122 |
+
0.6993461393390421
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_26": {
|
| 127 |
+
"confidence": 0.9644699692726135,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.1017076460084354,
|
| 130 |
+
-0.014708343805978075,
|
| 131 |
+
0.04994665994308889
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5268375095418159,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.5363062364140455,
|
| 137 |
+
0.46548260781020556,
|
| 138 |
+
-0.4670586699220871
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_27": {
|
| 143 |
+
"confidence": 0.9634273052215576,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.05337691804379574,
|
| 146 |
+
-0.021491451101610437,
|
| 147 |
+
0.1269587033893913
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.22399791728897683,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.787746361760802,
|
| 153 |
+
0.5508653586711469,
|
| 154 |
+
-0.16071079366031657
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_28": {
|
| 159 |
+
"confidence": 0.9631293416023254,
|
| 160 |
+
"position": [
|
| 161 |
+
0.022214066852029646,
|
| 162 |
+
0.09157445849268697,
|
| 163 |
+
0.09441723464988172
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.055976516304363774,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.11110746817658039,
|
| 169 |
+
-0.8546663343876056,
|
| 170 |
+
0.5040508079571644
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_29": {
|
| 175 |
+
"confidence": 0.9629684686660767,
|
| 176 |
+
"position": [
|
| 177 |
+
0.03894163543372997,
|
| 178 |
+
0.09758142204373144,
|
| 179 |
+
0.04022693424485624
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.13917569449429604,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.13624766074464648,
|
| 185 |
+
-0.6901791751484329,
|
| 186 |
+
0.6969357267317202
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_30": {
|
| 191 |
+
"confidence": 0.9625747799873352,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.05245619019478909,
|
| 194 |
+
-0.015324195759603754,
|
| 195 |
+
0.1285749131347984
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.21919660820964756,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.7459865381615457,
|
| 201 |
+
0.609000872025295,
|
| 202 |
+
-0.15676373848428563
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_31": {
|
| 207 |
+
"confidence": 0.9623671770095825,
|
| 208 |
+
"position": [
|
| 209 |
+
0.0477119858005608,
|
| 210 |
+
0.0886417833098676,
|
| 211 |
+
0.046198630472645164
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.17472334458865013,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.17721983579563932,
|
| 217 |
+
-0.684949328842456,
|
| 218 |
+
0.6847695229598
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_32": {
|
| 223 |
+
"confidence": 0.9622253179550171,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.08450765287489048,
|
| 226 |
+
-0.013480568217346445,
|
| 227 |
+
0.09868600009940565
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.3761746247245041,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.6690001552027401,
|
| 233 |
+
0.5564660655467615,
|
| 234 |
+
-0.31824041532620523
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_33": {
|
| 239 |
+
"confidence": 0.9618139863014221,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.012117371279600775,
|
| 242 |
+
-0.09576843856484629,
|
| 243 |
+
0.05226976959966123
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.6813024427160509,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.7298943580320497,
|
| 249 |
+
0.042065939250869655,
|
| 250 |
+
-0.03621690788936007
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_34": {
|
| 255 |
+
"confidence": 0.9616185426712036,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.09999977176994435,
|
| 258 |
+
-0.0019178666698280722,
|
| 259 |
+
0.05794453783892095
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.49417721190042113,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.5186186777509091,
|
| 265 |
+
0.5138448718767589,
|
| 266 |
+
-0.47200317580730483
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_35": {
|
| 271 |
+
"confidence": 0.9613995552062988,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.09077858304590336,
|
| 274 |
+
-0.043057190167019144,
|
| 275 |
+
0.039710419019684196
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.5960642912377077,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.5936972276298336,
|
| 281 |
+
0.38529809230755185,
|
| 282 |
+
-0.3791785103089311
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_36": {
|
| 287 |
+
"confidence": 0.961230456829071,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.046891239788237726,
|
| 290 |
+
-0.008917868981370702,
|
| 291 |
+
0.1323637419845909
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.1645359880648856,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.6281774956141501,
|
| 297 |
+
0.7363606036089337,
|
| 298 |
+
0.18998422062932774
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_37": {
|
| 303 |
+
"confidence": 0.9611698389053345,
|
| 304 |
+
"position": [
|
| 305 |
+
0.09737916165977367,
|
| 306 |
+
0.03341537909000181,
|
| 307 |
+
0.04548942460678518
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.5636351172181374,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.5794727638647241,
|
| 313 |
+
-0.40509065580739423,
|
| 314 |
+
-0.4271162969906556
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_38": {
|
| 319 |
+
"confidence": 0.9606497883796692,
|
| 320 |
+
"position": [
|
| 321 |
+
0.03802035251646885,
|
| 322 |
+
0.0942638051637914,
|
| 323 |
+
0.0721283012535423
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.13043900917492643,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.1365597961546994,
|
| 329 |
+
-0.7700490902779286,
|
| 330 |
+
0.6093943596077874
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_39": {
|
| 335 |
+
"confidence": 0.9605249166488647,
|
| 336 |
+
"position": [
|
| 337 |
+
0.09928273284822353,
|
| 338 |
+
0.04259468810050748,
|
| 339 |
+
0.0386657880153507
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.5885212829736398,
|
| 343 |
+
"xyz": [
|
| 344 |
+
0.5971787660356215,
|
| 345 |
+
-0.3854153639039769,
|
| 346 |
+
-0.3853248216115831
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "body",
|
| 354 |
+
"mask_color": "Red",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "grasp the cylindrical body to pick up and move the glue stick",
|
| 359 |
+
"confidence": 0.96
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "hold the body while removing or attaching the cap",
|
| 363 |
+
"confidence": 0.91
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"scenario": "grasp the body to orient the glue stick for use or placement",
|
| 367 |
+
"confidence": 0.89
|
| 368 |
+
}
|
| 369 |
+
],
|
| 370 |
+
"functional_labels": [
|
| 371 |
+
"main grasp surface",
|
| 372 |
+
"contain the glue mechanism",
|
| 373 |
+
"support manipulation during use",
|
| 374 |
+
"provide structural housing"
|
| 375 |
+
],
|
| 376 |
+
"semantic_description": "A tall white plastic cylindrical body with a mostly glossy smooth surface, hard texture, and slight taper, forming the main central housing of the glue stick.",
|
| 377 |
+
"id": 0,
|
| 378 |
+
"grasp_group": {
|
| 379 |
+
"grasp_0": {
|
| 380 |
+
"confidence": 0.9890798926353455,
|
| 381 |
+
"position": [
|
| 382 |
+
-0.08270826315492741,
|
| 383 |
+
-0.03915123819024302,
|
| 384 |
+
-0.08489436865784228
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.7189167967007348,
|
| 388 |
+
"xyz": [
|
| 389 |
+
-0.43061021452945186,
|
| 390 |
+
0.28078853488318745,
|
| 391 |
+
-0.4678581849691275
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_1": {
|
| 396 |
+
"confidence": 0.9890114068984985,
|
| 397 |
+
"position": [
|
| 398 |
+
-0.08455014353603474,
|
| 399 |
+
-0.03129429920227267,
|
| 400 |
+
-0.08605767996050417
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.7003718436239363,
|
| 404 |
+
"xyz": [
|
| 405 |
+
-0.41907524944410646,
|
| 406 |
+
0.2908474244282797,
|
| 407 |
+
-0.49926244768218286
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"grasp_2": {
|
| 412 |
+
"confidence": 0.988918125629425,
|
| 413 |
+
"position": [
|
| 414 |
+
-0.08247098451465718,
|
| 415 |
+
-0.02727370141656138,
|
| 416 |
+
-0.09445215971209109
|
| 417 |
+
],
|
| 418 |
+
"orientation": {
|
| 419 |
+
"w": 0.6932387838592846,
|
| 420 |
+
"xyz": [
|
| 421 |
+
-0.4117122902052357,
|
| 422 |
+
0.290908572297249,
|
| 423 |
+
-0.5150584250463592
|
| 424 |
+
]
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"grasp_3": {
|
| 428 |
+
"confidence": 0.9885739088058472,
|
| 429 |
+
"position": [
|
| 430 |
+
-0.08020611977190129,
|
| 431 |
+
-0.037261219607898965,
|
| 432 |
+
-0.09473930508829653
|
| 433 |
+
],
|
| 434 |
+
"orientation": {
|
| 435 |
+
"w": 0.47311066627806453,
|
| 436 |
+
"xyz": [
|
| 437 |
+
0.26587801968791724,
|
| 438 |
+
0.41464349143770896,
|
| 439 |
+
0.7304422982748902
|
| 440 |
+
]
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"grasp_4": {
|
| 444 |
+
"confidence": 0.9881314039230347,
|
| 445 |
+
"position": [
|
| 446 |
+
-0.08015393590540043,
|
| 447 |
+
-0.03468510686070658,
|
| 448 |
+
-0.09615101874805987
|
| 449 |
+
],
|
| 450 |
+
"orientation": {
|
| 451 |
+
"w": 0.4906627743351874,
|
| 452 |
+
"xyz": [
|
| 453 |
+
0.2703558484888462,
|
| 454 |
+
0.40238826205405365,
|
| 455 |
+
0.7240451944669556
|
| 456 |
+
]
|
| 457 |
+
}
|
| 458 |
+
},
|
| 459 |
+
"grasp_5": {
|
| 460 |
+
"confidence": 0.9878128170967102,
|
| 461 |
+
"position": [
|
| 462 |
+
-0.07587588703245274,
|
| 463 |
+
-0.04418702601105906,
|
| 464 |
+
-0.09565460146404803
|
| 465 |
+
],
|
| 466 |
+
"orientation": {
|
| 467 |
+
"w": 0.4467237343750388,
|
| 468 |
+
"xyz": [
|
| 469 |
+
0.24851790815935917,
|
| 470 |
+
0.4187976488310776,
|
| 471 |
+
0.7505233399459856
|
| 472 |
+
]
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"grasp_6": {
|
| 476 |
+
"confidence": 0.9878035187721252,
|
| 477 |
+
"position": [
|
| 478 |
+
-0.0830507737955486,
|
| 479 |
+
-0.03159840209991671,
|
| 480 |
+
-0.09021453023888171
|
| 481 |
+
],
|
| 482 |
+
"orientation": {
|
| 483 |
+
"w": 0.5071277385764359,
|
| 484 |
+
"xyz": [
|
| 485 |
+
0.28339520560996007,
|
| 486 |
+
0.4016445124691961,
|
| 487 |
+
0.7079479499278319
|
| 488 |
+
]
|
| 489 |
+
}
|
| 490 |
+
},
|
| 491 |
+
"grasp_7": {
|
| 492 |
+
"confidence": 0.9876016974449158,
|
| 493 |
+
"position": [
|
| 494 |
+
-0.08766275769085041,
|
| 495 |
+
-0.012262534262845293,
|
| 496 |
+
-0.0967017209623009
|
| 497 |
+
],
|
| 498 |
+
"orientation": {
|
| 499 |
+
"w": 0.5838338680980575,
|
| 500 |
+
"xyz": [
|
| 501 |
+
0.3257276812428948,
|
| 502 |
+
0.37465889147697984,
|
| 503 |
+
0.642394121370229
|
| 504 |
+
]
|
| 505 |
+
}
|
| 506 |
+
},
|
| 507 |
+
"grasp_8": {
|
| 508 |
+
"confidence": 0.987423837184906,
|
| 509 |
+
"position": [
|
| 510 |
+
-0.10155553495496861,
|
| 511 |
+
-0.020235873671481386,
|
| 512 |
+
-0.03170446143485606
|
| 513 |
+
],
|
| 514 |
+
"orientation": {
|
| 515 |
+
"w": 0.5528284629029481,
|
| 516 |
+
"xyz": [
|
| 517 |
+
-0.5326920172262224,
|
| 518 |
+
0.4415974798452802,
|
| 519 |
+
-0.4643399306350025
|
| 520 |
+
]
|
| 521 |
+
}
|
| 522 |
+
},
|
| 523 |
+
"grasp_9": {
|
| 524 |
+
"confidence": 0.987228274345398,
|
| 525 |
+
"position": [
|
| 526 |
+
-0.07733424132675282,
|
| 527 |
+
-0.04770228816778399,
|
| 528 |
+
-0.08313880325295031
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.7403792066763644,
|
| 532 |
+
"xyz": [
|
| 533 |
+
-0.44344213741857325,
|
| 534 |
+
0.254634372621516,
|
| 535 |
+
-0.436301544075393
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
"grasp_10": {
|
| 540 |
+
"confidence": 0.9870360493659973,
|
| 541 |
+
"position": [
|
| 542 |
+
-0.08889775848001591,
|
| 543 |
+
-0.011549355374881998,
|
| 544 |
+
-0.09387095482088625
|
| 545 |
+
],
|
| 546 |
+
"orientation": {
|
| 547 |
+
"w": 0.6352950590067411,
|
| 548 |
+
"xyz": [
|
| 549 |
+
-0.3894396875590743,
|
| 550 |
+
0.33161323142461807,
|
| 551 |
+
-0.5785927604970827
|
| 552 |
+
]
|
| 553 |
+
}
|
| 554 |
+
},
|
| 555 |
+
"grasp_11": {
|
| 556 |
+
"confidence": 0.9870180487632751,
|
| 557 |
+
"position": [
|
| 558 |
+
-0.08967231338829151,
|
| 559 |
+
-0.022201156156370416,
|
| 560 |
+
-0.08251508534885943
|
| 561 |
+
],
|
| 562 |
+
"orientation": {
|
| 563 |
+
"w": 0.5436802756297704,
|
| 564 |
+
"xyz": [
|
| 565 |
+
0.31501095560878944,
|
| 566 |
+
0.39861122913242886,
|
| 567 |
+
0.6680486088205765
|
| 568 |
+
]
|
| 569 |
+
}
|
| 570 |
+
},
|
| 571 |
+
"grasp_12": {
|
| 572 |
+
"confidence": 0.9868040680885315,
|
| 573 |
+
"position": [
|
| 574 |
+
-0.08442029481739155,
|
| 575 |
+
-0.0202363207063172,
|
| 576 |
+
-0.09698223532177508
|
| 577 |
+
],
|
| 578 |
+
"orientation": {
|
| 579 |
+
"w": 0.5432241772372669,
|
| 580 |
+
"xyz": [
|
| 581 |
+
0.3167999131924616,
|
| 582 |
+
0.3864453095811333,
|
| 583 |
+
0.6746890624346045
|
| 584 |
+
]
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"grasp_13": {
|
| 588 |
+
"confidence": 0.986777126789093,
|
| 589 |
+
"position": [
|
| 590 |
+
-0.08408748483270756,
|
| 591 |
+
-0.015695096837589517,
|
| 592 |
+
-0.09706093580462039
|
| 593 |
+
],
|
| 594 |
+
"orientation": {
|
| 595 |
+
"w": 0.6567168283520299,
|
| 596 |
+
"xyz": [
|
| 597 |
+
-0.39138414947074307,
|
| 598 |
+
0.30269929911340454,
|
| 599 |
+
-0.5691349481613008
|
| 600 |
+
]
|
| 601 |
+
}
|
| 602 |
+
},
|
| 603 |
+
"grasp_14": {
|
| 604 |
+
"confidence": 0.9865797162055969,
|
| 605 |
+
"position": [
|
| 606 |
+
-0.0978895810803806,
|
| 607 |
+
-0.030292536976048723,
|
| 608 |
+
-0.02970054210163653
|
| 609 |
+
],
|
| 610 |
+
"orientation": {
|
| 611 |
+
"w": 0.553007054104044,
|
| 612 |
+
"xyz": [
|
| 613 |
+
-0.5788878480899158,
|
| 614 |
+
0.42522714850725973,
|
| 615 |
+
-0.42220129040231297
|
| 616 |
+
]
|
| 617 |
+
}
|
| 618 |
+
},
|
| 619 |
+
"grasp_15": {
|
| 620 |
+
"confidence": 0.986577033996582,
|
| 621 |
+
"position": [
|
| 622 |
+
-0.08931470042080036,
|
| 623 |
+
-0.009083702141651884,
|
| 624 |
+
-0.08911119611002505
|
| 625 |
+
],
|
| 626 |
+
"orientation": {
|
| 627 |
+
"w": 0.634542961599126,
|
| 628 |
+
"xyz": [
|
| 629 |
+
-0.37582317113778446,
|
| 630 |
+
0.33391393107136436,
|
| 631 |
+
-0.5870380401280807
|
| 632 |
+
]
|
| 633 |
+
}
|
| 634 |
+
},
|
| 635 |
+
"grasp_16": {
|
| 636 |
+
"confidence": 0.9864627718925476,
|
| 637 |
+
"position": [
|
| 638 |
+
-0.08114624148220173,
|
| 639 |
+
-0.03165932549745776,
|
| 640 |
+
-0.09049056679941714
|
| 641 |
+
],
|
| 642 |
+
"orientation": {
|
| 643 |
+
"w": 0.507878474618684,
|
| 644 |
+
"xyz": [
|
| 645 |
+
0.27840677236458844,
|
| 646 |
+
0.39843732979892377,
|
| 647 |
+
0.7111939386294253
|
| 648 |
+
]
|
| 649 |
+
}
|
| 650 |
+
},
|
| 651 |
+
"grasp_17": {
|
| 652 |
+
"confidence": 0.9863552451133728,
|
| 653 |
+
"position": [
|
| 654 |
+
-0.07439125454038731,
|
| 655 |
+
-0.038087228225776926,
|
| 656 |
+
-0.09767966181971133
|
| 657 |
+
],
|
| 658 |
+
"orientation": {
|
| 659 |
+
"w": 0.7268231199515333,
|
| 660 |
+
"xyz": [
|
| 661 |
+
-0.42971629039102416,
|
| 662 |
+
0.2599884756490364,
|
| 663 |
+
-0.4684848499217311
|
| 664 |
+
]
|
| 665 |
+
}
|
| 666 |
+
},
|
| 667 |
+
"grasp_18": {
|
| 668 |
+
"confidence": 0.985932469367981,
|
| 669 |
+
"position": [
|
| 670 |
+
-0.08817596113294712,
|
| 671 |
+
-0.0032784157956484705,
|
| 672 |
+
-0.09153671027161181
|
| 673 |
+
],
|
| 674 |
+
"orientation": {
|
| 675 |
+
"w": 0.6234063220255408,
|
| 676 |
+
"xyz": [
|
| 677 |
+
0.3409963600479931,
|
| 678 |
+
0.35924894886744163,
|
| 679 |
+
0.6050010188671135
|
| 680 |
+
]
|
| 681 |
+
}
|
| 682 |
+
},
|
| 683 |
+
"grasp_19": {
|
| 684 |
+
"confidence": 0.9858830571174622,
|
| 685 |
+
"position": [
|
| 686 |
+
-0.09974696611971012,
|
| 687 |
+
-0.009714438492665067,
|
| 688 |
+
-0.017863391200080514
|
| 689 |
+
],
|
| 690 |
+
"orientation": {
|
| 691 |
+
"w": 0.5163861832504376,
|
| 692 |
+
"xyz": [
|
| 693 |
+
-0.5252607571569385,
|
| 694 |
+
0.47710011732957125,
|
| 695 |
+
-0.47939746013415013
|
| 696 |
+
]
|
| 697 |
+
}
|
| 698 |
+
}
|
| 699 |
+
}
|
| 700 |
+
},
|
| 701 |
+
{
|
| 702 |
+
"part_name": "label",
|
| 703 |
+
"mask_color": "Blue",
|
| 704 |
+
"graspable": false,
|
| 705 |
+
"grasp_scenarios": [],
|
| 706 |
+
"functional_labels": [
|
| 707 |
+
"display branding",
|
| 708 |
+
"show product information",
|
| 709 |
+
"identify the glue stick"
|
| 710 |
+
],
|
| 711 |
+
"semantic_description": "A blue printed paper or plastic label patch wrapped on the side of the white body, smooth and thin, with visible white text and graphics including Chinese characters and logo markings.",
|
| 712 |
+
"id": 2,
|
| 713 |
+
"grasp_group": {}
|
| 714 |
+
},
|
| 715 |
+
{
|
| 716 |
+
"part_name": "base of glue stick",
|
| 717 |
+
"mask_color": "Pink",
|
| 718 |
+
"graspable": true,
|
| 719 |
+
"grasp_scenarios": [
|
| 720 |
+
{
|
| 721 |
+
"scenario": "grasp the bottom end to lift or reposition the glue stick from a lying orientation",
|
| 722 |
+
"confidence": 0.42
|
| 723 |
+
},
|
| 724 |
+
{
|
| 725 |
+
"scenario": "pinch the base to stabilize the glue stick during manipulation",
|
| 726 |
+
"confidence": 0.34
|
| 727 |
+
}
|
| 728 |
+
],
|
| 729 |
+
"functional_labels": [
|
| 730 |
+
"close the bottom",
|
| 731 |
+
"support upright standing",
|
| 732 |
+
"provide end surface for resting"
|
| 733 |
+
],
|
| 734 |
+
"semantic_description": "A light gray to pale lavender circular plastic bottom piece with a smooth glossy finish and hard surface, forming the flat base at the lower end of the glue stick.",
|
| 735 |
+
"id": 8,
|
| 736 |
+
"grasp_group": {
|
| 737 |
+
"grasp_40": {
|
| 738 |
+
"confidence": 0.9585565328598022,
|
| 739 |
+
"position": [
|
| 740 |
+
0.1016374962964619,
|
| 741 |
+
0.011917212133994326,
|
| 742 |
+
-0.054787548491731286
|
| 743 |
+
],
|
| 744 |
+
"orientation": {
|
| 745 |
+
"w": 0.5352298867099019,
|
| 746 |
+
"xyz": [
|
| 747 |
+
0.5236239399019101,
|
| 748 |
+
-0.4816920968419519,
|
| 749 |
+
-0.45532368901047715
|
| 750 |
+
]
|
| 751 |
+
}
|
| 752 |
+
},
|
| 753 |
+
"grasp_41": {
|
| 754 |
+
"confidence": 0.9409427642822266,
|
| 755 |
+
"position": [
|
| 756 |
+
0.10844354951768764,
|
| 757 |
+
-0.01161812330246903,
|
| 758 |
+
-0.0586102104280144
|
| 759 |
+
],
|
| 760 |
+
"orientation": {
|
| 761 |
+
"w": 0.4786599570211839,
|
| 762 |
+
"xyz": [
|
| 763 |
+
0.4644749795845437,
|
| 764 |
+
-0.5269931277478755,
|
| 765 |
+
-0.5267123334334662
|
| 766 |
+
]
|
| 767 |
+
}
|
| 768 |
+
},
|
| 769 |
+
"grasp_42": {
|
| 770 |
+
"confidence": 0.9178590774536133,
|
| 771 |
+
"position": [
|
| 772 |
+
0.045194166395958746,
|
| 773 |
+
-0.0940541046729777,
|
| 774 |
+
-0.06583505333401263
|
| 775 |
+
],
|
| 776 |
+
"orientation": {
|
| 777 |
+
"w": 0.1804159355505265,
|
| 778 |
+
"xyz": [
|
| 779 |
+
0.13892930318559216,
|
| 780 |
+
-0.6614473048900762,
|
| 781 |
+
-0.7145881343609397
|
| 782 |
+
]
|
| 783 |
+
}
|
| 784 |
+
},
|
| 785 |
+
"grasp_43": {
|
| 786 |
+
"confidence": 0.8846405148506165,
|
| 787 |
+
"position": [
|
| 788 |
+
0.09408362085014232,
|
| 789 |
+
-0.04375983207137324,
|
| 790 |
+
-0.05980225862003863
|
| 791 |
+
],
|
| 792 |
+
"orientation": {
|
| 793 |
+
"w": 0.3928358197724788,
|
| 794 |
+
"xyz": [
|
| 795 |
+
0.3756230667890544,
|
| 796 |
+
-0.5911862286710077,
|
| 797 |
+
-0.5958910751382508
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
"grasp_44": {
|
| 802 |
+
"confidence": 0.9637799859046936,
|
| 803 |
+
"position": [
|
| 804 |
+
0.10230737054735073,
|
| 805 |
+
-0.0013783658214379102,
|
| 806 |
+
-0.054498842218890786
|
| 807 |
+
],
|
| 808 |
+
"orientation": {
|
| 809 |
+
"w": 0.5046847682666457,
|
| 810 |
+
"xyz": [
|
| 811 |
+
0.49692885859859337,
|
| 812 |
+
-0.5037059271709502,
|
| 813 |
+
-0.494606240462446
|
| 814 |
+
]
|
| 815 |
+
}
|
| 816 |
+
},
|
| 817 |
+
"grasp_45": {
|
| 818 |
+
"confidence": 0.7036766409873962,
|
| 819 |
+
"position": [
|
| 820 |
+
-0.07478058462947956,
|
| 821 |
+
-0.08168856232077815,
|
| 822 |
+
-0.06672258139587939
|
| 823 |
+
],
|
| 824 |
+
"orientation": {
|
| 825 |
+
"w": 0.6816580497133028,
|
| 826 |
+
"xyz": [
|
| 827 |
+
-0.6343585030997256,
|
| 828 |
+
0.2445359234617418,
|
| 829 |
+
-0.27043257004814475
|
| 830 |
+
]
|
| 831 |
+
}
|
| 832 |
+
},
|
| 833 |
+
"grasp_47": {
|
| 834 |
+
"confidence": 0.8815460801124573,
|
| 835 |
+
"position": [
|
| 836 |
+
0.025865600127872312,
|
| 837 |
+
-0.08476450471789576,
|
| 838 |
+
-0.10415228665806353
|
| 839 |
+
],
|
| 840 |
+
"orientation": {
|
| 841 |
+
"w": 0.1339788119576847,
|
| 842 |
+
"xyz": [
|
| 843 |
+
0.08610681570659506,
|
| 844 |
+
-0.4970353777281984,
|
| 845 |
+
-0.8529895236882249
|
| 846 |
+
]
|
| 847 |
+
}
|
| 848 |
+
},
|
| 849 |
+
"grasp_48": {
|
| 850 |
+
"confidence": 0.7587687969207764,
|
| 851 |
+
"position": [
|
| 852 |
+
-0.044409727062884485,
|
| 853 |
+
-0.08705991684109904,
|
| 854 |
+
-0.10137058258987963
|
| 855 |
+
],
|
| 856 |
+
"orientation": {
|
| 857 |
+
"w": 0.8267884740804747,
|
| 858 |
+
"xyz": [
|
| 859 |
+
-0.504219663313551,
|
| 860 |
+
0.11720553587634497,
|
| 861 |
+
-0.22010500361324847
|
| 862 |
+
]
|
| 863 |
+
}
|
| 864 |
+
},
|
| 865 |
+
"grasp_49": {
|
| 866 |
+
"confidence": 0.9120752811431885,
|
| 867 |
+
"position": [
|
| 868 |
+
0.031069439519342268,
|
| 869 |
+
-0.08352281330735423,
|
| 870 |
+
-0.10486157448031008
|
| 871 |
+
],
|
| 872 |
+
"orientation": {
|
| 873 |
+
"w": 0.18814920759573664,
|
| 874 |
+
"xyz": [
|
| 875 |
+
0.08141560895146653,
|
| 876 |
+
-0.4900600328448461,
|
| 877 |
+
-0.8472381828672895
|
| 878 |
+
]
|
| 879 |
+
}
|
| 880 |
+
},
|
| 881 |
+
"grasp_52": {
|
| 882 |
+
"confidence": 0.8695488572120667,
|
| 883 |
+
"position": [
|
| 884 |
+
-0.0313784492573177,
|
| 885 |
+
0.07862542392103933,
|
| 886 |
+
-0.10827623517252505
|
| 887 |
+
],
|
| 888 |
+
"orientation": {
|
| 889 |
+
"w": 0.8628309527728347,
|
| 890 |
+
"xyz": [
|
| 891 |
+
0.47842141821120354,
|
| 892 |
+
0.08841634349652983,
|
| 893 |
+
0.13717960393807246
|
| 894 |
+
]
|
| 895 |
+
}
|
| 896 |
+
},
|
| 897 |
+
"grasp_54": {
|
| 898 |
+
"confidence": 0.6322301626205444,
|
| 899 |
+
"position": [
|
| 900 |
+
-0.07572351520866505,
|
| 901 |
+
0.053826918912818655,
|
| 902 |
+
-0.10708242119289935
|
| 903 |
+
],
|
| 904 |
+
"orientation": {
|
| 905 |
+
"w": 0.2958018541622701,
|
| 906 |
+
"xyz": [
|
| 907 |
+
-0.2831455836006542,
|
| 908 |
+
0.39763587993405936,
|
| 909 |
+
-0.8211062955249304
|
| 910 |
+
]
|
| 911 |
+
}
|
| 912 |
+
},
|
| 913 |
+
"grasp_56": {
|
| 914 |
+
"confidence": 0.9775474071502686,
|
| 915 |
+
"position": [
|
| 916 |
+
-0.09385319178909413,
|
| 917 |
+
-0.04897239981801249,
|
| 918 |
+
-0.054807292530313134
|
| 919 |
+
],
|
| 920 |
+
"orientation": {
|
| 921 |
+
"w": 0.6006934536983519,
|
| 922 |
+
"xyz": [
|
| 923 |
+
-0.5997541163376628,
|
| 924 |
+
0.36857118421025425,
|
| 925 |
+
-0.37896920295694914
|
| 926 |
+
]
|
| 927 |
+
}
|
| 928 |
+
},
|
| 929 |
+
"grasp_57": {
|
| 930 |
+
"confidence": 0.9592287540435791,
|
| 931 |
+
"position": [
|
| 932 |
+
-0.03953345989793888,
|
| 933 |
+
0.09280656100600027,
|
| 934 |
+
-0.0594319945666939
|
| 935 |
+
],
|
| 936 |
+
"orientation": {
|
| 937 |
+
"w": 0.12432315873613951,
|
| 938 |
+
"xyz": [
|
| 939 |
+
-0.15508144514780078,
|
| 940 |
+
0.6715221985483152,
|
| 941 |
+
-0.713828715049749
|
| 942 |
+
]
|
| 943 |
+
}
|
| 944 |
+
},
|
| 945 |
+
"grasp_58": {
|
| 946 |
+
"confidence": 0.9576669335365295,
|
| 947 |
+
"position": [
|
| 948 |
+
0.07843199247508892,
|
| 949 |
+
0.043475790036609396,
|
| 950 |
+
-0.10379702062346041
|
| 951 |
+
],
|
| 952 |
+
"orientation": {
|
| 953 |
+
"w": 0.7581673147125144,
|
| 954 |
+
"xyz": [
|
| 955 |
+
0.42372210046550557,
|
| 956 |
+
-0.25781554644643445,
|
| 957 |
+
-0.4232883750934361
|
| 958 |
+
]
|
| 959 |
+
}
|
| 960 |
+
},
|
| 961 |
+
"grasp_59": {
|
| 962 |
+
"confidence": 0.9298735857009888,
|
| 963 |
+
"position": [
|
| 964 |
+
0.08241837346940883,
|
| 965 |
+
-0.028250276955077425,
|
| 966 |
+
-0.10380547703243792
|
| 967 |
+
],
|
| 968 |
+
"orientation": {
|
| 969 |
+
"w": 0.5194030686171192,
|
| 970 |
+
"xyz": [
|
| 971 |
+
0.28119080712856453,
|
| 972 |
+
-0.41210708800689977,
|
| 973 |
+
-0.6937722467150007
|
| 974 |
+
]
|
| 975 |
+
}
|
| 976 |
+
}
|
| 977 |
+
}
|
| 978 |
+
}
|
| 979 |
+
],
|
| 980 |
+
"quality_check": {
|
| 981 |
+
"success": true,
|
| 982 |
+
"message": "YES"
|
| 983 |
+
}
|
| 984 |
+
}
|
dataset/desktop_supplies/office_stationery/0e74144aca725b389152cab6dc645aac/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1ca153d37521c4c16480a4463470de0598d4e27d4951c9e9888a83054dddeadd
|
| 3 |
+
size 3784888
|
dataset/desktop_supplies/office_stationery/0e74144aca725b389152cab6dc645aac/glue_stick_034.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|