Add asset desktop_supplies/office_stationery/9cd027143646553c83a5a65f413f681a
Browse files
.gitattributes
CHANGED
|
@@ -6432,3 +6432,4 @@ dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/affo
|
|
| 6432 |
dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6433 |
dataset/desktop_supplies/office_stationery/9a7031715573540088c15865a38544ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6434 |
dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6432 |
dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6433 |
dataset/desktop_supplies/office_stationery/9a7031715573540088c15865a38544ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6434 |
dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6435 |
+
dataset/desktop_supplies/office_stationery/9cd027143646553c83a5a65f413f681a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/9cd027143646553c83a5a65f413f681a/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,999 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glue stick body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body to pick up and move the glue stick",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while removing or replacing the cap",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body during adhesive application",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain the adhesive mechanism",
|
| 24 |
+
"support adhesive application",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall white plastic cylinder with a smooth slightly glossy finish, hard texture, printed blue and black label text, forming most of the glue stick's length below the cap.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9891917109489441,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09255527151981369,
|
| 34 |
+
-0.0012984908057660505,
|
| 35 |
+
0.015340043610194698
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4452881876995286,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5396622021745953,
|
| 41 |
+
-0.5597980863244927,
|
| 42 |
+
-0.4439698638272325
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9889653921127319,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0358135569258593,
|
| 50 |
+
0.0902101555734589,
|
| 51 |
+
-0.015266143338521942
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.11708456246898223,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.16324045285531136,
|
| 57 |
+
0.685334581247107,
|
| 58 |
+
-0.6999716219461276
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9885609745979309,
|
| 64 |
+
"position": [
|
| 65 |
+
0.011396750865969807,
|
| 66 |
+
0.09738075080213093,
|
| 67 |
+
-0.010052106896182522
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7005675999305112,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.711063797368574,
|
| 73 |
+
-0.056458828639539216,
|
| 74 |
+
-0.0201423600414172
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9884873628616333,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.0037275486974976957,
|
| 82 |
+
0.09320351573524022,
|
| 83 |
+
0.023400636768201366
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5778997762515855,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.8159616893497088,
|
| 89 |
+
-0.011851826388997067,
|
| 90 |
+
0.009894661852828
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9884472489356995,
|
| 96 |
+
"position": [
|
| 97 |
+
0.008319564221892506,
|
| 98 |
+
0.09233386161622548,
|
| 99 |
+
0.03122884445474483
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.018156560962046715,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.056999805030111685,
|
| 105 |
+
-0.8381687804873692,
|
| 106 |
+
0.5421203343694802
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9883978962898254,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0965740586980246,
|
| 114 |
+
0.0038408415753110603,
|
| 115 |
+
-0.009012437978526577
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.4659046547122771,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.499590878118394,
|
| 121 |
+
0.5108581103650609,
|
| 122 |
+
-0.521886767692538
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.988315999507904,
|
| 128 |
+
"position": [
|
| 129 |
+
0.09535072190919891,
|
| 130 |
+
-0.009822353731124167,
|
| 131 |
+
-0.0053442973585333675
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5156021999440797,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.5258848818331846,
|
| 137 |
+
-0.48380397324254476,
|
| 138 |
+
0.47279295462903254
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.98827064037323,
|
| 144 |
+
"position": [
|
| 145 |
+
0.01522029476473108,
|
| 146 |
+
0.09565952512321019,
|
| 147 |
+
-0.004904554778477177
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.05108047364009224,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.05939559392849558,
|
| 153 |
+
-0.7075888583030444,
|
| 154 |
+
0.7022684360271217
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9880879521369934,
|
| 160 |
+
"position": [
|
| 161 |
+
0.007211613527033478,
|
| 162 |
+
0.09957309159335637,
|
| 163 |
+
-0.017624623695155606
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.7049730272188102,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.7082620403933246,
|
| 169 |
+
-0.036041262049928746,
|
| 170 |
+
-0.008884844493834787
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9880191683769226,
|
| 176 |
+
"position": [
|
| 177 |
+
0.010280047601554543,
|
| 178 |
+
0.09669100585279011,
|
| 179 |
+
-0.008405693428358063
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.7105588825088383,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.7018329589599981,
|
| 185 |
+
-0.045122362277150496,
|
| 186 |
+
-0.02237285470776578
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9877699017524719,
|
| 192 |
+
"position": [
|
| 193 |
+
0.09380267752567306,
|
| 194 |
+
-0.010999266999988322,
|
| 195 |
+
-0.004686587111791596
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.5230799685432751,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.5245453649253651,
|
| 201 |
+
-0.483820023961671,
|
| 202 |
+
0.46600181443617905
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.987738847732544,
|
| 208 |
+
"position": [
|
| 209 |
+
0.09584237827220932,
|
| 210 |
+
-0.008516565907029872,
|
| 211 |
+
3.845925675705075e-06
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.5222607304670024,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.5198906436319405,
|
| 217 |
+
-0.4827877633961438,
|
| 218 |
+
0.4731526430138466
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9877082109451294,
|
| 224 |
+
"position": [
|
| 225 |
+
0.012953047698829323,
|
| 226 |
+
0.09402453246411824,
|
| 227 |
+
-0.0229149550141301
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.05223382535266541,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.04847885487014821,
|
| 233 |
+
-0.6354689903424676,
|
| 234 |
+
0.7688306643420454
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9876855611801147,
|
| 240 |
+
"position": [
|
| 241 |
+
0.014127310423646122,
|
| 242 |
+
0.09751922729310536,
|
| 243 |
+
-0.010430065536638722
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.04607519423149401,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.05436839204957258,
|
| 249 |
+
-0.7053346270142654,
|
| 250 |
+
0.7052830767550872
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9876211285591125,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.03776775853475556,
|
| 258 |
+
0.09203355851468586,
|
| 259 |
+
-0.011714662978192791
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.7045702987191061,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.6829322641963566,
|
| 265 |
+
0.14115497899976226,
|
| 266 |
+
0.13137537282947592
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.9875122904777527,
|
| 272 |
+
"position": [
|
| 273 |
+
0.002066661894787103,
|
| 274 |
+
0.09058636519011998,
|
| 275 |
+
0.023997057607630268
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.5298756155596488,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.8479006989783914,
|
| 281 |
+
-0.01721107676016831,
|
| 282 |
+
-0.0001246755568086959
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.9874715209007263,
|
| 288 |
+
"position": [
|
| 289 |
+
0.00853615632513538,
|
| 290 |
+
0.08693577441272282,
|
| 291 |
+
0.038220990827539936
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.016361059991023223,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.056629055810066234,
|
| 297 |
+
-0.8632190601313219,
|
| 298 |
+
0.5013764254330547
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.987381100654602,
|
| 304 |
+
"position": [
|
| 305 |
+
0.009967041260097176,
|
| 306 |
+
0.1002424741059258,
|
| 307 |
+
-0.01882918886258267
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.7024911260722756,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.7097116652248301,
|
| 313 |
+
-0.0460769157656139,
|
| 314 |
+
-0.026315164203050845
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.9873344898223877,
|
| 320 |
+
"position": [
|
| 321 |
+
0.09206439001718536,
|
| 322 |
+
-0.01175605972412086,
|
| 323 |
+
0.012796542985597625
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.4875347907568052,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.5646965602192151,
|
| 329 |
+
-0.5010921857371653,
|
| 330 |
+
0.438559282277157
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_19": {
|
| 335 |
+
"confidence": 0.9871519804000854,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.09828652249416336,
|
| 338 |
+
0.005687356916041608,
|
| 339 |
+
-0.008185973012587056
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.46159685776719117,
|
| 343 |
+
"xyz": [
|
| 344 |
+
-0.4949467369576834,
|
| 345 |
+
0.5148985407909853,
|
| 346 |
+
-0.5261516522502913
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "cap",
|
| 354 |
+
"mask_color": "Green",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "grasp the cap to pull it off and open the glue stick",
|
| 359 |
+
"confidence": 0.94
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "grasp the cap to place it back on and close the glue stick",
|
| 363 |
+
"confidence": 0.92
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"scenario": "temporarily hold the glue stick by the cap for repositioning",
|
| 367 |
+
"confidence": 0.54
|
| 368 |
+
}
|
| 369 |
+
],
|
| 370 |
+
"functional_labels": [
|
| 371 |
+
"cover the adhesive end",
|
| 372 |
+
"protect the glue from drying out",
|
| 373 |
+
"enable opening and closing",
|
| 374 |
+
"seal the stick during storage"
|
| 375 |
+
],
|
| 376 |
+
"semantic_description": "Short rounded white plastic cap with a smooth matte-to-satin surface and hard texture, located at the top and slightly wider than the body with a flat circular top.",
|
| 377 |
+
"id": 1,
|
| 378 |
+
"grasp_group": {
|
| 379 |
+
"grasp_20": {
|
| 380 |
+
"confidence": 0.9811516404151917,
|
| 381 |
+
"position": [
|
| 382 |
+
0.022352563275489956,
|
| 383 |
+
0.09757431688603901,
|
| 384 |
+
0.024741650006035343
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.06945956972708774,
|
| 388 |
+
"xyz": [
|
| 389 |
+
-0.09126086275055621,
|
| 390 |
+
-0.6889884566519884,
|
| 391 |
+
0.7156407825883476
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_21": {
|
| 396 |
+
"confidence": 0.9811170697212219,
|
| 397 |
+
"position": [
|
| 398 |
+
0.10023799730697647,
|
| 399 |
+
-0.008023599173156981,
|
| 400 |
+
0.026263170322636142
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.5163190957831587,
|
| 404 |
+
"xyz": [
|
| 405 |
+
-0.5202950192391503,
|
| 406 |
+
-0.4762255745452101,
|
| 407 |
+
0.48571276124236074
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"grasp_22": {
|
| 412 |
+
"confidence": 0.9790537357330322,
|
| 413 |
+
"position": [
|
| 414 |
+
0.09963344229618087,
|
| 415 |
+
-0.007706602114467387,
|
| 416 |
+
0.027188791340449825
|
| 417 |
+
],
|
| 418 |
+
"orientation": {
|
| 419 |
+
"w": 0.5225708687217765,
|
| 420 |
+
"xyz": [
|
| 421 |
+
-0.5117971422912457,
|
| 422 |
+
-0.48390322897289106,
|
| 423 |
+
0.4804383803314346
|
| 424 |
+
]
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"grasp_23": {
|
| 428 |
+
"confidence": 0.9779328107833862,
|
| 429 |
+
"position": [
|
| 430 |
+
0.01746162777999416,
|
| 431 |
+
0.09738584699925923,
|
| 432 |
+
0.02435774393961765
|
| 433 |
+
],
|
| 434 |
+
"orientation": {
|
| 435 |
+
"w": 0.04694340483116097,
|
| 436 |
+
"xyz": [
|
| 437 |
+
-0.06942122834151768,
|
| 438 |
+
-0.689800398433762,
|
| 439 |
+
0.7191331032006767
|
| 440 |
+
]
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"grasp_24": {
|
| 444 |
+
"confidence": 0.9778473377227783,
|
| 445 |
+
"position": [
|
| 446 |
+
0.09982273174682632,
|
| 447 |
+
-0.007138079042761092,
|
| 448 |
+
0.03466665037558414
|
| 449 |
+
],
|
| 450 |
+
"orientation": {
|
| 451 |
+
"w": 0.5128815248859114,
|
| 452 |
+
"xyz": [
|
| 453 |
+
-0.5270769058377993,
|
| 454 |
+
-0.48427167028777907,
|
| 455 |
+
0.4739445390758695
|
| 456 |
+
]
|
| 457 |
+
}
|
| 458 |
+
},
|
| 459 |
+
"grasp_25": {
|
| 460 |
+
"confidence": 0.9744392037391663,
|
| 461 |
+
"position": [
|
| 462 |
+
-0.09944250242551789,
|
| 463 |
+
0.007790548716457124,
|
| 464 |
+
0.024310838809469715
|
| 465 |
+
],
|
| 466 |
+
"orientation": {
|
| 467 |
+
"w": 0.48153597533011017,
|
| 468 |
+
"xyz": [
|
| 469 |
+
-0.4780014862647136,
|
| 470 |
+
0.503058124932845,
|
| 471 |
+
-0.5353225257082453
|
| 472 |
+
]
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"grasp_26": {
|
| 476 |
+
"confidence": 0.9726770520210266,
|
| 477 |
+
"position": [
|
| 478 |
+
-0.100863000319805,
|
| 479 |
+
0.003983721592248912,
|
| 480 |
+
0.026655262714484707
|
| 481 |
+
],
|
| 482 |
+
"orientation": {
|
| 483 |
+
"w": 0.5233694599841491,
|
| 484 |
+
"xyz": [
|
| 485 |
+
0.5031973065508224,
|
| 486 |
+
0.4914042575949952,
|
| 487 |
+
0.4810392236121802
|
| 488 |
+
]
|
| 489 |
+
}
|
| 490 |
+
},
|
| 491 |
+
"grasp_27": {
|
| 492 |
+
"confidence": 0.9721921682357788,
|
| 493 |
+
"position": [
|
| 494 |
+
-0.10062736825784668,
|
| 495 |
+
0.007995218959422346,
|
| 496 |
+
0.02465223186300136
|
| 497 |
+
],
|
| 498 |
+
"orientation": {
|
| 499 |
+
"w": 0.5301473148726707,
|
| 500 |
+
"xyz": [
|
| 501 |
+
0.5092493836727437,
|
| 502 |
+
0.4763055850153878,
|
| 503 |
+
0.4824332901504384
|
| 504 |
+
]
|
| 505 |
+
}
|
| 506 |
+
},
|
| 507 |
+
"grasp_28": {
|
| 508 |
+
"confidence": 0.9714822173118591,
|
| 509 |
+
"position": [
|
| 510 |
+
-0.10078459786018357,
|
| 511 |
+
0.00848955660012507,
|
| 512 |
+
0.027164299419382587
|
| 513 |
+
],
|
| 514 |
+
"orientation": {
|
| 515 |
+
"w": 0.4655769051528648,
|
| 516 |
+
"xyz": [
|
| 517 |
+
-0.4838708609636357,
|
| 518 |
+
0.5059473169377274,
|
| 519 |
+
-0.5414096857113889
|
| 520 |
+
]
|
| 521 |
+
}
|
| 522 |
+
},
|
| 523 |
+
"grasp_29": {
|
| 524 |
+
"confidence": 0.9712287783622742,
|
| 525 |
+
"position": [
|
| 526 |
+
-0.09993603633483872,
|
| 527 |
+
0.011278469105036493,
|
| 528 |
+
0.024849886453012004
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.5413131731323083,
|
| 532 |
+
"xyz": [
|
| 533 |
+
0.5113266743626903,
|
| 534 |
+
0.4717794297983402,
|
| 535 |
+
0.47217502083208046
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
"grasp_30": {
|
| 540 |
+
"confidence": 0.9711870551109314,
|
| 541 |
+
"position": [
|
| 542 |
+
-0.10089045570930466,
|
| 543 |
+
-0.003041537256194715,
|
| 544 |
+
0.02551818304345943
|
| 545 |
+
],
|
| 546 |
+
"orientation": {
|
| 547 |
+
"w": 0.4957679775629068,
|
| 548 |
+
"xyz": [
|
| 549 |
+
-0.4946923337994956,
|
| 550 |
+
0.5001436126767197,
|
| 551 |
+
-0.5092641495352613
|
| 552 |
+
]
|
| 553 |
+
}
|
| 554 |
+
},
|
| 555 |
+
"grasp_31": {
|
| 556 |
+
"confidence": 0.97036212682724,
|
| 557 |
+
"position": [
|
| 558 |
+
-0.10047784255584702,
|
| 559 |
+
0.00852704978433394,
|
| 560 |
+
0.024383543437579647
|
| 561 |
+
],
|
| 562 |
+
"orientation": {
|
| 563 |
+
"w": 0.48383920203711206,
|
| 564 |
+
"xyz": [
|
| 565 |
+
-0.4682486933707567,
|
| 566 |
+
0.5076148957558662,
|
| 567 |
+
-0.5375592110041746
|
| 568 |
+
]
|
| 569 |
+
}
|
| 570 |
+
},
|
| 571 |
+
"grasp_32": {
|
| 572 |
+
"confidence": 0.9695370197296143,
|
| 573 |
+
"position": [
|
| 574 |
+
-0.0975300501449965,
|
| 575 |
+
0.007264712349297042,
|
| 576 |
+
0.03065050989971496
|
| 577 |
+
],
|
| 578 |
+
"orientation": {
|
| 579 |
+
"w": 0.48322627123442097,
|
| 580 |
+
"xyz": [
|
| 581 |
+
-0.4877912756789381,
|
| 582 |
+
0.5126831025013059,
|
| 583 |
+
-0.5154687949527373
|
| 584 |
+
]
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"grasp_33": {
|
| 588 |
+
"confidence": 0.9679668545722961,
|
| 589 |
+
"position": [
|
| 590 |
+
-0.09622521506389603,
|
| 591 |
+
0.004975866515906091,
|
| 592 |
+
0.030537361657479778
|
| 593 |
+
],
|
| 594 |
+
"orientation": {
|
| 595 |
+
"w": 0.510364384206529,
|
| 596 |
+
"xyz": [
|
| 597 |
+
0.5234051938705881,
|
| 598 |
+
0.49231949644978046,
|
| 599 |
+
0.47243699238969117
|
| 600 |
+
]
|
| 601 |
+
}
|
| 602 |
+
},
|
| 603 |
+
"grasp_34": {
|
| 604 |
+
"confidence": 0.9678062796592712,
|
| 605 |
+
"position": [
|
| 606 |
+
-0.0974084566696547,
|
| 607 |
+
0.0075572384416773275,
|
| 608 |
+
0.04746835716650821
|
| 609 |
+
],
|
| 610 |
+
"orientation": {
|
| 611 |
+
"w": 0.4730352629425369,
|
| 612 |
+
"xyz": [
|
| 613 |
+
0.570722914004984,
|
| 614 |
+
0.5221727348872544,
|
| 615 |
+
0.42172103383979975
|
| 616 |
+
]
|
| 617 |
+
}
|
| 618 |
+
},
|
| 619 |
+
"grasp_35": {
|
| 620 |
+
"confidence": 0.9666332602500916,
|
| 621 |
+
"position": [
|
| 622 |
+
0.03387552691856399,
|
| 623 |
+
0.09165435376462483,
|
| 624 |
+
0.0363180901913438
|
| 625 |
+
],
|
| 626 |
+
"orientation": {
|
| 627 |
+
"w": 0.6752372204791196,
|
| 628 |
+
"xyz": [
|
| 629 |
+
0.7154917791846512,
|
| 630 |
+
-0.12314745329056676,
|
| 631 |
+
-0.1302340767497634
|
| 632 |
+
]
|
| 633 |
+
}
|
| 634 |
+
},
|
| 635 |
+
"grasp_36": {
|
| 636 |
+
"confidence": 0.9633510112762451,
|
| 637 |
+
"position": [
|
| 638 |
+
0.011883500090334564,
|
| 639 |
+
0.10024678799209141,
|
| 640 |
+
0.025949653616407886
|
| 641 |
+
],
|
| 642 |
+
"orientation": {
|
| 643 |
+
"w": 0.04541808870857751,
|
| 644 |
+
"xyz": [
|
| 645 |
+
-0.0274911344494652,
|
| 646 |
+
-0.6907458800777567,
|
| 647 |
+
0.7211460073385593
|
| 648 |
+
]
|
| 649 |
+
}
|
| 650 |
+
},
|
| 651 |
+
"grasp_37": {
|
| 652 |
+
"confidence": 0.9622560739517212,
|
| 653 |
+
"position": [
|
| 654 |
+
0.0288640838698484,
|
| 655 |
+
0.09502800646123433,
|
| 656 |
+
0.024510728573659435
|
| 657 |
+
],
|
| 658 |
+
"orientation": {
|
| 659 |
+
"w": 0.7266108760002595,
|
| 660 |
+
"xyz": [
|
| 661 |
+
0.6730948148055994,
|
| 662 |
+
-0.08556374486966145,
|
| 663 |
+
-0.10797615812683099
|
| 664 |
+
]
|
| 665 |
+
}
|
| 666 |
+
},
|
| 667 |
+
"grasp_38": {
|
| 668 |
+
"confidence": 0.9610742926597595,
|
| 669 |
+
"position": [
|
| 670 |
+
-0.08963369386037812,
|
| 671 |
+
0.004762235552789207,
|
| 672 |
+
0.07894904949353077
|
| 673 |
+
],
|
| 674 |
+
"orientation": {
|
| 675 |
+
"w": 0.3444811510435801,
|
| 676 |
+
"xyz": [
|
| 677 |
+
-0.5947955599284629,
|
| 678 |
+
0.6222220235570537,
|
| 679 |
+
-0.3746875122894301
|
| 680 |
+
]
|
| 681 |
+
}
|
| 682 |
+
},
|
| 683 |
+
"grasp_39": {
|
| 684 |
+
"confidence": 0.9588354825973511,
|
| 685 |
+
"position": [
|
| 686 |
+
-0.00914846727391705,
|
| 687 |
+
-0.09939790425005413,
|
| 688 |
+
0.04958836399600841
|
| 689 |
+
],
|
| 690 |
+
"orientation": {
|
| 691 |
+
"w": 0.631441731515874,
|
| 692 |
+
"xyz": [
|
| 693 |
+
-0.7728030743181205,
|
| 694 |
+
0.027295634298851734,
|
| 695 |
+
-0.05754734027667747
|
| 696 |
+
]
|
| 697 |
+
}
|
| 698 |
+
}
|
| 699 |
+
}
|
| 700 |
+
},
|
| 701 |
+
{
|
| 702 |
+
"part_name": "twist base",
|
| 703 |
+
"mask_color": "Yellow",
|
| 704 |
+
"graspable": true,
|
| 705 |
+
"grasp_scenarios": [
|
| 706 |
+
{
|
| 707 |
+
"scenario": "grasp and twist the base to advance or retract the glue stick",
|
| 708 |
+
"confidence": 0.91
|
| 709 |
+
},
|
| 710 |
+
{
|
| 711 |
+
"scenario": "hold the bottom ring to stabilize the stick during cap removal",
|
| 712 |
+
"confidence": 0.63
|
| 713 |
+
}
|
| 714 |
+
],
|
| 715 |
+
"functional_labels": [
|
| 716 |
+
"twist to extend glue",
|
| 717 |
+
"twist to retract glue",
|
| 718 |
+
"provide bottom support",
|
| 719 |
+
"control adhesive position"
|
| 720 |
+
],
|
| 721 |
+
"semantic_description": "Narrow white plastic ring at the bottom end with a smooth slightly glossy hard surface, forming the short rotary base beneath the main cylindrical body.",
|
| 722 |
+
"id": 3,
|
| 723 |
+
"grasp_group": {
|
| 724 |
+
"grasp_40": {
|
| 725 |
+
"confidence": 0.956733226776123,
|
| 726 |
+
"position": [
|
| 727 |
+
0.014815138711128384,
|
| 728 |
+
0.08619799557027363,
|
| 729 |
+
-0.08733727000071667
|
| 730 |
+
],
|
| 731 |
+
"orientation": {
|
| 732 |
+
"w": 0.062417037884058064,
|
| 733 |
+
"xyz": [
|
| 734 |
+
-0.04124620086229803,
|
| 735 |
+
-0.5030211387996252,
|
| 736 |
+
0.8610299635999524
|
| 737 |
+
]
|
| 738 |
+
}
|
| 739 |
+
},
|
| 740 |
+
"grasp_43": {
|
| 741 |
+
"confidence": 0.9357802271842957,
|
| 742 |
+
"position": [
|
| 743 |
+
0.007718443463090807,
|
| 744 |
+
0.08299186172780537,
|
| 745 |
+
0.007605221500853077
|
| 746 |
+
],
|
| 747 |
+
"orientation": {
|
| 748 |
+
"w": 0.49521212699122097,
|
| 749 |
+
"xyz": [
|
| 750 |
+
0.8679218304675406,
|
| 751 |
+
-0.031292755069432854,
|
| 752 |
+
-0.02230266707972771
|
| 753 |
+
]
|
| 754 |
+
}
|
| 755 |
+
},
|
| 756 |
+
"grasp_44": {
|
| 757 |
+
"confidence": 0.9289351105690002,
|
| 758 |
+
"position": [
|
| 759 |
+
-0.004193973203655332,
|
| 760 |
+
-0.08621646371784664,
|
| 761 |
+
-0.08660735152079724
|
| 762 |
+
],
|
| 763 |
+
"orientation": {
|
| 764 |
+
"w": 0.8525444489026851,
|
| 765 |
+
"xyz": [
|
| 766 |
+
-0.5195189966520765,
|
| 767 |
+
0.017531806531095984,
|
| 768 |
+
-0.05441149255986792
|
| 769 |
+
]
|
| 770 |
+
}
|
| 771 |
+
},
|
| 772 |
+
"grasp_46": {
|
| 773 |
+
"confidence": 0.9579741358757019,
|
| 774 |
+
"position": [
|
| 775 |
+
-0.0033984716865234077,
|
| 776 |
+
-0.09397470113935924,
|
| 777 |
+
-0.08397164157941006
|
| 778 |
+
],
|
| 779 |
+
"orientation": {
|
| 780 |
+
"w": 0.8493025929292218,
|
| 781 |
+
"xyz": [
|
| 782 |
+
-0.5265306120974746,
|
| 783 |
+
0.020933004963684665,
|
| 784 |
+
-0.03181869688011732
|
| 785 |
+
]
|
| 786 |
+
}
|
| 787 |
+
},
|
| 788 |
+
"grasp_47": {
|
| 789 |
+
"confidence": 0.9577651619911194,
|
| 790 |
+
"position": [
|
| 791 |
+
0.10340139461914077,
|
| 792 |
+
-0.0030306801304504916,
|
| 793 |
+
-0.03369883410050534
|
| 794 |
+
],
|
| 795 |
+
"orientation": {
|
| 796 |
+
"w": 0.48629573712451984,
|
| 797 |
+
"xyz": [
|
| 798 |
+
0.4987958049798955,
|
| 799 |
+
-0.5307079167322459,
|
| 800 |
+
-0.482771486426754
|
| 801 |
+
]
|
| 802 |
+
}
|
| 803 |
+
},
|
| 804 |
+
"grasp_48": {
|
| 805 |
+
"confidence": 0.9463509321212769,
|
| 806 |
+
"position": [
|
| 807 |
+
-0.004571841971483082,
|
| 808 |
+
-0.1038648998469398,
|
| 809 |
+
-0.03987894541933201
|
| 810 |
+
],
|
| 811 |
+
"orientation": {
|
| 812 |
+
"w": 0.7146451028173093,
|
| 813 |
+
"xyz": [
|
| 814 |
+
-0.6984441454871247,
|
| 815 |
+
0.029598594544026913,
|
| 816 |
+
-0.024126248258188945
|
| 817 |
+
]
|
| 818 |
+
}
|
| 819 |
+
},
|
| 820 |
+
"grasp_49": {
|
| 821 |
+
"confidence": 0.9434215426445007,
|
| 822 |
+
"position": [
|
| 823 |
+
0.0007360728341154754,
|
| 824 |
+
-0.09107185063066936,
|
| 825 |
+
-0.08497320077731274
|
| 826 |
+
],
|
| 827 |
+
"orientation": {
|
| 828 |
+
"w": 0.010758505326408343,
|
| 829 |
+
"xyz": [
|
| 830 |
+
0.001721015220319113,
|
| 831 |
+
-0.514066339540064,
|
| 832 |
+
-0.8576812293746625
|
| 833 |
+
]
|
| 834 |
+
}
|
| 835 |
+
},
|
| 836 |
+
"grasp_50": {
|
| 837 |
+
"confidence": 0.9271047711372375,
|
| 838 |
+
"position": [
|
| 839 |
+
-0.0037544220103882253,
|
| 840 |
+
-0.0934320306510017,
|
| 841 |
+
-0.08794774077250622
|
| 842 |
+
],
|
| 843 |
+
"orientation": {
|
| 844 |
+
"w": 0.8541593743296729,
|
| 845 |
+
"xyz": [
|
| 846 |
+
-0.5178801179653817,
|
| 847 |
+
0.021112620793902415,
|
| 848 |
+
-0.0420262287639245
|
| 849 |
+
]
|
| 850 |
+
}
|
| 851 |
+
},
|
| 852 |
+
"grasp_51": {
|
| 853 |
+
"confidence": 0.9269350171089172,
|
| 854 |
+
"position": [
|
| 855 |
+
0.0006023725727573037,
|
| 856 |
+
0.09066175761518025,
|
| 857 |
+
-0.07711709997965954
|
| 858 |
+
],
|
| 859 |
+
"orientation": {
|
| 860 |
+
"w": 0.03513991019170558,
|
| 861 |
+
"xyz": [
|
| 862 |
+
0.011558693324877559,
|
| 863 |
+
-0.5497184149163896,
|
| 864 |
+
0.8345305552357887
|
| 865 |
+
]
|
| 866 |
+
}
|
| 867 |
+
},
|
| 868 |
+
"grasp_52": {
|
| 869 |
+
"confidence": 0.9203910827636719,
|
| 870 |
+
"position": [
|
| 871 |
+
0.10218927456298843,
|
| 872 |
+
-0.008008990447251563,
|
| 873 |
+
-0.03581375963403843
|
| 874 |
+
],
|
| 875 |
+
"orientation": {
|
| 876 |
+
"w": 0.46414391173460356,
|
| 877 |
+
"xyz": [
|
| 878 |
+
0.4895133229245241,
|
| 879 |
+
-0.5492465338188834,
|
| 880 |
+
-0.49322954186365736
|
| 881 |
+
]
|
| 882 |
+
}
|
| 883 |
+
},
|
| 884 |
+
"grasp_53": {
|
| 885 |
+
"confidence": 0.9190608859062195,
|
| 886 |
+
"position": [
|
| 887 |
+
0.08673134638229385,
|
| 888 |
+
-0.018818709078459506,
|
| 889 |
+
0.006751858541974798
|
| 890 |
+
],
|
| 891 |
+
"orientation": {
|
| 892 |
+
"w": 0.3394512882019952,
|
| 893 |
+
"xyz": [
|
| 894 |
+
0.5440236147269827,
|
| 895 |
+
-0.6682617671752091,
|
| 896 |
+
-0.3771436597495182
|
| 897 |
+
]
|
| 898 |
+
}
|
| 899 |
+
},
|
| 900 |
+
"grasp_54": {
|
| 901 |
+
"confidence": 0.9081818461418152,
|
| 902 |
+
"position": [
|
| 903 |
+
0.09014760149875656,
|
| 904 |
+
-0.014061767618386511,
|
| 905 |
+
-0.0910555045993533
|
| 906 |
+
],
|
| 907 |
+
"orientation": {
|
| 908 |
+
"w": 0.5742465581436031,
|
| 909 |
+
"xyz": [
|
| 910 |
+
0.3225515743517523,
|
| 911 |
+
-0.37999750938057597,
|
| 912 |
+
-0.649463829022056
|
| 913 |
+
]
|
| 914 |
+
}
|
| 915 |
+
},
|
| 916 |
+
"grasp_55": {
|
| 917 |
+
"confidence": 0.9060094952583313,
|
| 918 |
+
"position": [
|
| 919 |
+
0.10188886715332046,
|
| 920 |
+
-0.009982585917441611,
|
| 921 |
+
-0.03792771286680363
|
| 922 |
+
],
|
| 923 |
+
"orientation": {
|
| 924 |
+
"w": 0.5061187039078202,
|
| 925 |
+
"xyz": [
|
| 926 |
+
-0.5389138897196997,
|
| 927 |
+
-0.4871024129896081,
|
| 928 |
+
0.4649160314310026
|
| 929 |
+
]
|
| 930 |
+
}
|
| 931 |
+
},
|
| 932 |
+
"grasp_56": {
|
| 933 |
+
"confidence": 0.9030287861824036,
|
| 934 |
+
"position": [
|
| 935 |
+
0.1037234757677652,
|
| 936 |
+
-0.007693172442941432,
|
| 937 |
+
-0.037738058337708935
|
| 938 |
+
],
|
| 939 |
+
"orientation": {
|
| 940 |
+
"w": 0.4734286867476319,
|
| 941 |
+
"xyz": [
|
| 942 |
+
0.49322921330646613,
|
| 943 |
+
-0.5398477933479365,
|
| 944 |
+
-0.49107492475472764
|
| 945 |
+
]
|
| 946 |
+
}
|
| 947 |
+
},
|
| 948 |
+
"grasp_59": {
|
| 949 |
+
"confidence": 0.966249942779541,
|
| 950 |
+
"position": [
|
| 951 |
+
-0.0151966362609528,
|
| 952 |
+
-0.08930267301502681,
|
| 953 |
+
-0.08395926616503857
|
| 954 |
+
],
|
| 955 |
+
"orientation": {
|
| 956 |
+
"w": 0.09724632017492113,
|
| 957 |
+
"xyz": [
|
| 958 |
+
0.043341050434729564,
|
| 959 |
+
0.5158173930126349,
|
| 960 |
+
0.8500571296244153
|
| 961 |
+
]
|
| 962 |
+
}
|
| 963 |
+
}
|
| 964 |
+
}
|
| 965 |
+
},
|
| 966 |
+
{
|
| 967 |
+
"part_name": "bottom end disc",
|
| 968 |
+
"mask_color": "Purple",
|
| 969 |
+
"graspable": false,
|
| 970 |
+
"grasp_scenarios": [],
|
| 971 |
+
"functional_labels": [
|
| 972 |
+
"close the bottom opening",
|
| 973 |
+
"support the internal mechanism",
|
| 974 |
+
"provide a resting surface"
|
| 975 |
+
],
|
| 976 |
+
"semantic_description": "Flat circular white plastic end piece recessed within the bottom, smooth and hard, small relative to the body and visible only on the underside.",
|
| 977 |
+
"id": 5,
|
| 978 |
+
"grasp_group": {}
|
| 979 |
+
},
|
| 980 |
+
{
|
| 981 |
+
"part_name": "top cover face",
|
| 982 |
+
"mask_color": "Orange",
|
| 983 |
+
"graspable": false,
|
| 984 |
+
"grasp_scenarios": [],
|
| 985 |
+
"functional_labels": [
|
| 986 |
+
"close the cap top",
|
| 987 |
+
"protect from dust ingress",
|
| 988 |
+
"finish the cap exterior"
|
| 989 |
+
],
|
| 990 |
+
"semantic_description": "Flat circular white plastic top surface of the cap, smooth and slightly glossy, hard, and centered on the uppermost face of the glue stick.",
|
| 991 |
+
"id": 4,
|
| 992 |
+
"grasp_group": {}
|
| 993 |
+
}
|
| 994 |
+
],
|
| 995 |
+
"quality_check": {
|
| 996 |
+
"success": true,
|
| 997 |
+
"message": "YES"
|
| 998 |
+
}
|
| 999 |
+
}
|
dataset/desktop_supplies/office_stationery/9cd027143646553c83a5a65f413f681a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c9c4ee1b3a3c03ae63cdecd803548c88c897483c95f8c276291f56384a026f9c
|
| 3 |
+
size 3756916
|