xinjjj commited on
Commit
6a7ae69
·
verified ·
1 Parent(s): 0e477b0

Add asset desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331

Browse files
.gitattributes CHANGED
@@ -6125,4 +6125,4 @@ dataset/desktop_supplies/decorations/751e9255275657fc8b94db3559a4b9de/affordance
6125
  dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6126
  dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6127
  dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6128
- dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6125
  dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6126
  dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6127
  dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6128
+ dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/7ea12d4cda7752c7a046bb2d9d70e331.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  </custom_data>
57
  </robot>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  </custom_data>
58
  </robot>
dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/affordance/affordance_annot.json ADDED
@@ -0,0 +1,789 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "glasses frame front",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the frame front at the rim to pick up the glasses from a table",
10
+ "confidence": 0.82
11
+ },
12
+ {
13
+ "scenario": "hold the frame front to orient the glasses for placement or inspection",
14
+ "confidence": 0.79
15
+ },
16
+ {
17
+ "scenario": "stabilize the glasses by pinching the frame while folding or unfolding a temple",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "hold the lenses",
23
+ "define the viewing openings",
24
+ "support the bridge and hinges",
25
+ "provide a main handling structure"
26
+ ],
27
+ "semantic_description": "Large amber-brown translucent plastic front frame with a glossy smooth hard surface, surrounding both lenses across the front and carrying small metallic rivet details near the outer corners.",
28
+ "id": 3,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9558658599853516,
32
+ "position": [
33
+ -0.10981473233550787,
34
+ -0.02432462602155283,
35
+ 0.0027916349936276674
36
+ ],
37
+ "orientation": {
38
+ "w": 0.07151366919969258,
39
+ "xyz": [
40
+ -0.6866713543821946,
41
+ -0.03486413198193572,
42
+ -0.7226013690062218
43
+ ]
44
+ }
45
+ },
46
+ "grasp_23": {
47
+ "confidence": 0.8891518712043762,
48
+ "position": [
49
+ 0.10289970878511667,
50
+ -0.06693188316421583,
51
+ 0.008633722318336368
52
+ ],
53
+ "orientation": {
54
+ "w": 0.0025420920454883563,
55
+ "xyz": [
56
+ 0.7179225033537899,
57
+ 0.004721132952671181,
58
+ -0.6961023831663724
59
+ ]
60
+ }
61
+ },
62
+ "grasp_24": {
63
+ "confidence": 0.8803198337554932,
64
+ "position": [
65
+ -0.11687401589006186,
66
+ -0.07336209184722975,
67
+ 0.0040149607812054455
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7083595249583927,
71
+ "xyz": [
72
+ 0.0071422803435530185,
73
+ 0.7057414280993622,
74
+ 0.010237572782977118
75
+ ]
76
+ }
77
+ },
78
+ "grasp_25": {
79
+ "confidence": 0.8437781929969788,
80
+ "position": [
81
+ 0.1008937293663621,
82
+ -0.06124671391444281,
83
+ 0.005297706869896501
84
+ ],
85
+ "orientation": {
86
+ "w": 0.18131858603579254,
87
+ "xyz": [
88
+ -0.692862433627768,
89
+ 0.15816755557385387,
90
+ 0.6797413057841779
91
+ ]
92
+ }
93
+ },
94
+ "grasp_28": {
95
+ "confidence": 0.9646717309951782,
96
+ "position": [
97
+ -0.11113361176103354,
98
+ -0.01042181282537058,
99
+ 0.0038894397439435124
100
+ ],
101
+ "orientation": {
102
+ "w": 0.7033973859616314,
103
+ "xyz": [
104
+ 0.003558604859974742,
105
+ 0.7102231489474222,
106
+ 0.02832900374176939
107
+ ]
108
+ }
109
+ },
110
+ "grasp_29": {
111
+ "confidence": 0.9590092301368713,
112
+ "position": [
113
+ -0.10496771987527609,
114
+ -0.04609254962997511,
115
+ -0.002671044785529375
116
+ ],
117
+ "orientation": {
118
+ "w": 0.7120757319169968,
119
+ "xyz": [
120
+ -0.12395715194763615,
121
+ 0.6765860428974514,
122
+ 0.1407625768884325
123
+ ]
124
+ }
125
+ },
126
+ "grasp_30": {
127
+ "confidence": 0.9573278427124023,
128
+ "position": [
129
+ -0.11258581932634115,
130
+ -0.0765798783977516,
131
+ 0.0028779632411897182
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7067849013674133,
135
+ "xyz": [
136
+ -0.017732131161341577,
137
+ 0.7063308381224194,
138
+ 0.03517700727483099
139
+ ]
140
+ }
141
+ },
142
+ "grasp_31": {
143
+ "confidence": 0.9494630694389343,
144
+ "position": [
145
+ -0.1071840887889266,
146
+ -0.0020374550367705524,
147
+ 0.0037242341786623
148
+ ],
149
+ "orientation": {
150
+ "w": 0.699831736512017,
151
+ "xyz": [
152
+ 0.03230789414665491,
153
+ 0.7134979212195683,
154
+ -0.010604572680629167
155
+ ]
156
+ }
157
+ },
158
+ "grasp_34": {
159
+ "confidence": 0.8524990081787109,
160
+ "position": [
161
+ -0.09794408734887838,
162
+ -0.04228185705142096,
163
+ 0.0016674927901476622
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6979458243295296,
167
+ "xyz": [
168
+ -0.18066068295771592,
169
+ 0.6685526963931315,
170
+ 0.18240240151845152
171
+ ]
172
+ }
173
+ },
174
+ "grasp_36": {
175
+ "confidence": 0.7932159900665283,
176
+ "position": [
177
+ -0.10063366498798132,
178
+ 0.025183811492752284,
179
+ 0.028714635875076056
180
+ ],
181
+ "orientation": {
182
+ "w": 0.22201873813049655,
183
+ "xyz": [
184
+ -0.7715566856483397,
185
+ -0.09307731335606984,
186
+ -0.5888502139667663
187
+ ]
188
+ }
189
+ },
190
+ "grasp_37": {
191
+ "confidence": 0.6549644470214844,
192
+ "position": [
193
+ 0.03654053155332804,
194
+ -0.024391226761508733,
195
+ 0.08641338115558028
196
+ ],
197
+ "orientation": {
198
+ "w": 0.20405616176718627,
199
+ "xyz": [
200
+ -0.947119436448625,
201
+ -0.10515968258641523,
202
+ 0.224203695563671
203
+ ]
204
+ }
205
+ },
206
+ "grasp_38": {
207
+ "confidence": 0.4970106780529022,
208
+ "position": [
209
+ 0.0971931079402566,
210
+ 0.029135502583812922,
211
+ 0.009225239511579275
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6971781688908953,
215
+ "xyz": [
216
+ 0.07142432251620767,
217
+ -0.710342619428521,
218
+ 0.06522675830107612
219
+ ]
220
+ }
221
+ },
222
+ "grasp_39": {
223
+ "confidence": 0.9680458307266235,
224
+ "position": [
225
+ -0.11136978771537542,
226
+ 0.0297025513718836,
227
+ 0.0013689929619431496
228
+ ],
229
+ "orientation": {
230
+ "w": 0.7027418792900473,
231
+ "xyz": [
232
+ 0.08442770133167661,
233
+ 0.7032402155206203,
234
+ -0.06692543323918433
235
+ ]
236
+ }
237
+ }
238
+ }
239
+ },
240
+ {
241
+ "part_name": "left lens",
242
+ "mask_color": "Orange",
243
+ "graspable": false,
244
+ "grasp_scenarios": [],
245
+ "functional_labels": [
246
+ "filter incoming light",
247
+ "protect the eye",
248
+ "provide tinted viewing"
249
+ ],
250
+ "semantic_description": "One dark smoky brown tinted lens made of smooth glossy transparent material, rounded-rectangular and set into one side of the front frame with a uniform shaded appearance.",
251
+ "id": 4,
252
+ "grasp_group": {}
253
+ },
254
+ {
255
+ "part_name": "right lens",
256
+ "mask_color": "Green",
257
+ "graspable": false,
258
+ "grasp_scenarios": [],
259
+ "functional_labels": [
260
+ "filter incoming light",
261
+ "protect the eye",
262
+ "provide tinted viewing"
263
+ ],
264
+ "semantic_description": "One dark smoky brown tinted lens made of smooth glossy transparent material, rounded-rectangular and set into the opposite side of the front frame with a uniform shaded appearance.",
265
+ "id": 1,
266
+ "grasp_group": {}
267
+ },
268
+ {
269
+ "part_name": "bridge",
270
+ "mask_color": "Purple",
271
+ "graspable": false,
272
+ "grasp_scenarios": [],
273
+ "functional_labels": [
274
+ "connect the two lens rims",
275
+ "rest on the nose",
276
+ "maintain lens spacing"
277
+ ],
278
+ "semantic_description": "Small narrow amber-brown plastic bridge with a glossy smooth hard finish, centered between the lenses and slightly arched to span the nose area.",
279
+ "id": 5,
280
+ "grasp_group": {}
281
+ },
282
+ {
283
+ "part_name": "left temple",
284
+ "mask_color": "Blue",
285
+ "graspable": true,
286
+ "grasp_scenarios": [
287
+ {
288
+ "scenario": "grasp a folded temple to pick up or pull the glasses from a surface",
289
+ "confidence": 0.71
290
+ },
291
+ {
292
+ "scenario": "hold the temple to fold or unfold it during manipulation",
293
+ "confidence": 0.88
294
+ },
295
+ {
296
+ "scenario": "grasp the temple to reposition the glasses in storage",
297
+ "confidence": 0.68
298
+ }
299
+ ],
300
+ "functional_labels": [
301
+ "rest over the ear",
302
+ "retain the glasses on the head",
303
+ "fold for storage",
304
+ "provide a side handling point"
305
+ ],
306
+ "semantic_description": "Slim curved amber-brown translucent plastic arm with a glossy smooth hard surface, extending from one outer hinge and tapering toward the ear tip.",
307
+ "id": 2,
308
+ "grasp_group": {
309
+ "grasp_0": {
310
+ "confidence": 0.9452553391456604,
311
+ "position": [
312
+ -0.10964822676032782,
313
+ 0.02672050305409357,
314
+ 0.006018167012371123
315
+ ],
316
+ "orientation": {
317
+ "w": 0.6781151703379379,
318
+ "xyz": [
319
+ 0.19792123680571835,
320
+ 0.690695618008657,
321
+ -0.15468213549884666
322
+ ]
323
+ }
324
+ },
325
+ "grasp_4": {
326
+ "confidence": 0.10149404406547546,
327
+ "position": [
328
+ -0.0863694241270423,
329
+ 0.05263443820877001,
330
+ 0.011940367054194212
331
+ ],
332
+ "orientation": {
333
+ "w": 0.31240418721297186,
334
+ "xyz": [
335
+ 0.6544025727870334,
336
+ -0.28087369254362393,
337
+ 0.628705706494242
338
+ ]
339
+ }
340
+ },
341
+ "grasp_5": {
342
+ "confidence": 0.0781150683760643,
343
+ "position": [
344
+ -0.08196516986936331,
345
+ 0.05638501205248758,
346
+ 0.0065493357833474874
347
+ ],
348
+ "orientation": {
349
+ "w": 0.6264832062092853,
350
+ "xyz": [
351
+ 0.32832782898609525,
352
+ 0.6246570884857138,
353
+ -0.3309428211270981
354
+ ]
355
+ }
356
+ },
357
+ "grasp_6": {
358
+ "confidence": 0.9452906250953674,
359
+ "position": [
360
+ -0.1131624048575759,
361
+ 0.0063146205502562225,
362
+ 0.0035385601222515106
363
+ ],
364
+ "orientation": {
365
+ "w": 0.13008678738233997,
366
+ "xyz": [
367
+ 0.6853832753798494,
368
+ -0.11878151510516533,
369
+ 0.7065537100938983
370
+ ]
371
+ }
372
+ },
373
+ "grasp_7": {
374
+ "confidence": 0.9422706961631775,
375
+ "position": [
376
+ -0.11259446199983358,
377
+ -0.0114285399322398,
378
+ 0.0008356515318155289
379
+ ],
380
+ "orientation": {
381
+ "w": 0.1349238219652897,
382
+ "xyz": [
383
+ -0.6731714798183976,
384
+ -0.1097684797462124,
385
+ -0.7187395925365414
386
+ ]
387
+ }
388
+ },
389
+ "grasp_8": {
390
+ "confidence": 0.9029961228370667,
391
+ "position": [
392
+ -0.12261149194091558,
393
+ 0.018520109064411372,
394
+ 0.004512715648161247
395
+ ],
396
+ "orientation": {
397
+ "w": 0.7022351417555658,
398
+ "xyz": [
399
+ -0.0010150005001579006,
400
+ 0.711438720812891,
401
+ 0.026827634738138397
402
+ ]
403
+ }
404
+ },
405
+ "grasp_9": {
406
+ "confidence": 0.12963701784610748,
407
+ "position": [
408
+ -0.08638849016278982,
409
+ 0.04790578194661066,
410
+ 0.008709984365850687
411
+ ],
412
+ "orientation": {
413
+ "w": 0.3001968838626241,
414
+ "xyz": [
415
+ 0.6516719736572197,
416
+ -0.2750826705821282,
417
+ 0.6399492120584866
418
+ ]
419
+ }
420
+ },
421
+ "grasp_10": {
422
+ "confidence": 0.955928385257721,
423
+ "position": [
424
+ -0.11807342525571585,
425
+ 0.026078099093865603,
426
+ 0.009832089766860008
427
+ ],
428
+ "orientation": {
429
+ "w": 0.012527451386032486,
430
+ "xyz": [
431
+ 0.7155146235970015,
432
+ 0.0009625059644859935,
433
+ 0.6984847600076041
434
+ ]
435
+ }
436
+ },
437
+ "grasp_11": {
438
+ "confidence": 0.9517632126808167,
439
+ "position": [
440
+ -0.11663620080798864,
441
+ -0.026728481345344335,
442
+ 0.005498710961546749
443
+ ],
444
+ "orientation": {
445
+ "w": 0.6964303884867031,
446
+ "xyz": [
447
+ 0.012525010761565114,
448
+ 0.7174842817335854,
449
+ 0.006644062230529651
450
+ ]
451
+ }
452
+ },
453
+ "grasp_13": {
454
+ "confidence": 0.9422006011009216,
455
+ "position": [
456
+ -0.1113555645570159,
457
+ 0.0362501495401375,
458
+ 0.005629911320284009
459
+ ],
460
+ "orientation": {
461
+ "w": 0.15559480449046995,
462
+ "xyz": [
463
+ 0.6810375875998915,
464
+ -0.1692331539027,
465
+ 0.695225287739045
466
+ ]
467
+ }
468
+ },
469
+ "grasp_15": {
470
+ "confidence": 0.9396925568580627,
471
+ "position": [
472
+ -0.11828604247421026,
473
+ -0.02061519055860117,
474
+ 0.010499628726392984
475
+ ],
476
+ "orientation": {
477
+ "w": 0.014093126077684011,
478
+ "xyz": [
479
+ 0.7192154123026023,
480
+ -0.005826595869335538,
481
+ 0.6946197702947501
482
+ ]
483
+ }
484
+ },
485
+ "grasp_16": {
486
+ "confidence": 0.9355745315551758,
487
+ "position": [
488
+ -0.1204662462696433,
489
+ -0.0010857905144803226,
490
+ 0.0026054775808006525
491
+ ],
492
+ "orientation": {
493
+ "w": 0.7039454120559301,
494
+ "xyz": [
495
+ 0.004649878243110494,
496
+ 0.7100659669567899,
497
+ 0.01567029187508346
498
+ ]
499
+ }
500
+ },
501
+ "grasp_17": {
502
+ "confidence": 0.9333032369613647,
503
+ "position": [
504
+ -0.1167445546016097,
505
+ -0.02784141927259043,
506
+ 0.00900963181629777
507
+ ],
508
+ "orientation": {
509
+ "w": 0.696431524592254,
510
+ "xyz": [
511
+ 0.0019249782932498657,
512
+ 0.7176194101042064,
513
+ 0.001344713490171232
514
+ ]
515
+ }
516
+ },
517
+ "grasp_18": {
518
+ "confidence": 0.9315646290779114,
519
+ "position": [
520
+ -0.12091901805251837,
521
+ 0.004977287433575839,
522
+ 0.004395431140437722
523
+ ],
524
+ "orientation": {
525
+ "w": 0.011884364880140172,
526
+ "xyz": [
527
+ 0.7043056281990808,
528
+ -0.0018930032423909449,
529
+ 0.7097948721266009
530
+ ]
531
+ }
532
+ },
533
+ "grasp_19": {
534
+ "confidence": 0.9300960898399353,
535
+ "position": [
536
+ -0.11939728166908026,
537
+ 0.019621573097538203,
538
+ 0.0100950812920928
539
+ ],
540
+ "orientation": {
541
+ "w": 0.693190128676839,
542
+ "xyz": [
543
+ -0.002963101428849881,
544
+ 0.7199426332056129,
545
+ 0.034077418151594964
546
+ ]
547
+ }
548
+ }
549
+ }
550
+ },
551
+ {
552
+ "part_name": "right temple",
553
+ "mask_color": "Cyan",
554
+ "graspable": true,
555
+ "grasp_scenarios": [
556
+ {
557
+ "scenario": "grasp a folded temple to pick up or pull the glasses from a surface",
558
+ "confidence": 0.69
559
+ },
560
+ {
561
+ "scenario": "hold the temple to fold or unfold it during manipulation",
562
+ "confidence": 0.87
563
+ },
564
+ {
565
+ "scenario": "grasp the temple to reposition the glasses in storage",
566
+ "confidence": 0.66
567
+ }
568
+ ],
569
+ "functional_labels": [
570
+ "rest over the ear",
571
+ "retain the glasses on the head",
572
+ "fold for storage",
573
+ "provide a side handling point"
574
+ ],
575
+ "semantic_description": "Slim curved amber-brown translucent plastic arm with a glossy smooth hard surface, extending from the opposite outer hinge and tapering toward the ear tip.",
576
+ "id": 6,
577
+ "grasp_group": {
578
+ "grasp_43": {
579
+ "confidence": 0.6161242723464966,
580
+ "position": [
581
+ -0.0012505645863711834,
582
+ -0.09553943789796904,
583
+ -0.08637629682198167
584
+ ],
585
+ "orientation": {
586
+ "w": 0.9701516706839193,
587
+ "xyz": [
588
+ -0.24133971968711657,
589
+ 0.005758792398872892,
590
+ 0.02297198033803461
591
+ ]
592
+ }
593
+ },
594
+ "grasp_47": {
595
+ "confidence": 0.7589789032936096,
596
+ "position": [
597
+ -0.01806508842855692,
598
+ -0.04899975872831419,
599
+ -0.09219424659386277
600
+ ],
601
+ "orientation": {
602
+ "w": 0.9967789970833434,
603
+ "xyz": [
604
+ 0.004332718370116933,
605
+ 0.07526627773532746,
606
+ 0.027346772404026484
607
+ ]
608
+ }
609
+ },
610
+ "grasp_49": {
611
+ "confidence": 0.6695446372032166,
612
+ "position": [
613
+ -0.015340450219810009,
614
+ -0.0868969879229553,
615
+ -0.08609343552961946
616
+ ],
617
+ "orientation": {
618
+ "w": 0.9703503899927033,
619
+ "xyz": [
620
+ -0.23399376454348023,
621
+ 0.048846131998174225,
622
+ -0.03579237606803623
623
+ ]
624
+ }
625
+ },
626
+ "grasp_50": {
627
+ "confidence": 0.603699266910553,
628
+ "position": [
629
+ 0.0008058389648795128,
630
+ -0.09501720435218886,
631
+ -0.08391782874241471
632
+ ],
633
+ "orientation": {
634
+ "w": 0.9686567922384511,
635
+ "xyz": [
636
+ -0.24822133527235685,
637
+ -0.006290055630627789,
638
+ 0.0071149677501359055
639
+ ]
640
+ }
641
+ },
642
+ "grasp_51": {
643
+ "confidence": 0.5151351690292358,
644
+ "position": [
645
+ -0.011263369116932154,
646
+ -0.0524162559886463,
647
+ 0.09844857966527343
648
+ ],
649
+ "orientation": {
650
+ "w": 0.05161751594855912,
651
+ "xyz": [
652
+ 0.013062527717563152,
653
+ 0.9984914277829259,
654
+ 0.013411601729191314
655
+ ]
656
+ }
657
+ },
658
+ "grasp_53": {
659
+ "confidence": 0.6234683394432068,
660
+ "position": [
661
+ 0.011507340706884861,
662
+ -0.05556424550013617,
663
+ -0.09718604618683457
664
+ ],
665
+ "orientation": {
666
+ "w": 0.08127282107882589,
667
+ "xyz": [
668
+ -0.08340393418394056,
669
+ 0.023758086701067938,
670
+ 0.9929119123229585
671
+ ]
672
+ }
673
+ },
674
+ "grasp_54": {
675
+ "confidence": 0.6189537048339844,
676
+ "position": [
677
+ -0.007948152837343514,
678
+ -0.08854496694402769,
679
+ -0.09022608632221818
680
+ ],
681
+ "orientation": {
682
+ "w": 0.9747735344446264,
683
+ "xyz": [
684
+ -0.22056452805599153,
685
+ 0.026176841716519572,
686
+ -0.021968579096442134
687
+ ]
688
+ }
689
+ },
690
+ "grasp_55": {
691
+ "confidence": 0.7270746827125549,
692
+ "position": [
693
+ -0.005141495377756655,
694
+ 0.0067095348495058715,
695
+ -0.08605195814743638
696
+ ],
697
+ "orientation": {
698
+ "w": 0.9662498128563646,
699
+ "xyz": [
700
+ 0.25647482668627836,
701
+ 0.009555883325834902,
702
+ 0.02215056489454276
703
+ ]
704
+ }
705
+ },
706
+ "grasp_56": {
707
+ "confidence": 0.583161473274231,
708
+ "position": [
709
+ -0.0060223042673897,
710
+ -0.08677098370390013,
711
+ -0.09068226302042603
712
+ ],
713
+ "orientation": {
714
+ "w": 0.9691791747387434,
715
+ "xyz": [
716
+ -0.23458302085544652,
717
+ 0.03937888328037853,
718
+ 0.06412360821610116
719
+ ]
720
+ }
721
+ },
722
+ "grasp_57": {
723
+ "confidence": 0.5611462593078613,
724
+ "position": [
725
+ 0.007732567377388477,
726
+ -0.07681680686073378,
727
+ -0.09388020122423768
728
+ ],
729
+ "orientation": {
730
+ "w": 0.9777869111954951,
731
+ "xyz": [
732
+ -0.18933396274452213,
733
+ -0.02380189738574201,
734
+ 0.08671145556999225
735
+ ]
736
+ }
737
+ },
738
+ "grasp_58": {
739
+ "confidence": 0.5142945647239685,
740
+ "position": [
741
+ -0.014396008104085922,
742
+ -0.04968340910272673,
743
+ 0.09240226214751601
744
+ ],
745
+ "orientation": {
746
+ "w": 0.040599462257898344,
747
+ "xyz": [
748
+ 0.06418794346425473,
749
+ 0.9970348498138564,
750
+ 0.012373351803770383
751
+ ]
752
+ }
753
+ }
754
+ }
755
+ },
756
+ {
757
+ "part_name": "left hinge",
758
+ "mask_color": "Pink",
759
+ "graspable": false,
760
+ "grasp_scenarios": [],
761
+ "functional_labels": [
762
+ "connect temple to frame",
763
+ "enable temple rotation",
764
+ "support folding motion"
765
+ ],
766
+ "semantic_description": "Tiny dark metal-like hinge element at one outer corner of the frame, with a hard smooth finish linking the front rim to the temple.",
767
+ "id": 8,
768
+ "grasp_group": {}
769
+ },
770
+ {
771
+ "part_name": "right hinge",
772
+ "mask_color": "Red",
773
+ "graspable": false,
774
+ "grasp_scenarios": [],
775
+ "functional_labels": [
776
+ "connect temple to frame",
777
+ "enable temple rotation",
778
+ "support folding motion"
779
+ ],
780
+ "semantic_description": "Tiny dark metal-like hinge element at the other outer corner of the frame, with a hard smooth finish linking the front rim to the temple.",
781
+ "id": 0,
782
+ "grasp_group": {}
783
+ }
784
+ ],
785
+ "quality_check": {
786
+ "success": true,
787
+ "message": "YES"
788
+ }
789
+ }
dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6348353accc514d18af528d5f1b6b820f3fe382699d7151f1876d80948356b37
3
+ size 1847816