Add asset desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/2ea2134d87205a2b992e50cc6c94aac8.urdf +1 -0
- dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/affordance/affordance_annot.json +938 -0
- dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
|
@@ -6101,3 +6101,4 @@ dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/affordance
|
|
| 6101 |
dataset/desktop_supplies/decorations/24e490df82cb5439acb8fe29df33391d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6102 |
dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6103 |
dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6101 |
dataset/desktop_supplies/decorations/24e490df82cb5439acb8fe29df33391d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6102 |
dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6103 |
dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6104 |
+
dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/2ea2134d87205a2b992e50cc6c94aac8.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/2ea2134d87205a2b992e50cc6c94aac8/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,938 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "right temple",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the temple arm to pick up and reposition the glasses",
|
| 10 |
+
"confidence": 0.77
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the temple arm to open or close the glasses",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp one side to stabilize the glasses during placement",
|
| 18 |
+
"confidence": 0.7
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"rest on the ear",
|
| 23 |
+
"support side of frame",
|
| 24 |
+
"fold for storage",
|
| 25 |
+
"provide a manipulation point"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Slim black plastic temple arm with a matte to satin finish and smooth hard surface, gently curved rearward with a tapered tip on the wearer's right side of the glasses.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.8725124001502991,
|
| 32 |
+
"position": [
|
| 33 |
+
0.012122062966227531,
|
| 34 |
+
-0.0780030862079002,
|
| 35 |
+
0.1142563009634614
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.03492022640518261,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6786415096400197,
|
| 41 |
+
0.7244883789716547,
|
| 42 |
+
0.11551133241526289
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.8530113101005554,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.016558561474084854,
|
| 50 |
+
-0.06962905084947124,
|
| 51 |
+
0.10650684777647257
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.16073066155833804,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6887346057405325,
|
| 57 |
+
0.6923823505595238,
|
| 58 |
+
-0.1428879908324031
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.8424219489097595,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.011578850448131561,
|
| 66 |
+
-0.09947564458707348,
|
| 67 |
+
0.10512992087751627
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.24942375875332892,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.740043884714072,
|
| 73 |
+
0.6231471737208504,
|
| 74 |
+
-0.042549232077467754
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.8123963475227356,
|
| 80 |
+
"position": [
|
| 81 |
+
0.04551466088742018,
|
| 82 |
+
-0.0707163960323669,
|
| 83 |
+
0.11208672169595957
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.08939531431253535,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.696126407375956,
|
| 89 |
+
-0.710036901595197,
|
| 90 |
+
0.05713231227510572
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.7777695059776306,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.14178133383393288,
|
| 98 |
+
-0.061442628561053425,
|
| 99 |
+
-0.05335442256182432
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5714453310131756,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.35976521983943516,
|
| 105 |
+
0.34922440622657314,
|
| 106 |
+
-0.6496626311808479
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.75490802526474,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.13941461220383644,
|
| 114 |
+
-0.06426834320882335,
|
| 115 |
+
-0.04761709924787283
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6364848142118726,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.35075408363182525,
|
| 121 |
+
0.3562087122133324,
|
| 122 |
+
0.5873448794674176
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.753044068813324,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.13965751603245735,
|
| 130 |
+
-0.06971012061694637,
|
| 131 |
+
-0.047867598943412304
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5691045102794532,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.3806898879571983,
|
| 137 |
+
0.3343427496604564,
|
| 138 |
+
-0.6476188627087733
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_8": {
|
| 143 |
+
"confidence": 0.7519513368606567,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.14070028439164162,
|
| 146 |
+
-0.05780451005557552,
|
| 147 |
+
-0.050313121639192104
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5682289076553118,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.3579147455959606,
|
| 153 |
+
0.3661233698912887,
|
| 154 |
+
-0.6441790290045747
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_9": {
|
| 159 |
+
"confidence": 0.7430630922317505,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.14093345776200294,
|
| 162 |
+
-0.06161094090202823,
|
| 163 |
+
-0.04641603957861662
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.6003977922656184,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.37661752052531516,
|
| 169 |
+
0.348144000576343,
|
| 170 |
+
0.6135776146003324
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_10": {
|
| 175 |
+
"confidence": 0.7425642609596252,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.13935688510537148,
|
| 178 |
+
-0.06268484523752704,
|
| 179 |
+
-0.0469593396410346
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.5791001588717959,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.36055540970349786,
|
| 185 |
+
0.36336255927485606,
|
| 186 |
+
-0.6345159202458444
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_11": {
|
| 191 |
+
"confidence": 0.7387555837631226,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.05993803218007088,
|
| 194 |
+
-0.06986030197003856,
|
| 195 |
+
0.08154042158275843
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.2753645697368884,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.6719534294597821,
|
| 201 |
+
0.6322672187232041,
|
| 202 |
+
-0.2699835300511493
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_12": {
|
| 207 |
+
"confidence": 0.7327114939689636,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.12704959884285927,
|
| 210 |
+
-0.0791956708417274,
|
| 211 |
+
-0.060751392506062984
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.49854700069551344,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.41185062224987573,
|
| 217 |
+
0.16569615998388876,
|
| 218 |
+
-0.744563453049162
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_14": {
|
| 223 |
+
"confidence": 0.6819567084312439,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.13474160805344582,
|
| 226 |
+
-0.07159430539468303,
|
| 227 |
+
-0.0438918387517333
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.6312423925099883,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.3653613361076255,
|
| 233 |
+
0.34940666156937217,
|
| 234 |
+
-0.5881828974280555
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_17": {
|
| 239 |
+
"confidence": 0.5473116040229797,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.1354897953569889,
|
| 242 |
+
-0.04387947922805324,
|
| 243 |
+
-0.03481836896389723
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.6243925895078388,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.29067116512590757,
|
| 249 |
+
0.44561995124244347,
|
| 250 |
+
-0.571897741722001
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_18": {
|
| 255 |
+
"confidence": 0.43773865699768066,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.12744391337037086,
|
| 258 |
+
-0.06619817769387737,
|
| 259 |
+
-0.03647422697395086
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.5896139539942215,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.3738855870595241,
|
| 265 |
+
0.36189077031932737,
|
| 266 |
+
-0.6177378274010253
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_19": {
|
| 271 |
+
"confidence": 0.4153502583503723,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.1337777115404606,
|
| 274 |
+
-0.051089238433633,
|
| 275 |
+
-0.02899042423814535
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.582207408366148,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.42767766731963697,
|
| 281 |
+
0.34870576545614806,
|
| 282 |
+
0.5971018637194576
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"part_name": "left temple",
|
| 290 |
+
"mask_color": "Yellow",
|
| 291 |
+
"graspable": true,
|
| 292 |
+
"grasp_scenarios": [
|
| 293 |
+
{
|
| 294 |
+
"scenario": "grasp the temple arm to pick up and reposition the glasses",
|
| 295 |
+
"confidence": 0.79
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"scenario": "hold the temple arm to open or close the glasses",
|
| 299 |
+
"confidence": 0.83
|
| 300 |
+
},
|
| 301 |
+
{
|
| 302 |
+
"scenario": "grasp one side to stabilize the glasses during placement",
|
| 303 |
+
"confidence": 0.72
|
| 304 |
+
}
|
| 305 |
+
],
|
| 306 |
+
"functional_labels": [
|
| 307 |
+
"rest on the ear",
|
| 308 |
+
"support side of frame",
|
| 309 |
+
"fold for storage",
|
| 310 |
+
"provide a manipulation point"
|
| 311 |
+
],
|
| 312 |
+
"semantic_description": "Slim black plastic temple arm with a matte to satin finish and smooth hard surface, gently curved rearward with a tapered tip on the wearer's left side of the glasses.",
|
| 313 |
+
"id": 3,
|
| 314 |
+
"grasp_group": {
|
| 315 |
+
"grasp_20": {
|
| 316 |
+
"confidence": 0.91105717420578,
|
| 317 |
+
"position": [
|
| 318 |
+
-0.03366561606526375,
|
| 319 |
+
0.0737826227559708,
|
| 320 |
+
0.10194639209657907
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.17304450094605361,
|
| 324 |
+
"xyz": [
|
| 325 |
+
0.6845964250123218,
|
| 326 |
+
0.6854000438424348,
|
| 327 |
+
0.17779233800551938
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_21": {
|
| 332 |
+
"confidence": 0.8960770964622498,
|
| 333 |
+
"position": [
|
| 334 |
+
-3.779307007789612e-05,
|
| 335 |
+
0.07104953372618183,
|
| 336 |
+
0.114500910975039
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.029286326695388557,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.7150458996473662,
|
| 342 |
+
0.6968078375788485,
|
| 343 |
+
0.04806776419669064
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_22": {
|
| 348 |
+
"confidence": 0.882533848285675,
|
| 349 |
+
"position": [
|
| 350 |
+
-0.024750810116529465,
|
| 351 |
+
0.0704358741058968,
|
| 352 |
+
0.10284028295427561
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.18421837183952214,
|
| 356 |
+
"xyz": [
|
| 357 |
+
-0.670517449368787,
|
| 358 |
+
0.702939654649334,
|
| 359 |
+
-0.14948506109389836
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_23": {
|
| 364 |
+
"confidence": 0.8724231719970703,
|
| 365 |
+
"position": [
|
| 366 |
+
-0.035613905638456345,
|
| 367 |
+
0.09472969168564305,
|
| 368 |
+
0.09654720220714808
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.2757992076523013,
|
| 372 |
+
"xyz": [
|
| 373 |
+
0.7014389229490353,
|
| 374 |
+
0.6461810449499882,
|
| 375 |
+
0.11986780876366139
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
},
|
| 379 |
+
"grasp_24": {
|
| 380 |
+
"confidence": 0.8101206421852112,
|
| 381 |
+
"position": [
|
| 382 |
+
-0.1020829863846302,
|
| 383 |
+
0.06588167691370472,
|
| 384 |
+
-0.07111347373574972
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.8022290539324591,
|
| 388 |
+
"xyz": [
|
| 389 |
+
-0.18094706215191847,
|
| 390 |
+
0.2768535999899333,
|
| 391 |
+
-0.4970299688125813
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_25": {
|
| 396 |
+
"confidence": 0.7927131056785583,
|
| 397 |
+
"position": [
|
| 398 |
+
0.06052427180111408,
|
| 399 |
+
0.08460491144796833,
|
| 400 |
+
0.10671511385589838
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.19125184485549585,
|
| 404 |
+
"xyz": [
|
| 405 |
+
0.7230612128916636,
|
| 406 |
+
-0.6581764739090871,
|
| 407 |
+
-0.0860752196837537
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"grasp_26": {
|
| 412 |
+
"confidence": 0.7682930827140808,
|
| 413 |
+
"position": [
|
| 414 |
+
0.0674523152410984,
|
| 415 |
+
0.08214338863035664,
|
| 416 |
+
0.10146805737167597
|
| 417 |
+
],
|
| 418 |
+
"orientation": {
|
| 419 |
+
"w": 0.16930116453127086,
|
| 420 |
+
"xyz": [
|
| 421 |
+
-0.6736644982261847,
|
| 422 |
+
-0.6896094683598667,
|
| 423 |
+
0.20482197310454867
|
| 424 |
+
]
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"grasp_27": {
|
| 428 |
+
"confidence": 0.7668802738189697,
|
| 429 |
+
"position": [
|
| 430 |
+
-0.05433676764369011,
|
| 431 |
+
0.07133062178036198,
|
| 432 |
+
0.08451873902231455
|
| 433 |
+
],
|
| 434 |
+
"orientation": {
|
| 435 |
+
"w": 0.2601540672120659,
|
| 436 |
+
"xyz": [
|
| 437 |
+
0.6559585753933276,
|
| 438 |
+
0.6539467971303032,
|
| 439 |
+
0.2727485934042442
|
| 440 |
+
]
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"grasp_28": {
|
| 444 |
+
"confidence": 0.7628353834152222,
|
| 445 |
+
"position": [
|
| 446 |
+
0.06544974818825722,
|
| 447 |
+
0.08991329366108403,
|
| 448 |
+
0.1032605329528451
|
| 449 |
+
],
|
| 450 |
+
"orientation": {
|
| 451 |
+
"w": 0.11333472684694006,
|
| 452 |
+
"xyz": [
|
| 453 |
+
-0.6461251081768539,
|
| 454 |
+
-0.7248253590236926,
|
| 455 |
+
0.21048938973295794
|
| 456 |
+
]
|
| 457 |
+
}
|
| 458 |
+
},
|
| 459 |
+
"grasp_33": {
|
| 460 |
+
"confidence": 0.7361730337142944,
|
| 461 |
+
"position": [
|
| 462 |
+
-0.0766977034509182,
|
| 463 |
+
0.06887956702848896,
|
| 464 |
+
0.07505685929208994
|
| 465 |
+
],
|
| 466 |
+
"orientation": {
|
| 467 |
+
"w": 0.31294592718491876,
|
| 468 |
+
"xyz": [
|
| 469 |
+
0.6152591886808055,
|
| 470 |
+
0.6383903961436623,
|
| 471 |
+
0.34055642632865785
|
| 472 |
+
]
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"grasp_35": {
|
| 476 |
+
"confidence": 0.7328414916992188,
|
| 477 |
+
"position": [
|
| 478 |
+
0.07592343911528587,
|
| 479 |
+
0.055198643298354,
|
| 480 |
+
0.1043778220191598
|
| 481 |
+
],
|
| 482 |
+
"orientation": {
|
| 483 |
+
"w": 0.18557091342167764,
|
| 484 |
+
"xyz": [
|
| 485 |
+
-0.7588565139991199,
|
| 486 |
+
-0.6062755391805547,
|
| 487 |
+
0.14876221914275053
|
| 488 |
+
]
|
| 489 |
+
}
|
| 490 |
+
},
|
| 491 |
+
"grasp_36": {
|
| 492 |
+
"confidence": 0.7260028123855591,
|
| 493 |
+
"position": [
|
| 494 |
+
-0.12266704812645912,
|
| 495 |
+
0.05921730765840039,
|
| 496 |
+
-0.04437344800680876
|
| 497 |
+
],
|
| 498 |
+
"orientation": {
|
| 499 |
+
"w": 0.6570584960785544,
|
| 500 |
+
"xyz": [
|
| 501 |
+
-0.34263702747714714,
|
| 502 |
+
0.35285178176414744,
|
| 503 |
+
-0.5712876860553525
|
| 504 |
+
]
|
| 505 |
+
}
|
| 506 |
+
},
|
| 507 |
+
"grasp_37": {
|
| 508 |
+
"confidence": 0.697519838809967,
|
| 509 |
+
"position": [
|
| 510 |
+
0.0793040469288826,
|
| 511 |
+
0.07162167871138081,
|
| 512 |
+
0.10341508779674768
|
| 513 |
+
],
|
| 514 |
+
"orientation": {
|
| 515 |
+
"w": 0.17955628535521015,
|
| 516 |
+
"xyz": [
|
| 517 |
+
0.6866190818627127,
|
| 518 |
+
-0.6854306823175907,
|
| 519 |
+
-0.16278377237638378
|
| 520 |
+
]
|
| 521 |
+
}
|
| 522 |
+
},
|
| 523 |
+
"grasp_39": {
|
| 524 |
+
"confidence": 0.6882349848747253,
|
| 525 |
+
"position": [
|
| 526 |
+
0.07775536552071571,
|
| 527 |
+
0.08134268963476643,
|
| 528 |
+
0.10541077796369791
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.20199956721620435,
|
| 532 |
+
"xyz": [
|
| 533 |
+
0.7123123285956648,
|
| 534 |
+
-0.6593572420840719,
|
| 535 |
+
-0.13059612814465085
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
}
|
| 539 |
+
}
|
| 540 |
+
},
|
| 541 |
+
{
|
| 542 |
+
"part_name": "right lens",
|
| 543 |
+
"mask_color": "Blue",
|
| 544 |
+
"graspable": false,
|
| 545 |
+
"grasp_scenarios": [],
|
| 546 |
+
"functional_labels": [
|
| 547 |
+
"filter light",
|
| 548 |
+
"protect the eye",
|
| 549 |
+
"provide vision correction area",
|
| 550 |
+
"reduce glare if tinted"
|
| 551 |
+
],
|
| 552 |
+
"semantic_description": "Rounded rectangular dark gray translucent lens with a glossy reflective finish and smooth hard surface, seated in the front frame on the wearer's right side.",
|
| 553 |
+
"id": 2,
|
| 554 |
+
"grasp_group": {}
|
| 555 |
+
},
|
| 556 |
+
{
|
| 557 |
+
"part_name": "left lens",
|
| 558 |
+
"mask_color": "Green",
|
| 559 |
+
"graspable": false,
|
| 560 |
+
"grasp_scenarios": [],
|
| 561 |
+
"functional_labels": [
|
| 562 |
+
"filter light",
|
| 563 |
+
"protect the eye",
|
| 564 |
+
"provide vision correction area",
|
| 565 |
+
"reduce glare if tinted"
|
| 566 |
+
],
|
| 567 |
+
"semantic_description": "Rounded rectangular dark gray translucent lens with a glossy reflective finish and smooth hard surface, seated in the front frame on the wearer's left side.",
|
| 568 |
+
"id": 1,
|
| 569 |
+
"grasp_group": {}
|
| 570 |
+
},
|
| 571 |
+
{
|
| 572 |
+
"part_name": "front frame",
|
| 573 |
+
"mask_color": "Orange",
|
| 574 |
+
"graspable": true,
|
| 575 |
+
"grasp_scenarios": [
|
| 576 |
+
{
|
| 577 |
+
"scenario": "grasp the bridge and front frame to pick up the glasses from a table",
|
| 578 |
+
"confidence": 0.74
|
| 579 |
+
},
|
| 580 |
+
{
|
| 581 |
+
"scenario": "hold the front frame to align the glasses for placement or inspection",
|
| 582 |
+
"confidence": 0.69
|
| 583 |
+
},
|
| 584 |
+
{
|
| 585 |
+
"scenario": "pinch the frame edge to stabilize while folding a temple",
|
| 586 |
+
"confidence": 0.66
|
| 587 |
+
}
|
| 588 |
+
],
|
| 589 |
+
"functional_labels": [
|
| 590 |
+
"hold the lenses",
|
| 591 |
+
"bridge the two lenses",
|
| 592 |
+
"define front structure",
|
| 593 |
+
"provide face-facing support"
|
| 594 |
+
],
|
| 595 |
+
"semantic_description": "Black plastic front frame with a smooth matte finish, thick rectangular-rim shape and integrated bridge, medium-sized across the front with small gold branding marks near the hinges.",
|
| 596 |
+
"id": 4,
|
| 597 |
+
"grasp_group": {
|
| 598 |
+
"grasp_40": {
|
| 599 |
+
"confidence": 0.9395401477813721,
|
| 600 |
+
"position": [
|
| 601 |
+
0.06467664055526257,
|
| 602 |
+
0.028646927268709987,
|
| 603 |
+
0.1136084208264947
|
| 604 |
+
],
|
| 605 |
+
"orientation": {
|
| 606 |
+
"w": 0.005694553314651222,
|
| 607 |
+
"xyz": [
|
| 608 |
+
0.0034812357986413914,
|
| 609 |
+
0.9965133323829044,
|
| 610 |
+
-0.0831662878994782
|
| 611 |
+
]
|
| 612 |
+
}
|
| 613 |
+
},
|
| 614 |
+
"grasp_41": {
|
| 615 |
+
"confidence": 0.920220136642456,
|
| 616 |
+
"position": [
|
| 617 |
+
0.06915162317454815,
|
| 618 |
+
-0.00993247894803062,
|
| 619 |
+
0.10892462823539972
|
| 620 |
+
],
|
| 621 |
+
"orientation": {
|
| 622 |
+
"w": 0.0398999115975257,
|
| 623 |
+
"xyz": [
|
| 624 |
+
0.04263525070515877,
|
| 625 |
+
-0.994222536120203,
|
| 626 |
+
-0.09006542689916766
|
| 627 |
+
]
|
| 628 |
+
}
|
| 629 |
+
},
|
| 630 |
+
"grasp_42": {
|
| 631 |
+
"confidence": 0.9133614301681519,
|
| 632 |
+
"position": [
|
| 633 |
+
0.06712641566991806,
|
| 634 |
+
-0.038781195937190205,
|
| 635 |
+
0.10243819002062082
|
| 636 |
+
],
|
| 637 |
+
"orientation": {
|
| 638 |
+
"w": 0.23378665304521226,
|
| 639 |
+
"xyz": [
|
| 640 |
+
-0.9720601388828577,
|
| 641 |
+
-0.020195604750882418,
|
| 642 |
+
0.005918175538368695
|
| 643 |
+
]
|
| 644 |
+
}
|
| 645 |
+
},
|
| 646 |
+
"grasp_43": {
|
| 647 |
+
"confidence": 0.9039866328239441,
|
| 648 |
+
"position": [
|
| 649 |
+
0.06939749419689178,
|
| 650 |
+
0.03639385098358616,
|
| 651 |
+
0.10359346959739923
|
| 652 |
+
],
|
| 653 |
+
"orientation": {
|
| 654 |
+
"w": 0.23612194299577602,
|
| 655 |
+
"xyz": [
|
| 656 |
+
0.9715513707328945,
|
| 657 |
+
0.018285475381867367,
|
| 658 |
+
-5.876216574023899e-05
|
| 659 |
+
]
|
| 660 |
+
}
|
| 661 |
+
},
|
| 662 |
+
"grasp_44": {
|
| 663 |
+
"confidence": 0.9010058045387268,
|
| 664 |
+
"position": [
|
| 665 |
+
0.0698188953101635,
|
| 666 |
+
0.03540130326291546,
|
| 667 |
+
0.10295853856950998
|
| 668 |
+
],
|
| 669 |
+
"orientation": {
|
| 670 |
+
"w": 0.22719024679528774,
|
| 671 |
+
"xyz": [
|
| 672 |
+
0.9737250648203316,
|
| 673 |
+
0.015252465525384923,
|
| 674 |
+
-0.003384109503874823
|
| 675 |
+
]
|
| 676 |
+
}
|
| 677 |
+
},
|
| 678 |
+
"grasp_45": {
|
| 679 |
+
"confidence": 0.8972418904304504,
|
| 680 |
+
"position": [
|
| 681 |
+
0.07138103246688843,
|
| 682 |
+
-0.03750410309294239,
|
| 683 |
+
0.1000009635463357
|
| 684 |
+
],
|
| 685 |
+
"orientation": {
|
| 686 |
+
"w": 0.24166230817247594,
|
| 687 |
+
"xyz": [
|
| 688 |
+
-0.9701044994176953,
|
| 689 |
+
-0.017904976743581158,
|
| 690 |
+
0.013266530296420264
|
| 691 |
+
]
|
| 692 |
+
}
|
| 693 |
+
},
|
| 694 |
+
"grasp_46": {
|
| 695 |
+
"confidence": 0.8324545621871948,
|
| 696 |
+
"position": [
|
| 697 |
+
0.06969011761248112,
|
| 698 |
+
0.0592800042941235,
|
| 699 |
+
0.10183924529701471
|
| 700 |
+
],
|
| 701 |
+
"orientation": {
|
| 702 |
+
"w": 0.029346737594623206,
|
| 703 |
+
"xyz": [
|
| 704 |
+
0.0017418937080941326,
|
| 705 |
+
-0.9690234830543738,
|
| 706 |
+
0.2452126099694552
|
| 707 |
+
]
|
| 708 |
+
}
|
| 709 |
+
},
|
| 710 |
+
"grasp_47": {
|
| 711 |
+
"confidence": 0.6708569526672363,
|
| 712 |
+
"position": [
|
| 713 |
+
0.08601411432027817,
|
| 714 |
+
-0.04873222118476406,
|
| 715 |
+
0.10750073287636042
|
| 716 |
+
],
|
| 717 |
+
"orientation": {
|
| 718 |
+
"w": 0.11349270237684733,
|
| 719 |
+
"xyz": [
|
| 720 |
+
0.9869340685493962,
|
| 721 |
+
0.024367324479171643,
|
| 722 |
+
-0.111744281023517
|
| 723 |
+
]
|
| 724 |
+
}
|
| 725 |
+
},
|
| 726 |
+
"grasp_48": {
|
| 727 |
+
"confidence": 0.9496625065803528,
|
| 728 |
+
"position": [
|
| 729 |
+
0.08044954389333725,
|
| 730 |
+
-0.011751406884286553,
|
| 731 |
+
0.1125318268314004
|
| 732 |
+
],
|
| 733 |
+
"orientation": {
|
| 734 |
+
"w": 0.11210472553854127,
|
| 735 |
+
"xyz": [
|
| 736 |
+
-0.991966703475018,
|
| 737 |
+
-0.01701623313590514,
|
| 738 |
+
0.05608063407896275
|
| 739 |
+
]
|
| 740 |
+
}
|
| 741 |
+
},
|
| 742 |
+
"grasp_49": {
|
| 743 |
+
"confidence": 0.9397707581520081,
|
| 744 |
+
"position": [
|
| 745 |
+
0.07191665656864643,
|
| 746 |
+
-0.01901090709725395,
|
| 747 |
+
0.11424073670059443
|
| 748 |
+
],
|
| 749 |
+
"orientation": {
|
| 750 |
+
"w": 0.04122622395343993,
|
| 751 |
+
"xyz": [
|
| 752 |
+
-0.9988937137212637,
|
| 753 |
+
-0.010249226605480749,
|
| 754 |
+
0.020166816820526293
|
| 755 |
+
]
|
| 756 |
+
}
|
| 757 |
+
},
|
| 758 |
+
"grasp_50": {
|
| 759 |
+
"confidence": 0.9395396113395691,
|
| 760 |
+
"position": [
|
| 761 |
+
0.06898031197488308,
|
| 762 |
+
-0.02346445625880733,
|
| 763 |
+
0.11475505027920008
|
| 764 |
+
],
|
| 765 |
+
"orientation": {
|
| 766 |
+
"w": 0.06872853311294419,
|
| 767 |
+
"xyz": [
|
| 768 |
+
-0.9976014247023626,
|
| 769 |
+
-0.002466895503446115,
|
| 770 |
+
0.007854972599230722
|
| 771 |
+
]
|
| 772 |
+
}
|
| 773 |
+
},
|
| 774 |
+
"grasp_51": {
|
| 775 |
+
"confidence": 0.9283955693244934,
|
| 776 |
+
"position": [
|
| 777 |
+
0.06828276254236698,
|
| 778 |
+
0.05066310235997662,
|
| 779 |
+
0.1094618896022439
|
| 780 |
+
],
|
| 781 |
+
"orientation": {
|
| 782 |
+
"w": 0.20310738326978828,
|
| 783 |
+
"xyz": [
|
| 784 |
+
0.9789459674323,
|
| 785 |
+
0.018891952282219626,
|
| 786 |
+
0.007434907417323293
|
| 787 |
+
]
|
| 788 |
+
}
|
| 789 |
+
},
|
| 790 |
+
"grasp_52": {
|
| 791 |
+
"confidence": 0.9261912703514099,
|
| 792 |
+
"position": [
|
| 793 |
+
0.08143248781561852,
|
| 794 |
+
-0.013069571054074913,
|
| 795 |
+
0.11191812995821238
|
| 796 |
+
],
|
| 797 |
+
"orientation": {
|
| 798 |
+
"w": 0.06364982274611906,
|
| 799 |
+
"xyz": [
|
| 800 |
+
0.0023227727593394722,
|
| 801 |
+
-0.9976634364141895,
|
| 802 |
+
-0.024717856568228204
|
| 803 |
+
]
|
| 804 |
+
}
|
| 805 |
+
},
|
| 806 |
+
"grasp_53": {
|
| 807 |
+
"confidence": 0.9258029460906982,
|
| 808 |
+
"position": [
|
| 809 |
+
0.07738162577152252,
|
| 810 |
+
0.03353459754725918,
|
| 811 |
+
0.10818793717771769
|
| 812 |
+
],
|
| 813 |
+
"orientation": {
|
| 814 |
+
"w": 0.21337188179429242,
|
| 815 |
+
"xyz": [
|
| 816 |
+
0.976446350180698,
|
| 817 |
+
0.013540938406723213,
|
| 818 |
+
-0.029010485439255364
|
| 819 |
+
]
|
| 820 |
+
}
|
| 821 |
+
},
|
| 822 |
+
"grasp_54": {
|
| 823 |
+
"confidence": 0.8492894172668457,
|
| 824 |
+
"position": [
|
| 825 |
+
0.0650214646011591,
|
| 826 |
+
0.05466397473355755,
|
| 827 |
+
0.10089132282882929
|
| 828 |
+
],
|
| 829 |
+
"orientation": {
|
| 830 |
+
"w": 0.23160994310253,
|
| 831 |
+
"xyz": [
|
| 832 |
+
0.9723902983934298,
|
| 833 |
+
0.026699187404552766,
|
| 834 |
+
0.010054612787963713
|
| 835 |
+
]
|
| 836 |
+
}
|
| 837 |
+
},
|
| 838 |
+
"grasp_55": {
|
| 839 |
+
"confidence": 0.8370377421379089,
|
| 840 |
+
"position": [
|
| 841 |
+
0.05827319994568825,
|
| 842 |
+
0.06754344695946202,
|
| 843 |
+
-0.10022659506648779
|
| 844 |
+
],
|
| 845 |
+
"orientation": {
|
| 846 |
+
"w": 0.9648510350100673,
|
| 847 |
+
"xyz": [
|
| 848 |
+
0.2594750070781143,
|
| 849 |
+
0.0404967671275136,
|
| 850 |
+
0.009757704342529021
|
| 851 |
+
]
|
| 852 |
+
}
|
| 853 |
+
},
|
| 854 |
+
"grasp_56": {
|
| 855 |
+
"confidence": 0.8136424422264099,
|
| 856 |
+
"position": [
|
| 857 |
+
0.08285818994045258,
|
| 858 |
+
0.07707890862366185,
|
| 859 |
+
-0.09385520871728659
|
| 860 |
+
],
|
| 861 |
+
"orientation": {
|
| 862 |
+
"w": 0.9453097025861938,
|
| 863 |
+
"xyz": [
|
| 864 |
+
0.3044574373493837,
|
| 865 |
+
-0.10275856397668914,
|
| 866 |
+
0.055999219356133084
|
| 867 |
+
]
|
| 868 |
+
}
|
| 869 |
+
},
|
| 870 |
+
"grasp_58": {
|
| 871 |
+
"confidence": 0.5690789818763733,
|
| 872 |
+
"position": [
|
| 873 |
+
0.06498644314706326,
|
| 874 |
+
-0.12164115166524425,
|
| 875 |
+
0.10154157225042582
|
| 876 |
+
],
|
| 877 |
+
"orientation": {
|
| 878 |
+
"w": 0.2498518045063643,
|
| 879 |
+
"xyz": [
|
| 880 |
+
-0.9679319202599292,
|
| 881 |
+
0.00449787925394457,
|
| 882 |
+
0.0257224145261737
|
| 883 |
+
]
|
| 884 |
+
}
|
| 885 |
+
},
|
| 886 |
+
"grasp_59": {
|
| 887 |
+
"confidence": 0.548462986946106,
|
| 888 |
+
"position": [
|
| 889 |
+
0.06941760331392288,
|
| 890 |
+
-0.12521469598868862,
|
| 891 |
+
0.09902912471443415
|
| 892 |
+
],
|
| 893 |
+
"orientation": {
|
| 894 |
+
"w": 0.25981897774398216,
|
| 895 |
+
"xyz": [
|
| 896 |
+
-0.9650482064122177,
|
| 897 |
+
-0.0001760180944994083,
|
| 898 |
+
0.03429325184732376
|
| 899 |
+
]
|
| 900 |
+
}
|
| 901 |
+
}
|
| 902 |
+
}
|
| 903 |
+
},
|
| 904 |
+
{
|
| 905 |
+
"part_name": "hinge",
|
| 906 |
+
"mask_color": "Purple",
|
| 907 |
+
"graspable": false,
|
| 908 |
+
"grasp_scenarios": [],
|
| 909 |
+
"functional_labels": [
|
| 910 |
+
"connect temple to frame",
|
| 911 |
+
"enable folding motion",
|
| 912 |
+
"provide rotational joint"
|
| 913 |
+
],
|
| 914 |
+
"semantic_description": "Small dark hinge joint at the frame corner, likely metal or reinforced plastic, with a hard smooth finish and compact mechanical shape linking the temple to the front frame.",
|
| 915 |
+
"id": 5,
|
| 916 |
+
"grasp_group": {}
|
| 917 |
+
},
|
| 918 |
+
{
|
| 919 |
+
"part_name": "nose pad",
|
| 920 |
+
"mask_color": "Cyan",
|
| 921 |
+
"graspable": false,
|
| 922 |
+
"grasp_scenarios": [],
|
| 923 |
+
"functional_labels": [
|
| 924 |
+
"rest on the nose",
|
| 925 |
+
"improve fit",
|
| 926 |
+
"stabilize glasses on face",
|
| 927 |
+
"add comfort contact point"
|
| 928 |
+
],
|
| 929 |
+
"semantic_description": "Small clear to light translucent nose-contact pad beneath the frame front near the bridge, with a smooth glossy surface and compact curved shape.",
|
| 930 |
+
"id": 6,
|
| 931 |
+
"grasp_group": {}
|
| 932 |
+
}
|
| 933 |
+
],
|
| 934 |
+
"quality_check": {
|
| 935 |
+
"success": false,
|
| 936 |
+
"message": "Right/left temple and lens are swapped relative to mask/views; hinge and nose pad descriptions are also inaccurate."
|
| 937 |
+
}
|
| 938 |
+
}
|
dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3cf9fd1dc5cf7568d63741f2021f19a49cb16efa8a96501725fd7e6101b176af
|
| 3 |
+
size 1588996
|