Add asset desktop_supplies/office_stationery/4162c8581fbd5e3c84d7569b6222f6b2
Browse files
.gitattributes
CHANGED
|
@@ -6314,3 +6314,4 @@ dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/affo
|
|
| 6314 |
dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6315 |
dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6316 |
dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6314 |
dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6315 |
dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6316 |
dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6317 |
+
dataset/desktop_supplies/office_stationery/4162c8581fbd5e3c84d7569b6222f6b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/4162c8581fbd5e3c84d7569b6222f6b2/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,752 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front barrel",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the front barrel at its middle to pick up the pen",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the front barrel to stabilize the pen while orienting the tip for writing",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "regrasp the front barrel to point the writing tip downward",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support writing control",
|
| 24 |
+
"connect tip section to mid-body",
|
| 25 |
+
"house internal ink refill path"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark brown plastic barrel section with a slightly glossy finish and fine speckled texture, cylindrical shape, located between the front tip cone and the center ring.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_40": {
|
| 31 |
+
"confidence": 0.8484986424446106,
|
| 32 |
+
"position": [
|
| 33 |
+
0.12384020257741213,
|
| 34 |
+
0.011600231409829576,
|
| 35 |
+
0.04201250849291682
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4521787716828976,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5334971492394603,
|
| 41 |
+
-0.6596758720997242,
|
| 42 |
+
-0.27521426918345376
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_42": {
|
| 47 |
+
"confidence": 0.7241575121879578,
|
| 48 |
+
"position": [
|
| 49 |
+
0.1326300548389554,
|
| 50 |
+
-0.0014623642127844505,
|
| 51 |
+
-0.0010603831615298986
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4078699552204935,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5720777968425612,
|
| 57 |
+
-0.393130487919256,
|
| 58 |
+
-0.5931420685270623
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_43": {
|
| 63 |
+
"confidence": 0.7133930921554565,
|
| 64 |
+
"position": [
|
| 65 |
+
0.13107757735997438,
|
| 66 |
+
-0.0017816343970480375,
|
| 67 |
+
-0.005546686705201864
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5451421374254938,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.4757759328148208,
|
| 73 |
+
-0.5104750575281332,
|
| 74 |
+
0.46462084262223996
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_44": {
|
| 79 |
+
"confidence": 0.7091816663742065,
|
| 80 |
+
"position": [
|
| 81 |
+
0.1349079506471753,
|
| 82 |
+
0.0006409221168723889,
|
| 83 |
+
-0.00294166780076921
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.544537423466545,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.43807571751641017,
|
| 89 |
+
-0.5367225834423333,
|
| 90 |
+
-0.47275525231337895
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_45": {
|
| 95 |
+
"confidence": 0.703090488910675,
|
| 96 |
+
"position": [
|
| 97 |
+
0.13202569354325533,
|
| 98 |
+
5.765826062997803e-05,
|
| 99 |
+
-0.005341288633644581
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.526381693898876,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.4637352105112236,
|
| 105 |
+
-0.5167162380177872,
|
| 106 |
+
-0.4907914997521922
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_46": {
|
| 111 |
+
"confidence": 0.7022597193717957,
|
| 112 |
+
"position": [
|
| 113 |
+
0.13067748118191957,
|
| 114 |
+
-0.005472997079777997,
|
| 115 |
+
-0.0003924186312360689
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5298506035775392,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.49283145520014043,
|
| 121 |
+
-0.5022496261687518,
|
| 122 |
+
0.4734139918371429
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_47": {
|
| 127 |
+
"confidence": 0.6894276738166809,
|
| 128 |
+
"position": [
|
| 129 |
+
0.1341239558532834,
|
| 130 |
+
0.0066037253782269545,
|
| 131 |
+
-0.0058539560995996
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.6285791641128379,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.34722828779653925,
|
| 137 |
+
-0.5852001988043036,
|
| 138 |
+
0.3766450290611739
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_49": {
|
| 143 |
+
"confidence": 0.6829668879508972,
|
| 144 |
+
"position": [
|
| 145 |
+
0.1350005017593503,
|
| 146 |
+
0.0030897361066308804,
|
| 147 |
+
0.0010890595149248838
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5257279739661636,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.4603686803466285,
|
| 153 |
+
-0.5392811353856725,
|
| 154 |
+
-0.469943222700867
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_50": {
|
| 159 |
+
"confidence": 0.6815088391304016,
|
| 160 |
+
"position": [
|
| 161 |
+
0.13146573770791292,
|
| 162 |
+
-0.005927831276494544,
|
| 163 |
+
-0.001791701652109623
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.4686880785704494,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.5478744654068348,
|
| 169 |
+
-0.43677190497559815,
|
| 170 |
+
0.5379547919529134
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_52": {
|
| 175 |
+
"confidence": 0.6632238626480103,
|
| 176 |
+
"position": [
|
| 177 |
+
0.13063739705830812,
|
| 178 |
+
-0.0013622341139125638,
|
| 179 |
+
-0.001656676409766078
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.5033718137007362,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.4779013693751381,
|
| 185 |
+
-0.5116064225462287,
|
| 186 |
+
-0.5064444359754074
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_54": {
|
| 191 |
+
"confidence": 0.654722273349762,
|
| 192 |
+
"position": [
|
| 193 |
+
0.13497502077370882,
|
| 194 |
+
0.005045071367931087,
|
| 195 |
+
-0.00066572759533301
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.47721147233952305,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.5316621170120577,
|
| 201 |
+
-0.46501397952259704,
|
| 202 |
+
0.5228447215477642
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_55": {
|
| 207 |
+
"confidence": 0.6480386853218079,
|
| 208 |
+
"position": [
|
| 209 |
+
0.13386464584618807,
|
| 210 |
+
0.0020773130308953114,
|
| 211 |
+
0.003459677565842867
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.618002584837378,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.3644832160846176,
|
| 217 |
+
-0.6012324647935063,
|
| 218 |
+
0.3517730996043602
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_56": {
|
| 223 |
+
"confidence": 0.6466143131256104,
|
| 224 |
+
"position": [
|
| 225 |
+
0.13031356502324343,
|
| 226 |
+
-0.004030652686196845,
|
| 227 |
+
0.0001123717229347676
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.48760931901453647,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.49053906185638096,
|
| 233 |
+
-0.4990802675167798,
|
| 234 |
+
-0.5220416337598192
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_57": {
|
| 239 |
+
"confidence": 0.6414746046066284,
|
| 240 |
+
"position": [
|
| 241 |
+
0.1297277407720685,
|
| 242 |
+
0.0005900311007280834,
|
| 243 |
+
-0.004125943873077631
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.6006561858283808,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.40336229200586465,
|
| 249 |
+
-0.570730120499982,
|
| 250 |
+
0.3883016061877085
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"part_name": "front tip cone",
|
| 258 |
+
"mask_color": "Orange",
|
| 259 |
+
"graspable": true,
|
| 260 |
+
"grasp_scenarios": [
|
| 261 |
+
{
|
| 262 |
+
"scenario": "delicately grasp the front cone to orient the pen during precise manipulation",
|
| 263 |
+
"confidence": 0.34
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"scenario": "pinch the front cone briefly to reposition the pen on a surface",
|
| 267 |
+
"confidence": 0.29
|
| 268 |
+
}
|
| 269 |
+
],
|
| 270 |
+
"functional_labels": [
|
| 271 |
+
"guide the writing tip",
|
| 272 |
+
"protect and support the refill tip",
|
| 273 |
+
"narrow the front end for writing"
|
| 274 |
+
],
|
| 275 |
+
"semantic_description": "Small light beige plastic conical nose with a smooth slightly glossy surface, hard texture, and tapered shape at the writing end of the pen.",
|
| 276 |
+
"id": 4,
|
| 277 |
+
"grasp_group": {}
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"part_name": "rear cap end",
|
| 281 |
+
"mask_color": "Green",
|
| 282 |
+
"graspable": true,
|
| 283 |
+
"grasp_scenarios": [
|
| 284 |
+
{
|
| 285 |
+
"scenario": "pinch the rear end to pull or nudge the pen during reorientation",
|
| 286 |
+
"confidence": 0.31
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"scenario": "grasp the rear end in a delicate pickup when the body is obstructed",
|
| 290 |
+
"confidence": 0.22
|
| 291 |
+
}
|
| 292 |
+
],
|
| 293 |
+
"functional_labels": [
|
| 294 |
+
"close the back of the pen",
|
| 295 |
+
"provide rear contact surface",
|
| 296 |
+
"protect internal mechanism end"
|
| 297 |
+
],
|
| 298 |
+
"semantic_description": "Small rounded dark brown end piece with a smooth semi-gloss plastic surface, hard texture, and domed shape located at the back of the pen.",
|
| 299 |
+
"id": 1,
|
| 300 |
+
"grasp_group": {}
|
| 301 |
+
},
|
| 302 |
+
{
|
| 303 |
+
"part_name": "center ring",
|
| 304 |
+
"mask_color": "Purple",
|
| 305 |
+
"graspable": false,
|
| 306 |
+
"grasp_scenarios": [],
|
| 307 |
+
"functional_labels": [
|
| 308 |
+
"join adjacent pen sections",
|
| 309 |
+
"provide a visual transition",
|
| 310 |
+
"help locate section boundary"
|
| 311 |
+
],
|
| 312 |
+
"semantic_description": "Thin light beige ring with a smooth glossy plastic finish and hard texture, encircling the pen near the middle as a narrow boundary band.",
|
| 313 |
+
"id": 5,
|
| 314 |
+
"grasp_group": {}
|
| 315 |
+
},
|
| 316 |
+
{
|
| 317 |
+
"part_name": "rear barrel",
|
| 318 |
+
"mask_color": "Yellow",
|
| 319 |
+
"graspable": true,
|
| 320 |
+
"grasp_scenarios": [
|
| 321 |
+
{
|
| 322 |
+
"scenario": "grasp the rear barrel to pick up the pen",
|
| 323 |
+
"confidence": 0.84
|
| 324 |
+
},
|
| 325 |
+
{
|
| 326 |
+
"scenario": "hold the rear barrel while pressing the top button or stabilizing the pen",
|
| 327 |
+
"confidence": 0.73
|
| 328 |
+
}
|
| 329 |
+
],
|
| 330 |
+
"functional_labels": [
|
| 331 |
+
"rear grasp surface",
|
| 332 |
+
"cover the upper pen body",
|
| 333 |
+
"house rear portion of pen mechanism",
|
| 334 |
+
"support pocket clip attachment"
|
| 335 |
+
],
|
| 336 |
+
"semantic_description": "Elongated light beige rear body section with a smooth slightly glossy plastic surface, hard texture, and cylindrical form occupying the upper back section of the pen.",
|
| 337 |
+
"id": 3,
|
| 338 |
+
"grasp_group": {
|
| 339 |
+
"grasp_60": {
|
| 340 |
+
"confidence": 0.8884456753730774,
|
| 341 |
+
"position": [
|
| 342 |
+
-0.11461940687149763,
|
| 343 |
+
0.0013231533885118552,
|
| 344 |
+
0.0012717649806290865
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
+
"w": 0.6997503615437684,
|
| 348 |
+
"xyz": [
|
| 349 |
+
0.0782164063205531,
|
| 350 |
+
0.7035524291104847,
|
| 351 |
+
0.09615406800755039
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
},
|
| 355 |
+
"grasp_63": {
|
| 356 |
+
"confidence": 0.872567355632782,
|
| 357 |
+
"position": [
|
| 358 |
+
-0.12185422610491514,
|
| 359 |
+
0.0021347728397813626,
|
| 360 |
+
-0.0009926746133714914
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.4838003758792783,
|
| 364 |
+
"xyz": [
|
| 365 |
+
0.5266593706623559,
|
| 366 |
+
0.4761428762047464,
|
| 367 |
+
0.5117177591525148
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_64": {
|
| 372 |
+
"confidence": 0.8700459599494934,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.12336472701281309,
|
| 375 |
+
0.005990962155919988,
|
| 376 |
+
0.0037482851184904575
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.48959969261043035,
|
| 380 |
+
"xyz": [
|
| 381 |
+
0.5368837779654277,
|
| 382 |
+
0.47549032143948566,
|
| 383 |
+
0.49594042401352595
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_66": {
|
| 388 |
+
"confidence": 0.8655994534492493,
|
| 389 |
+
"position": [
|
| 390 |
+
-0.10686793457716703,
|
| 391 |
+
0.0018949654258904047,
|
| 392 |
+
0.04815136967226863
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.36014589947440095,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.6098251907679216,
|
| 398 |
+
0.614893380142783,
|
| 399 |
+
0.34686351617491606
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_67": {
|
| 404 |
+
"confidence": 0.8647811412811279,
|
| 405 |
+
"position": [
|
| 406 |
+
-0.11533780675381422,
|
| 407 |
+
-0.0006357639722409658,
|
| 408 |
+
0.006202895659953356
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.44118785111798187,
|
| 412 |
+
"xyz": [
|
| 413 |
+
0.5619459712130253,
|
| 414 |
+
0.44932810073562846,
|
| 415 |
+
0.5363527415355125
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_69": {
|
| 420 |
+
"confidence": 0.8608250021934509,
|
| 421 |
+
"position": [
|
| 422 |
+
-0.1199399707838893,
|
| 423 |
+
0.0025872116748359986,
|
| 424 |
+
0.004846686497330666
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.5229492198122894,
|
| 428 |
+
"xyz": [
|
| 429 |
+
0.4826753989428014,
|
| 430 |
+
0.5261670083722807,
|
| 431 |
+
0.46550709130333245
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_70": {
|
| 436 |
+
"confidence": 0.8592883944511414,
|
| 437 |
+
"position": [
|
| 438 |
+
-0.11224933248013258,
|
| 439 |
+
-0.0004898783445241861,
|
| 440 |
+
-0.003639867762103677
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.49134112406334857,
|
| 444 |
+
"xyz": [
|
| 445 |
+
0.5098550250266607,
|
| 446 |
+
0.48636681721973785,
|
| 447 |
+
0.5119365901816068
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_71": {
|
| 452 |
+
"confidence": 0.8568074107170105,
|
| 453 |
+
"position": [
|
| 454 |
+
-0.11773375701159239,
|
| 455 |
+
-0.0030396220900001936,
|
| 456 |
+
0.00795521168038249
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.5411661914850251,
|
| 460 |
+
"xyz": [
|
| 461 |
+
-0.450149799778993,
|
| 462 |
+
0.575033060077887,
|
| 463 |
+
-0.4169427907638965
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_73": {
|
| 468 |
+
"confidence": 0.8558036684989929,
|
| 469 |
+
"position": [
|
| 470 |
+
-0.11200619768351316,
|
| 471 |
+
0.0062435838699457236,
|
| 472 |
+
-0.018722959328442812
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.4649899162458023,
|
| 476 |
+
"xyz": [
|
| 477 |
+
0.5392499692041839,
|
| 478 |
+
0.3543347938628689,
|
| 479 |
+
0.6061688728078719
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"grasp_74": {
|
| 484 |
+
"confidence": 0.855665385723114,
|
| 485 |
+
"position": [
|
| 486 |
+
-0.10921225231140852,
|
| 487 |
+
0.005444230635475833,
|
| 488 |
+
0.048856991808861494
|
| 489 |
+
],
|
| 490 |
+
"orientation": {
|
| 491 |
+
"w": 0.37777188905228665,
|
| 492 |
+
"xyz": [
|
| 493 |
+
0.5929579553544164,
|
| 494 |
+
0.6337005108148265,
|
| 495 |
+
0.32266534616658943
|
| 496 |
+
]
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"grasp_75": {
|
| 500 |
+
"confidence": 0.8546244502067566,
|
| 501 |
+
"position": [
|
| 502 |
+
-0.1196766821667552,
|
| 503 |
+
-0.0014449921363848262,
|
| 504 |
+
-0.0006832559301983565
|
| 505 |
+
],
|
| 506 |
+
"orientation": {
|
| 507 |
+
"w": 0.7079421928391165,
|
| 508 |
+
"xyz": [
|
| 509 |
+
-0.016467011302002295,
|
| 510 |
+
0.7056161264979115,
|
| 511 |
+
-0.02554547245612286
|
| 512 |
+
]
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"grasp_76": {
|
| 516 |
+
"confidence": 0.854408323764801,
|
| 517 |
+
"position": [
|
| 518 |
+
-0.11198054533451796,
|
| 519 |
+
0.0018680136490729637,
|
| 520 |
+
0.0002843864494934678
|
| 521 |
+
],
|
| 522 |
+
"orientation": {
|
| 523 |
+
"w": 0.5113592505656078,
|
| 524 |
+
"xyz": [
|
| 525 |
+
-0.47660525270908843,
|
| 526 |
+
0.5261297547007335,
|
| 527 |
+
-0.48430014574603597
|
| 528 |
+
]
|
| 529 |
+
}
|
| 530 |
+
},
|
| 531 |
+
"grasp_77": {
|
| 532 |
+
"confidence": 0.8541703224182129,
|
| 533 |
+
"position": [
|
| 534 |
+
-0.11214723717421293,
|
| 535 |
+
-0.0013300381760927849,
|
| 536 |
+
0.0019534253515303135
|
| 537 |
+
],
|
| 538 |
+
"orientation": {
|
| 539 |
+
"w": 0.4272315801083118,
|
| 540 |
+
"xyz": [
|
| 541 |
+
0.5713930924066198,
|
| 542 |
+
0.4395706587706626,
|
| 543 |
+
0.5456745796315614
|
| 544 |
+
]
|
| 545 |
+
}
|
| 546 |
+
},
|
| 547 |
+
"grasp_78": {
|
| 548 |
+
"confidence": 0.8538703918457031,
|
| 549 |
+
"position": [
|
| 550 |
+
-0.1228149188682437,
|
| 551 |
+
-0.00018057889974443242,
|
| 552 |
+
0.004161248914897442
|
| 553 |
+
],
|
| 554 |
+
"orientation": {
|
| 555 |
+
"w": 0.5051952519186858,
|
| 556 |
+
"xyz": [
|
| 557 |
+
0.4971312243908554,
|
| 558 |
+
0.5115945077432398,
|
| 559 |
+
0.48570501626132795
|
| 560 |
+
]
|
| 561 |
+
}
|
| 562 |
+
}
|
| 563 |
+
}
|
| 564 |
+
},
|
| 565 |
+
{
|
| 566 |
+
"part_name": "pocket clip",
|
| 567 |
+
"mask_color": "Red",
|
| 568 |
+
"graspable": true,
|
| 569 |
+
"grasp_scenarios": [
|
| 570 |
+
{
|
| 571 |
+
"scenario": "pinch the clip lightly to steady or reorient the pen",
|
| 572 |
+
"confidence": 0.26
|
| 573 |
+
},
|
| 574 |
+
{
|
| 575 |
+
"scenario": "hook or pull the pen by the clip during retrieval from a pocket or surface edge",
|
| 576 |
+
"confidence": 0.41
|
| 577 |
+
}
|
| 578 |
+
],
|
| 579 |
+
"functional_labels": [
|
| 580 |
+
"clip to pocket",
|
| 581 |
+
"secure pen to notebook or case",
|
| 582 |
+
"provide orientation cue"
|
| 583 |
+
],
|
| 584 |
+
"semantic_description": "Slim dark brown clip mounted along the rear body, made of smooth semi-gloss plastic with a hard feel and slightly raised curved strip shape.",
|
| 585 |
+
"id": 0,
|
| 586 |
+
"grasp_group": {
|
| 587 |
+
"grasp_0": {
|
| 588 |
+
"confidence": 0.8368051052093506,
|
| 589 |
+
"position": [
|
| 590 |
+
-0.11250536423176527,
|
| 591 |
+
0.004055314355355222,
|
| 592 |
+
0.008098118472844362
|
| 593 |
+
],
|
| 594 |
+
"orientation": {
|
| 595 |
+
"w": 0.4127523650735731,
|
| 596 |
+
"xyz": [
|
| 597 |
+
-0.5629042452632984,
|
| 598 |
+
0.4450274266147116,
|
| 599 |
+
-0.561003462869362
|
| 600 |
+
]
|
| 601 |
+
}
|
| 602 |
+
},
|
| 603 |
+
"grasp_2": {
|
| 604 |
+
"confidence": 0.7668110728263855,
|
| 605 |
+
"position": [
|
| 606 |
+
-0.11695108097046614,
|
| 607 |
+
-0.0060568129338207655,
|
| 608 |
+
0.00871289661154151
|
| 609 |
+
],
|
| 610 |
+
"orientation": {
|
| 611 |
+
"w": 0.6370100056794621,
|
| 612 |
+
"xyz": [
|
| 613 |
+
-0.29626138939646135,
|
| 614 |
+
0.6618942316616724,
|
| 615 |
+
-0.26142583634777716
|
| 616 |
+
]
|
| 617 |
+
}
|
| 618 |
+
},
|
| 619 |
+
"grasp_4": {
|
| 620 |
+
"confidence": 0.8320615291595459,
|
| 621 |
+
"position": [
|
| 622 |
+
-0.12123159598559141,
|
| 623 |
+
0.0005800028520752676,
|
| 624 |
+
0.00999149540439248
|
| 625 |
+
],
|
| 626 |
+
"orientation": {
|
| 627 |
+
"w": 0.5861081627736309,
|
| 628 |
+
"xyz": [
|
| 629 |
+
0.39138865518140364,
|
| 630 |
+
0.608931631843346,
|
| 631 |
+
0.36399781574346113
|
| 632 |
+
]
|
| 633 |
+
}
|
| 634 |
+
},
|
| 635 |
+
"grasp_5": {
|
| 636 |
+
"confidence": 0.8136634826660156,
|
| 637 |
+
"position": [
|
| 638 |
+
-0.12117404770106077,
|
| 639 |
+
0.0024942873351392336,
|
| 640 |
+
0.01113917725160718
|
| 641 |
+
],
|
| 642 |
+
"orientation": {
|
| 643 |
+
"w": 0.40372008235162266,
|
| 644 |
+
"xyz": [
|
| 645 |
+
-0.5680158708909478,
|
| 646 |
+
0.4518956074099759,
|
| 647 |
+
-0.5569186884326702
|
| 648 |
+
]
|
| 649 |
+
}
|
| 650 |
+
},
|
| 651 |
+
"grasp_7": {
|
| 652 |
+
"confidence": 0.8115373849868774,
|
| 653 |
+
"position": [
|
| 654 |
+
-0.12224982213228941,
|
| 655 |
+
-0.005643528296786826,
|
| 656 |
+
0.007331790868192911
|
| 657 |
+
],
|
| 658 |
+
"orientation": {
|
| 659 |
+
"w": 0.5594286460850264,
|
| 660 |
+
"xyz": [
|
| 661 |
+
-0.43496245395432237,
|
| 662 |
+
0.5755882415336097,
|
| 663 |
+
-0.40809977921796964
|
| 664 |
+
]
|
| 665 |
+
}
|
| 666 |
+
},
|
| 667 |
+
"grasp_9": {
|
| 668 |
+
"confidence": 0.7053176760673523,
|
| 669 |
+
"position": [
|
| 670 |
+
-0.12987154256552458,
|
| 671 |
+
0.0002105238163494505,
|
| 672 |
+
0.008675650227814913
|
| 673 |
+
],
|
| 674 |
+
"orientation": {
|
| 675 |
+
"w": 0.5461793701644757,
|
| 676 |
+
"xyz": [
|
| 677 |
+
0.4568886904772974,
|
| 678 |
+
0.5551518778682946,
|
| 679 |
+
0.42982230353947853
|
| 680 |
+
]
|
| 681 |
+
}
|
| 682 |
+
},
|
| 683 |
+
"grasp_13": {
|
| 684 |
+
"confidence": 0.8753289580345154,
|
| 685 |
+
"position": [
|
| 686 |
+
-0.11839121859520674,
|
| 687 |
+
-0.0008111617571557872,
|
| 688 |
+
0.001662265625782311
|
| 689 |
+
],
|
| 690 |
+
"orientation": {
|
| 691 |
+
"w": 0.6977298645667797,
|
| 692 |
+
"xyz": [
|
| 693 |
+
0.08360341262657497,
|
| 694 |
+
0.7054104898901723,
|
| 695 |
+
0.09262584003247164
|
| 696 |
+
]
|
| 697 |
+
}
|
| 698 |
+
},
|
| 699 |
+
"grasp_15": {
|
| 700 |
+
"confidence": 0.8697808980941772,
|
| 701 |
+
"position": [
|
| 702 |
+
-0.11446745228022337,
|
| 703 |
+
-0.002366230000916403,
|
| 704 |
+
-6.249669240787625e-06
|
| 705 |
+
],
|
| 706 |
+
"orientation": {
|
| 707 |
+
"w": 0.7125468625253238,
|
| 708 |
+
"xyz": [
|
| 709 |
+
0.025871538834389297,
|
| 710 |
+
0.6998991377098834,
|
| 711 |
+
0.041819005447504054
|
| 712 |
+
]
|
| 713 |
+
}
|
| 714 |
+
},
|
| 715 |
+
"grasp_17": {
|
| 716 |
+
"confidence": 0.842896580696106,
|
| 717 |
+
"position": [
|
| 718 |
+
-0.12292658817023039,
|
| 719 |
+
0.0002042692867689766,
|
| 720 |
+
0.010215891059488058
|
| 721 |
+
],
|
| 722 |
+
"orientation": {
|
| 723 |
+
"w": 0.4994028207931454,
|
| 724 |
+
"xyz": [
|
| 725 |
+
0.5073945209246182,
|
| 726 |
+
0.5161004045613239,
|
| 727 |
+
0.4762226318972713
|
| 728 |
+
]
|
| 729 |
+
}
|
| 730 |
+
}
|
| 731 |
+
}
|
| 732 |
+
},
|
| 733 |
+
{
|
| 734 |
+
"part_name": "top button",
|
| 735 |
+
"mask_color": "Pink",
|
| 736 |
+
"graspable": false,
|
| 737 |
+
"grasp_scenarios": [],
|
| 738 |
+
"functional_labels": [
|
| 739 |
+
"press to actuate pen mechanism",
|
| 740 |
+
"extend or retract writing tip",
|
| 741 |
+
"indicate the top end"
|
| 742 |
+
],
|
| 743 |
+
"semantic_description": "Small dark brown rounded push button with a smooth semi-gloss plastic surface, hard texture, and compact cap-like form at the top end of the pen.",
|
| 744 |
+
"id": 8,
|
| 745 |
+
"grasp_group": {}
|
| 746 |
+
}
|
| 747 |
+
],
|
| 748 |
+
"quality_check": {
|
| 749 |
+
"success": true,
|
| 750 |
+
"message": "YES"
|
| 751 |
+
}
|
| 752 |
+
}
|
dataset/desktop_supplies/office_stationery/4162c8581fbd5e3c84d7569b6222f6b2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7b56aedafd96c9d02c993086f7b920c3963480151e9f0246b5661da5810a98ce
|
| 3 |
+
size 3786368
|