Add asset desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309
Browse files
.gitattributes
CHANGED
|
@@ -8212,3 +8212,4 @@ dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/affo
|
|
| 8212 |
dataset/desktop_supplies/office_stationery/e2ff068c92695a2a8c52d635396ce7d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8213 |
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8214 |
dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8212 |
dataset/desktop_supplies/office_stationery/e2ff068c92695a2a8c52d635396ce7d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8213 |
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8214 |
dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8215 |
+
dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,650 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the eraser around its side faces to pick it up",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the eraser body while rubbing a surface to erase marks",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize and reorient the eraser using the side faces",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"main erasing material",
|
| 24 |
+
"provide frictional contact for erasing",
|
| 25 |
+
"support overall block shape"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Rounded rectangular pink eraser body made of soft rubber-like material with a matte smooth surface, forming the sides and underside of the block. Small worn scuffs are visible near some edges and corners.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9895334839820862,
|
| 32 |
+
"position": [
|
| 33 |
+
0.002792606803268427,
|
| 34 |
+
-0.12265235814265907,
|
| 35 |
+
-0.007604485028423369
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7143194252071666,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.6996242490957227,
|
| 41 |
+
-0.0157058825337133,
|
| 42 |
+
-0.005195584932047947
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9892653226852417,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0009422588882443961,
|
| 50 |
+
-0.1268455449026078,
|
| 51 |
+
-0.00877857964951545
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.7120784151913557,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.7019754759993766,
|
| 57 |
+
-0.011002850620424831,
|
| 58 |
+
-0.007327959623315507
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9889395833015442,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.002221690749138361,
|
| 66 |
+
-0.11047472688369453,
|
| 67 |
+
0.054428919102065265
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4840236192053603,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.8749098283445379,
|
| 73 |
+
-0.007248838823889936,
|
| 74 |
+
-0.014190935599220116
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9882510304450989,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.0011032748989237007,
|
| 82 |
+
-0.11032179626636207,
|
| 83 |
+
0.04880454658996314
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5069882532251062,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.8616860101396941,
|
| 89 |
+
-0.014622018237610224,
|
| 90 |
+
-0.01569482729911733
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9875856637954712,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.0013584966327471193,
|
| 98 |
+
-0.10729431989602745,
|
| 99 |
+
0.05636834620963782
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.47921235191642675,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.877630833539599,
|
| 105 |
+
-0.0008304665859876215,
|
| 106 |
+
-0.01090651716016884
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9873780608177185,
|
| 112 |
+
"position": [
|
| 113 |
+
0.0006329430361802224,
|
| 114 |
+
-0.1089619908016175,
|
| 115 |
+
0.056394710089080036
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.4814869543415627,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.8764464684160506,
|
| 121 |
+
-0.0017322409625097346,
|
| 122 |
+
-0.002983310437524236
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9873212575912476,
|
| 128 |
+
"position": [
|
| 129 |
+
0.0007492216282116715,
|
| 130 |
+
-0.10791090759448707,
|
| 131 |
+
0.04827818169724196
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.4960473696184374,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.8680826907006438,
|
| 137 |
+
-0.017702055517174353,
|
| 138 |
+
-0.007489087462878815
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9869399070739746,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.0023484819357690867,
|
| 146 |
+
-0.11512955906800926,
|
| 147 |
+
0.050732101197354496
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.49391020727793583,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.8692395116836036,
|
| 153 |
+
-0.011716346725206883,
|
| 154 |
+
-0.018387650587589358
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9868928790092468,
|
| 160 |
+
"position": [
|
| 161 |
+
0.0028997522058489267,
|
| 162 |
+
-0.1221606198232621,
|
| 163 |
+
-0.00941069342661649
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.714377434509457,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.699659221576329,
|
| 169 |
+
-0.009236485459201083,
|
| 170 |
+
-0.007519445674699999
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9868921637535095,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.0028438794215617236,
|
| 178 |
+
-0.11259660008363426,
|
| 179 |
+
0.056226233835332096
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.4850975028875827,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.874247972100702,
|
| 185 |
+
-0.0055815274798297065,
|
| 186 |
+
-0.018432105713504655
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9865445494651794,
|
| 192 |
+
"position": [
|
| 193 |
+
0.004221865881845588,
|
| 194 |
+
-0.12657848629169166,
|
| 195 |
+
-0.004868385032750666
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.7109713711883048,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.7027711198875107,
|
| 201 |
+
-0.02210794165008212,
|
| 202 |
+
-0.011987548484669187
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9865216612815857,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.0022856865798530634,
|
| 210 |
+
-0.10859282198362052,
|
| 211 |
+
0.047684776480309665
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.4918425400258579,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.8704066332940597,
|
| 217 |
+
-0.008145622423226695,
|
| 218 |
+
-0.020417085344181476
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9863418936729431,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.0011292142116872128,
|
| 226 |
+
-0.11081575485877693,
|
| 227 |
+
0.04793023585807532
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.504580925524017,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.8628912161531317,
|
| 233 |
+
-0.011953274008883796,
|
| 234 |
+
-0.025960699596964436
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9860832095146179,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.0014060761568543967,
|
| 242 |
+
-0.1133754092734307,
|
| 243 |
+
0.053105982835404575
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.5000768153097874,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.8655210134343588,
|
| 249 |
+
-0.013272556807668145,
|
| 250 |
+
-0.024907696179466882
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9860078692436218,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.0003680773625092115,
|
| 258 |
+
-0.10662936302833259,
|
| 259 |
+
0.05766135349404067
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.47955551375984184,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.8773375850290297,
|
| 265 |
+
-0.007097032304026141,
|
| 266 |
+
-0.01596568978905029
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.9855995178222656,
|
| 272 |
+
"position": [
|
| 273 |
+
4.498901034821756e-05,
|
| 274 |
+
-0.11368440720252693,
|
| 275 |
+
0.05498061969410628
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.49259475371172884,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.8702351472721636,
|
| 281 |
+
-0.0033267405238506798,
|
| 282 |
+
-0.005489067804639745
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.9855595827102661,
|
| 288 |
+
"position": [
|
| 289 |
+
0.0022226022301765624,
|
| 290 |
+
-0.11076234909705818,
|
| 291 |
+
0.05266261741053313
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.503336626602966,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.8640624842908079,
|
| 297 |
+
-0.003921952446492183,
|
| 298 |
+
-0.005734269801041113
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.9853658676147461,
|
| 304 |
+
"position": [
|
| 305 |
+
-0.0035302539145050105,
|
| 306 |
+
-0.10749709489755332,
|
| 307 |
+
0.05338404222857207
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.4917345888343135,
|
| 311 |
+
"xyz": [
|
| 312 |
+
-0.8700781933814422,
|
| 313 |
+
-0.003781658351095285,
|
| 314 |
+
-0.033863411023558394
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.9847205877304077,
|
| 320 |
+
"position": [
|
| 321 |
+
-0.0034674960443226155,
|
| 322 |
+
-0.12458315375261009,
|
| 323 |
+
0.0013361405581235886
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.7250293856231682,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.6885334853663405,
|
| 329 |
+
-0.00718844316075562,
|
| 330 |
+
-0.014225181794809945
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_19": {
|
| 335 |
+
"confidence": 0.9843778014183044,
|
| 336 |
+
"position": [
|
| 337 |
+
0.00386500751847052,
|
| 338 |
+
-0.11068060877732933,
|
| 339 |
+
0.05119571357499808
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.5042435816565867,
|
| 343 |
+
"xyz": [
|
| 344 |
+
-0.8631460803795776,
|
| 345 |
+
-0.022634490597256418,
|
| 346 |
+
-0.014315520211002014
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "top erasing face",
|
| 354 |
+
"mask_color": "Blue",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "pinch the top face against an opposite side face to pick up or reposition the eraser",
|
| 359 |
+
"confidence": 0.78
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "press the broad top face against a surface while changing the eraser orientation during use",
|
| 363 |
+
"confidence": 0.72
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"broad contact surface for erasing",
|
| 368 |
+
"upper surface of the eraser block",
|
| 369 |
+
"support orientation during use"
|
| 370 |
+
],
|
| 371 |
+
"semantic_description": "Large flat broad face on the top of the pink eraser, matching the same rubber-like material and matte finish as the rest of the body. It appears slightly lighter due to lighting, with faint wear marks visible.",
|
| 372 |
+
"id": 2,
|
| 373 |
+
"grasp_group": {
|
| 374 |
+
"grasp_23": {
|
| 375 |
+
"confidence": 0.01685326173901558,
|
| 376 |
+
"position": [
|
| 377 |
+
-0.043406321226939326,
|
| 378 |
+
-0.0017459188820794225,
|
| 379 |
+
0.08972719206940383
|
| 380 |
+
],
|
| 381 |
+
"orientation": {
|
| 382 |
+
"w": 0.3167741172271957,
|
| 383 |
+
"xyz": [
|
| 384 |
+
0.43277276436814044,
|
| 385 |
+
0.8417313410736069,
|
| 386 |
+
0.06205032256576491
|
| 387 |
+
]
|
| 388 |
+
}
|
| 389 |
+
},
|
| 390 |
+
"grasp_24": {
|
| 391 |
+
"confidence": 0.5227181315422058,
|
| 392 |
+
"position": [
|
| 393 |
+
-0.02227540735839284,
|
| 394 |
+
0.10397338238544762,
|
| 395 |
+
-0.023083542590029538
|
| 396 |
+
],
|
| 397 |
+
"orientation": {
|
| 398 |
+
"w": 0.8235918739689416,
|
| 399 |
+
"xyz": [
|
| 400 |
+
0.5543879580113159,
|
| 401 |
+
0.11874170415110186,
|
| 402 |
+
0.015837450541772224
|
| 403 |
+
]
|
| 404 |
+
}
|
| 405 |
+
},
|
| 406 |
+
"grasp_26": {
|
| 407 |
+
"confidence": 0.9537777900695801,
|
| 408 |
+
"position": [
|
| 409 |
+
0.01226950853379094,
|
| 410 |
+
0.12595690158195794,
|
| 411 |
+
0.008043788257054985
|
| 412 |
+
],
|
| 413 |
+
"orientation": {
|
| 414 |
+
"w": 0.7188278001086699,
|
| 415 |
+
"xyz": [
|
| 416 |
+
0.6939611663502526,
|
| 417 |
+
-0.038971627900489914,
|
| 418 |
+
-0.013627384470701573
|
| 419 |
+
]
|
| 420 |
+
}
|
| 421 |
+
},
|
| 422 |
+
"grasp_27": {
|
| 423 |
+
"confidence": 0.9417482018470764,
|
| 424 |
+
"position": [
|
| 425 |
+
0.0001650541707931552,
|
| 426 |
+
0.13164181378670037,
|
| 427 |
+
0.010461169178597629
|
| 428 |
+
],
|
| 429 |
+
"orientation": {
|
| 430 |
+
"w": 0.7074758715062852,
|
| 431 |
+
"xyz": [
|
| 432 |
+
0.7066317544733015,
|
| 433 |
+
-0.010278203898602012,
|
| 434 |
+
0.0066191639218889636
|
| 435 |
+
]
|
| 436 |
+
}
|
| 437 |
+
},
|
| 438 |
+
"grasp_28": {
|
| 439 |
+
"confidence": 0.9190828800201416,
|
| 440 |
+
"position": [
|
| 441 |
+
0.0018911713013949338,
|
| 442 |
+
0.11951822158880532,
|
| 443 |
+
0.019748954917304218
|
| 444 |
+
],
|
| 445 |
+
"orientation": {
|
| 446 |
+
"w": 0.060079803488572704,
|
| 447 |
+
"xyz": [
|
| 448 |
+
0.03642841822340707,
|
| 449 |
+
0.7264978799268049,
|
| 450 |
+
-0.6835672739536124
|
| 451 |
+
]
|
| 452 |
+
}
|
| 453 |
+
},
|
| 454 |
+
"grasp_29": {
|
| 455 |
+
"confidence": 0.8526869416236877,
|
| 456 |
+
"position": [
|
| 457 |
+
0.004963539980963105,
|
| 458 |
+
-0.10890137287788093,
|
| 459 |
+
-0.031159711186774075
|
| 460 |
+
],
|
| 461 |
+
"orientation": {
|
| 462 |
+
"w": 0.8493234085553341,
|
| 463 |
+
"xyz": [
|
| 464 |
+
-0.521856298459173,
|
| 465 |
+
-0.044594466396577936,
|
| 466 |
+
-0.06578058228112713
|
| 467 |
+
]
|
| 468 |
+
}
|
| 469 |
+
},
|
| 470 |
+
"grasp_30": {
|
| 471 |
+
"confidence": 0.07247878611087799,
|
| 472 |
+
"position": [
|
| 473 |
+
0.1017659841782006,
|
| 474 |
+
0.007426487514749169,
|
| 475 |
+
0.014329023542813957
|
| 476 |
+
],
|
| 477 |
+
"orientation": {
|
| 478 |
+
"w": 0.4802272707084228,
|
| 479 |
+
"xyz": [
|
| 480 |
+
-0.49102955812178184,
|
| 481 |
+
-0.5234475208422135,
|
| 482 |
+
0.5042563181982028
|
| 483 |
+
]
|
| 484 |
+
}
|
| 485 |
+
},
|
| 486 |
+
"grasp_31": {
|
| 487 |
+
"confidence": 0.9326156973838806,
|
| 488 |
+
"position": [
|
| 489 |
+
-0.001914661635964876,
|
| 490 |
+
0.11085059610195458,
|
| 491 |
+
0.05413862958084792
|
| 492 |
+
],
|
| 493 |
+
"orientation": {
|
| 494 |
+
"w": 0.539557442640036,
|
| 495 |
+
"xyz": [
|
| 496 |
+
0.8414071428206753,
|
| 497 |
+
0.0021123184822906538,
|
| 498 |
+
0.030121822865177946
|
| 499 |
+
]
|
| 500 |
+
}
|
| 501 |
+
},
|
| 502 |
+
"grasp_32": {
|
| 503 |
+
"confidence": 0.7154273986816406,
|
| 504 |
+
"position": [
|
| 505 |
+
0.0014397081431525294,
|
| 506 |
+
0.12315529701299965,
|
| 507 |
+
0.0629025538219139
|
| 508 |
+
],
|
| 509 |
+
"orientation": {
|
| 510 |
+
"w": 0.03687196659544108,
|
| 511 |
+
"xyz": [
|
| 512 |
+
0.010745109045235795,
|
| 513 |
+
0.866027291407111,
|
| 514 |
+
-0.49851953948571953
|
| 515 |
+
]
|
| 516 |
+
}
|
| 517 |
+
},
|
| 518 |
+
"grasp_33": {
|
| 519 |
+
"confidence": 0.033341825008392334,
|
| 520 |
+
"position": [
|
| 521 |
+
0.05014418947757804,
|
| 522 |
+
-0.00712622026912868,
|
| 523 |
+
0.09541246935259551
|
| 524 |
+
],
|
| 525 |
+
"orientation": {
|
| 526 |
+
"w": 0.18346200460768045,
|
| 527 |
+
"xyz": [
|
| 528 |
+
0.7407297216236838,
|
| 529 |
+
-0.605138521257554,
|
| 530 |
+
-0.22686679452677025
|
| 531 |
+
]
|
| 532 |
+
}
|
| 533 |
+
},
|
| 534 |
+
"grasp_34": {
|
| 535 |
+
"confidence": 0.9281956553459167,
|
| 536 |
+
"position": [
|
| 537 |
+
0.004494844910368556,
|
| 538 |
+
0.10916927573271096,
|
| 539 |
+
0.05792638927232474
|
| 540 |
+
],
|
| 541 |
+
"orientation": {
|
| 542 |
+
"w": 0.5257883927207029,
|
| 543 |
+
"xyz": [
|
| 544 |
+
0.850365141971453,
|
| 545 |
+
-0.019482625688246213,
|
| 546 |
+
0.0067910747560301805
|
| 547 |
+
]
|
| 548 |
+
}
|
| 549 |
+
},
|
| 550 |
+
"grasp_35": {
|
| 551 |
+
"confidence": 0.9076384902000427,
|
| 552 |
+
"position": [
|
| 553 |
+
-0.002277908872201806,
|
| 554 |
+
0.10272546974010766,
|
| 555 |
+
0.06250350445043296
|
| 556 |
+
],
|
| 557 |
+
"orientation": {
|
| 558 |
+
"w": 0.5037382771098814,
|
| 559 |
+
"xyz": [
|
| 560 |
+
0.8629798179476802,
|
| 561 |
+
0.02548962856631687,
|
| 562 |
+
0.029391509401666835
|
| 563 |
+
]
|
| 564 |
+
}
|
| 565 |
+
},
|
| 566 |
+
"grasp_36": {
|
| 567 |
+
"confidence": 0.818610668182373,
|
| 568 |
+
"position": [
|
| 569 |
+
0.0007669291553611401,
|
| 570 |
+
0.12163491663523018,
|
| 571 |
+
0.056496898527257144
|
| 572 |
+
],
|
| 573 |
+
"orientation": {
|
| 574 |
+
"w": 0.5318497137796822,
|
| 575 |
+
"xyz": [
|
| 576 |
+
0.8464371309718496,
|
| 577 |
+
0.004922883305207182,
|
| 578 |
+
0.025609187503271392
|
| 579 |
+
]
|
| 580 |
+
}
|
| 581 |
+
},
|
| 582 |
+
"grasp_37": {
|
| 583 |
+
"confidence": 0.7346643209457397,
|
| 584 |
+
"position": [
|
| 585 |
+
0.03666042301119887,
|
| 586 |
+
0.10387391713447869,
|
| 587 |
+
0.055676142568700016
|
| 588 |
+
],
|
| 589 |
+
"orientation": {
|
| 590 |
+
"w": 0.5269782294251576,
|
| 591 |
+
"xyz": [
|
| 592 |
+
0.8281206726884158,
|
| 593 |
+
-0.16471050265757292,
|
| 594 |
+
-0.09685322654564002
|
| 595 |
+
]
|
| 596 |
+
}
|
| 597 |
+
},
|
| 598 |
+
"grasp_38": {
|
| 599 |
+
"confidence": 0.058226048946380615,
|
| 600 |
+
"position": [
|
| 601 |
+
-0.0947543964975921,
|
| 602 |
+
-0.003573890309780836,
|
| 603 |
+
0.06448221846949309
|
| 604 |
+
],
|
| 605 |
+
"orientation": {
|
| 606 |
+
"w": 0.3741246596331351,
|
| 607 |
+
"xyz": [
|
| 608 |
+
-0.5863812507923464,
|
| 609 |
+
0.632218514217141,
|
| 610 |
+
-0.341302678065474
|
| 611 |
+
]
|
| 612 |
+
}
|
| 613 |
+
},
|
| 614 |
+
"grasp_39": {
|
| 615 |
+
"confidence": 0.03903333097696304,
|
| 616 |
+
"position": [
|
| 617 |
+
0.07860708373846137,
|
| 618 |
+
-0.008174623595550656,
|
| 619 |
+
0.06165851547848433
|
| 620 |
+
],
|
| 621 |
+
"orientation": {
|
| 622 |
+
"w": 0.34850719242767,
|
| 623 |
+
"xyz": [
|
| 624 |
+
0.6091902739327022,
|
| 625 |
+
-0.606021672619101,
|
| 626 |
+
-0.374389742498282
|
| 627 |
+
]
|
| 628 |
+
}
|
| 629 |
+
}
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
{
|
| 633 |
+
"part_name": "worn edge region",
|
| 634 |
+
"mask_color": "Yellow",
|
| 635 |
+
"graspable": false,
|
| 636 |
+
"grasp_scenarios": [],
|
| 637 |
+
"functional_labels": [
|
| 638 |
+
"indicate minor wear or chipped areas",
|
| 639 |
+
"mark boundary of small damaged regions"
|
| 640 |
+
],
|
| 641 |
+
"semantic_description": "Thin irregular edge region along parts of the top perimeter, corresponding to small worn or chipped spots near corners and margins of the pink eraser.",
|
| 642 |
+
"id": 3,
|
| 643 |
+
"grasp_group": {}
|
| 644 |
+
}
|
| 645 |
+
],
|
| 646 |
+
"quality_check": {
|
| 647 |
+
"success": false,
|
| 648 |
+
"message": "Yellow region is edge wear, not a separate functional part; top face graspability overstated and body description too broad."
|
| 649 |
+
}
|
| 650 |
+
}
|
dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bfa1b85ab83e03bbbf6ec9f53d0d6e258d141d02f4b7932d0913ddcbaf9657b8
|
| 3 |
+
size 1543780
|