Add asset desktop_supplies/office_stationery/0017d520d50856389f512d1d237d9a29
Browse files
.gitattributes
CHANGED
|
@@ -8155,3 +8155,4 @@ dataset/desktop_supplies/electronic_accessories/f8bb404e0792594698a05e4fca23cf40
|
|
| 8155 |
dataset/desktop_supplies/electronic_accessories/fbda83b69ee659c99fcf7d864a4a901c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8156 |
dataset/desktop_supplies/electronic_accessories/fdddf167a17d5399b3f90db41a3e9139/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8157 |
dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8155 |
dataset/desktop_supplies/electronic_accessories/fbda83b69ee659c99fcf7d864a4a901c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8156 |
dataset/desktop_supplies/electronic_accessories/fdddf167a17d5399b3f90db41a3e9139/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8157 |
dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8158 |
+
dataset/desktop_supplies/office_stationery/0017d520d50856389f512d1d237d9a29/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/0017d520d50856389f512d1d237d9a29/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,986 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "upper barrel grip",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the upper barrel to pick up the pen from a surface",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper barrel to reorient the pen during handoff or placement",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the pen by the upper barrel while manipulating the front end",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support the pen structure",
|
| 24 |
+
"house internal pen components",
|
| 25 |
+
"provide mounting area for clip and rear loop"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A medium-sized cylindrical upper body section in dark brown wood-like material with a matte to satin finish, smooth hard texture, and rounded shape forming the back half of the pen.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.8907828330993652,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.11872963700443506,
|
| 34 |
+
0.04886099399300292,
|
| 35 |
+
0.016069655670435168
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.10843001602041631,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.7092244878276346,
|
| 41 |
+
-0.24959869995434136,
|
| 42 |
+
0.6503414845083655
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.8804757595062256,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.11461037490516901,
|
| 50 |
+
0.0488499075290747,
|
| 51 |
+
0.020449645249755122
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.11916525156439556,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.7129133322470892,
|
| 57 |
+
-0.26697357647221975,
|
| 58 |
+
0.6374004494739375
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_23": {
|
| 63 |
+
"confidence": 0.8729555606842041,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.117029027082026,
|
| 66 |
+
0.05126429797383025,
|
| 67 |
+
0.0014788402622798458
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.675160842554726,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.1615778566741315,
|
| 73 |
+
0.6912456044988843,
|
| 74 |
+
-0.20057404411926838
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_24": {
|
| 79 |
+
"confidence": 0.8713593482971191,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.12079600337892771,
|
| 82 |
+
-0.04525208397535607,
|
| 83 |
+
-0.02194210012385156
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.3610172685509432,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6154281039082414,
|
| 89 |
+
-0.021359073399024764,
|
| 90 |
+
-0.7003274739087838
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_25": {
|
| 95 |
+
"confidence": 0.8682243227958679,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.11567506287246943,
|
| 98 |
+
-0.05279271973995492,
|
| 99 |
+
0.0037902383046457544
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6809318715797434,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.20124997137448353,
|
| 105 |
+
0.6743166558233148,
|
| 106 |
+
0.20279862664214046
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_26": {
|
| 111 |
+
"confidence": 0.8676381707191467,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.11494773719459772,
|
| 114 |
+
0.05052059591980651,
|
| 115 |
+
-0.00220114468538668
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6796914545769145,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.13868533735741662,
|
| 121 |
+
0.6845154881596259,
|
| 122 |
+
-0.2241081217777864
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_27": {
|
| 127 |
+
"confidence": 0.8667763471603394,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.12996333185583353,
|
| 130 |
+
-0.00035031611332669854,
|
| 131 |
+
0.0020982696587452665
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7004110198525232,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.08395144860433038,
|
| 137 |
+
0.7016898983144686,
|
| 138 |
+
0.10003921306074817
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_28": {
|
| 143 |
+
"confidence": 0.8639134168624878,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.1152049982920289,
|
| 146 |
+
0.04955508263083175,
|
| 147 |
+
0.016513062073499896
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.6465778274110571,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.2929263822978657,
|
| 153 |
+
0.6975167877603666,
|
| 154 |
+
-0.09798764435755039
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_29": {
|
| 159 |
+
"confidence": 0.8535411357879639,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.13164106849581003,
|
| 162 |
+
0.002035297511611134,
|
| 163 |
+
-0.00034587156551424414
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.7102955485211354,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.04142009412413366,
|
| 169 |
+
0.7014082444760895,
|
| 170 |
+
-0.04232120195336445
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_31": {
|
| 175 |
+
"confidence": 0.8495927453041077,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.12897929642349482,
|
| 178 |
+
0.004406604974064976,
|
| 179 |
+
0.010070617674500681
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.47545260592562233,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.5455850373285339,
|
| 185 |
+
0.48436544118316593,
|
| 186 |
+
0.4916013689456062
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_34": {
|
| 191 |
+
"confidence": 0.8428237438201904,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.11277673486620188,
|
| 194 |
+
0.04815158696146682,
|
| 195 |
+
0.014207331827492453
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.6535759352812199,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.24970119085170464,
|
| 201 |
+
0.7050467906197974,
|
| 202 |
+
-0.11574469813016601
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_36": {
|
| 207 |
+
"confidence": 0.8374365568161011,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.13138336781412363,
|
| 210 |
+
0.0007936064794193953,
|
| 211 |
+
0.005972010447294451
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.5194767168971949,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.4859264882372109,
|
| 217 |
+
0.5316284972755118,
|
| 218 |
+
0.45977225831464136
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"part_name": "lower barrel",
|
| 226 |
+
"mask_color": "Yellow",
|
| 227 |
+
"graspable": true,
|
| 228 |
+
"grasp_scenarios": [
|
| 229 |
+
{
|
| 230 |
+
"scenario": "grasp the lower barrel to pick up and write with the pen",
|
| 231 |
+
"confidence": 0.91
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"scenario": "hold the lower barrel to position the pen tip accurately",
|
| 235 |
+
"confidence": 0.88
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"scenario": "stabilize the pen near the front for precise manipulation",
|
| 239 |
+
"confidence": 0.84
|
| 240 |
+
}
|
| 241 |
+
],
|
| 242 |
+
"functional_labels": [
|
| 243 |
+
"precision grip area",
|
| 244 |
+
"support writing control",
|
| 245 |
+
"connect body to tip section",
|
| 246 |
+
"house internal ink mechanism near the front"
|
| 247 |
+
],
|
| 248 |
+
"semantic_description": "A tapered light tan wooden lower body with a smooth matte finish and hard texture, forming the front half of the pen and narrowing toward the writing tip.",
|
| 249 |
+
"id": 3,
|
| 250 |
+
"grasp_group": {
|
| 251 |
+
"grasp_41": {
|
| 252 |
+
"confidence": 0.5547066330909729,
|
| 253 |
+
"position": [
|
| 254 |
+
0.0985955810174346,
|
| 255 |
+
-0.028376481670420617,
|
| 256 |
+
0.04437623302510474
|
| 257 |
+
],
|
| 258 |
+
"orientation": {
|
| 259 |
+
"w": 0.1403243368160362,
|
| 260 |
+
"xyz": [
|
| 261 |
+
0.6874881298311032,
|
| 262 |
+
-0.4972778166673807,
|
| 263 |
+
-0.5102782818119882
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"grasp_42": {
|
| 268 |
+
"confidence": 0.3418276011943817,
|
| 269 |
+
"position": [
|
| 270 |
+
0.0948898708447814,
|
| 271 |
+
-0.04420696495799348,
|
| 272 |
+
0.026489307536394335
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.5992446112422523,
|
| 276 |
+
"xyz": [
|
| 277 |
+
-0.36304980519782254,
|
| 278 |
+
-0.7134812261766018,
|
| 279 |
+
-0.006728650420253982
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_44": {
|
| 284 |
+
"confidence": 0.32789769768714905,
|
| 285 |
+
"position": [
|
| 286 |
+
0.09356220718473196,
|
| 287 |
+
0.006110242858994752,
|
| 288 |
+
0.05041292066744063
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.30440636559252027,
|
| 292 |
+
"xyz": [
|
| 293 |
+
-0.6446331903455539,
|
| 294 |
+
-0.5824723457755198,
|
| 295 |
+
0.3905262870773605
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_45": {
|
| 300 |
+
"confidence": 0.2952086329460144,
|
| 301 |
+
"position": [
|
| 302 |
+
0.09176439698785543,
|
| 303 |
+
0.04898085520835593,
|
| 304 |
+
-0.011228098170249723
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.20269021897528425,
|
| 308 |
+
"xyz": [
|
| 309 |
+
0.6482667842165646,
|
| 310 |
+
0.15437027116518498,
|
| 311 |
+
-0.7175211989855442
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_49": {
|
| 316 |
+
"confidence": 0.19685885310173035,
|
| 317 |
+
"position": [
|
| 318 |
+
0.09011206682771444,
|
| 319 |
+
-0.0370115481200628,
|
| 320 |
+
0.035206922693760134
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.048521124140901435,
|
| 324 |
+
"xyz": [
|
| 325 |
+
0.6893938606870861,
|
| 326 |
+
-0.43428317081033574,
|
| 327 |
+
-0.5777369063076876
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_50": {
|
| 332 |
+
"confidence": 0.1748620867729187,
|
| 333 |
+
"position": [
|
| 334 |
+
0.08747663255780935,
|
| 335 |
+
0.014459607016760856,
|
| 336 |
+
-0.05148747806379106
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.5717145573386319,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.40980977324726303,
|
| 342 |
+
-0.25138557244597204,
|
| 343 |
+
-0.6648335947018085
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_53": {
|
| 348 |
+
"confidence": 0.9835388660430908,
|
| 349 |
+
"position": [
|
| 350 |
+
0.006644599139690399,
|
| 351 |
+
0.09193391801090911,
|
| 352 |
+
-0.022794668198912404
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.5948907628270499,
|
| 356 |
+
"xyz": [
|
| 357 |
+
0.39480771914854246,
|
| 358 |
+
-0.469954895156084,
|
| 359 |
+
0.5190127568014201
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_56": {
|
| 364 |
+
"confidence": 0.9786959886550903,
|
| 365 |
+
"position": [
|
| 366 |
+
0.04388535302132368,
|
| 367 |
+
0.08509530575247481,
|
| 368 |
+
-0.012363713802187704
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.3693459915411768,
|
| 372 |
+
"xyz": [
|
| 373 |
+
0.5801648076028493,
|
| 374 |
+
0.3319369087693387,
|
| 375 |
+
-0.6456084131641019
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
},
|
| 379 |
+
"grasp_57": {
|
| 380 |
+
"confidence": 0.9781378507614136,
|
| 381 |
+
"position": [
|
| 382 |
+
0.0485339043661952,
|
| 383 |
+
0.08452633471461013,
|
| 384 |
+
-0.015138063215999864
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.38231449490859076,
|
| 388 |
+
"xyz": [
|
| 389 |
+
0.5758156223526666,
|
| 390 |
+
0.317693032614457,
|
| 391 |
+
-0.6491094923552039
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_59": {
|
| 396 |
+
"confidence": 0.9778143763542175,
|
| 397 |
+
"position": [
|
| 398 |
+
0.04573808889836073,
|
| 399 |
+
0.08535191864939407,
|
| 400 |
+
-0.0032575026707490906
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.34347115992207294,
|
| 404 |
+
"xyz": [
|
| 405 |
+
0.5970036645407953,
|
| 406 |
+
0.35709897206123853,
|
| 407 |
+
-0.6309473123640787
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
}
|
| 411 |
+
}
|
| 412 |
+
},
|
| 413 |
+
{
|
| 414 |
+
"part_name": "tip cone",
|
| 415 |
+
"mask_color": "Cyan",
|
| 416 |
+
"graspable": true,
|
| 417 |
+
"grasp_scenarios": [
|
| 418 |
+
{
|
| 419 |
+
"scenario": "delicately grasp the front cone to orient the pen for inspection or placement",
|
| 420 |
+
"confidence": 0.36
|
| 421 |
+
},
|
| 422 |
+
{
|
| 423 |
+
"scenario": "pinch the front cone to rotate the pen in a constrained space",
|
| 424 |
+
"confidence": 0.31
|
| 425 |
+
}
|
| 426 |
+
],
|
| 427 |
+
"functional_labels": [
|
| 428 |
+
"support the writing point",
|
| 429 |
+
"guide tip alignment",
|
| 430 |
+
"protect tip mount",
|
| 431 |
+
"indicate the writing end"
|
| 432 |
+
],
|
| 433 |
+
"semantic_description": "A small light-colored, likely painted wooden or matte plastic conical front section with a smooth hard surface, surrounding the writing point at the pen nose.",
|
| 434 |
+
"id": 6,
|
| 435 |
+
"grasp_group": {
|
| 436 |
+
"grasp_80": {
|
| 437 |
+
"confidence": 0.842276394367218,
|
| 438 |
+
"position": [
|
| 439 |
+
0.11563888844102621,
|
| 440 |
+
0.012619769957382232,
|
| 441 |
+
0.047575307442457415
|
| 442 |
+
],
|
| 443 |
+
"orientation": {
|
| 444 |
+
"w": 0.28111629924361686,
|
| 445 |
+
"xyz": [
|
| 446 |
+
-0.645539462312073,
|
| 447 |
+
-0.5713235104429877,
|
| 448 |
+
0.42171302483147577
|
| 449 |
+
]
|
| 450 |
+
}
|
| 451 |
+
},
|
| 452 |
+
"grasp_81": {
|
| 453 |
+
"confidence": 0.7868634462356567,
|
| 454 |
+
"position": [
|
| 455 |
+
0.11349190678447485,
|
| 456 |
+
-0.025439557794015855,
|
| 457 |
+
0.043083821787149645
|
| 458 |
+
],
|
| 459 |
+
"orientation": {
|
| 460 |
+
"w": 0.4877912097075481,
|
| 461 |
+
"xyz": [
|
| 462 |
+
-0.5226655277328079,
|
| 463 |
+
-0.6723890564841847,
|
| 464 |
+
0.19176401792865042
|
| 465 |
+
]
|
| 466 |
+
}
|
| 467 |
+
},
|
| 468 |
+
"grasp_84": {
|
| 469 |
+
"confidence": 0.7357211112976074,
|
| 470 |
+
"position": [
|
| 471 |
+
0.11574701126664877,
|
| 472 |
+
0.0478980548796244,
|
| 473 |
+
0.007859293269575574
|
| 474 |
+
],
|
| 475 |
+
"orientation": {
|
| 476 |
+
"w": 0.09378761944499245,
|
| 477 |
+
"xyz": [
|
| 478 |
+
0.6951921741316173,
|
| 479 |
+
0.2622473488562066,
|
| 480 |
+
-0.6626749214229305
|
| 481 |
+
]
|
| 482 |
+
}
|
| 483 |
+
},
|
| 484 |
+
"grasp_86": {
|
| 485 |
+
"confidence": 0.704681396484375,
|
| 486 |
+
"position": [
|
| 487 |
+
0.1324894344434142,
|
| 488 |
+
-0.0021493383101187646,
|
| 489 |
+
-0.001859460593550466
|
| 490 |
+
],
|
| 491 |
+
"orientation": {
|
| 492 |
+
"w": 0.532648608225043,
|
| 493 |
+
"xyz": [
|
| 494 |
+
-0.4906879917466714,
|
| 495 |
+
-0.5020019017315592,
|
| 496 |
+
0.472762990905
|
| 497 |
+
]
|
| 498 |
+
}
|
| 499 |
+
},
|
| 500 |
+
"grasp_87": {
|
| 501 |
+
"confidence": 0.696739673614502,
|
| 502 |
+
"position": [
|
| 503 |
+
0.11528226640075445,
|
| 504 |
+
-0.027899642649572343,
|
| 505 |
+
0.04360253493359778
|
| 506 |
+
],
|
| 507 |
+
"orientation": {
|
| 508 |
+
"w": 0.13801719694261796,
|
| 509 |
+
"xyz": [
|
| 510 |
+
0.6819505538402069,
|
| 511 |
+
-0.4948041071641671,
|
| 512 |
+
-0.5206376772752896
|
| 513 |
+
]
|
| 514 |
+
}
|
| 515 |
+
},
|
| 516 |
+
"grasp_88": {
|
| 517 |
+
"confidence": 0.6923743486404419,
|
| 518 |
+
"position": [
|
| 519 |
+
0.13257265742868185,
|
| 520 |
+
-0.0007384376949630678,
|
| 521 |
+
-0.0018593967979541048
|
| 522 |
+
],
|
| 523 |
+
"orientation": {
|
| 524 |
+
"w": 0.6058819332617731,
|
| 525 |
+
"xyz": [
|
| 526 |
+
-0.39876149119517323,
|
| 527 |
+
-0.5780754026468936,
|
| 528 |
+
0.37379832121266965
|
| 529 |
+
]
|
| 530 |
+
}
|
| 531 |
+
},
|
| 532 |
+
"grasp_92": {
|
| 533 |
+
"confidence": 0.653192400932312,
|
| 534 |
+
"position": [
|
| 535 |
+
0.1335088675841689,
|
| 536 |
+
-0.0011137703550048172,
|
| 537 |
+
-0.0002343889937037602
|
| 538 |
+
],
|
| 539 |
+
"orientation": {
|
| 540 |
+
"w": 0.5420563108961597,
|
| 541 |
+
"xyz": [
|
| 542 |
+
0.44265206527039314,
|
| 543 |
+
-0.5376618969206287,
|
| 544 |
+
-0.47026991135858714
|
| 545 |
+
]
|
| 546 |
+
}
|
| 547 |
+
},
|
| 548 |
+
"grasp_95": {
|
| 549 |
+
"confidence": 0.6145498752593994,
|
| 550 |
+
"position": [
|
| 551 |
+
0.1300884848460555,
|
| 552 |
+
0.003987759177107364,
|
| 553 |
+
-0.004086167653440498
|
| 554 |
+
],
|
| 555 |
+
"orientation": {
|
| 556 |
+
"w": 0.515380202719746,
|
| 557 |
+
"xyz": [
|
| 558 |
+
0.4995613975546915,
|
| 559 |
+
-0.4862776052045864,
|
| 560 |
+
-0.49835303490020927
|
| 561 |
+
]
|
| 562 |
+
}
|
| 563 |
+
},
|
| 564 |
+
"grasp_96": {
|
| 565 |
+
"confidence": 0.5852227807044983,
|
| 566 |
+
"position": [
|
| 567 |
+
0.13238475378602743,
|
| 568 |
+
-9.126483928412199e-05,
|
| 569 |
+
-0.00273682210536208
|
| 570 |
+
],
|
| 571 |
+
"orientation": {
|
| 572 |
+
"w": 0.6886427989690033,
|
| 573 |
+
"xyz": [
|
| 574 |
+
0.20444256299441346,
|
| 575 |
+
-0.6580839241983583,
|
| 576 |
+
-0.22561002321727822
|
| 577 |
+
]
|
| 578 |
+
}
|
| 579 |
+
},
|
| 580 |
+
"grasp_97": {
|
| 581 |
+
"confidence": 0.5676424503326416,
|
| 582 |
+
"position": [
|
| 583 |
+
0.12938501592725515,
|
| 584 |
+
-0.0002560997963882983,
|
| 585 |
+
-0.0015050963120302185
|
| 586 |
+
],
|
| 587 |
+
"orientation": {
|
| 588 |
+
"w": 0.542262090702613,
|
| 589 |
+
"xyz": [
|
| 590 |
+
-0.4778077070149185,
|
| 591 |
+
-0.5195914386484736,
|
| 592 |
+
0.45571521478571003
|
| 593 |
+
]
|
| 594 |
+
}
|
| 595 |
+
},
|
| 596 |
+
"grasp_99": {
|
| 597 |
+
"confidence": 0.5449280738830566,
|
| 598 |
+
"position": [
|
| 599 |
+
0.12954922672361135,
|
| 600 |
+
0.0008593304664827883,
|
| 601 |
+
0.0013627793086925521
|
| 602 |
+
],
|
| 603 |
+
"orientation": {
|
| 604 |
+
"w": 0.42525401635796234,
|
| 605 |
+
"xyz": [
|
| 606 |
+
0.5525734432350832,
|
| 607 |
+
-0.4299675144177516,
|
| 608 |
+
-0.5735412347409435
|
| 609 |
+
]
|
| 610 |
+
}
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
},
|
| 614 |
+
{
|
| 615 |
+
"part_name": "writing tip",
|
| 616 |
+
"mask_color": "Blue",
|
| 617 |
+
"graspable": false,
|
| 618 |
+
"grasp_scenarios": [],
|
| 619 |
+
"functional_labels": [
|
| 620 |
+
"write on surfaces",
|
| 621 |
+
"make ink marks",
|
| 622 |
+
"provide contact point",
|
| 623 |
+
"indicate front orientation"
|
| 624 |
+
],
|
| 625 |
+
"semantic_description": "A tiny dark pointed pen tip at the very front, appearing hard and smooth with a fine tapered shape used for contacting the writing surface.",
|
| 626 |
+
"id": 2,
|
| 627 |
+
"grasp_group": {}
|
| 628 |
+
},
|
| 629 |
+
{
|
| 630 |
+
"part_name": "clip",
|
| 631 |
+
"mask_color": "Red",
|
| 632 |
+
"graspable": true,
|
| 633 |
+
"grasp_scenarios": [
|
| 634 |
+
{
|
| 635 |
+
"scenario": "grasp the clip to pull the pen from a pocket or holder",
|
| 636 |
+
"confidence": 0.55
|
| 637 |
+
},
|
| 638 |
+
{
|
| 639 |
+
"scenario": "pinch the clip to stabilize the pen during retrieval",
|
| 640 |
+
"confidence": 0.49
|
| 641 |
+
}
|
| 642 |
+
],
|
| 643 |
+
"functional_labels": [
|
| 644 |
+
"attach to pocket",
|
| 645 |
+
"retain pen in holder",
|
| 646 |
+
"provide side reference",
|
| 647 |
+
"assist retrieval"
|
| 648 |
+
],
|
| 649 |
+
"semantic_description": "A slim metallic side clip with a light silver or off-white appearance, smooth slightly reflective finish, and hard springy form, mounted along the upper barrel and smaller than the main body.",
|
| 650 |
+
"id": 0,
|
| 651 |
+
"grasp_group": {
|
| 652 |
+
"grasp_0": {
|
| 653 |
+
"confidence": 0.7737007737159729,
|
| 654 |
+
"position": [
|
| 655 |
+
-0.12938685063272715,
|
| 656 |
+
-0.002790670550893992,
|
| 657 |
+
0.005352225052774884
|
| 658 |
+
],
|
| 659 |
+
"orientation": {
|
| 660 |
+
"w": 0.672335301283821,
|
| 661 |
+
"xyz": [
|
| 662 |
+
-0.21177089194161608,
|
| 663 |
+
0.6736465072230047,
|
| 664 |
+
-0.22207817380393985
|
| 665 |
+
]
|
| 666 |
+
}
|
| 667 |
+
},
|
| 668 |
+
"grasp_3": {
|
| 669 |
+
"confidence": 0.8208798170089722,
|
| 670 |
+
"position": [
|
| 671 |
+
-0.12909597996622324,
|
| 672 |
+
0.0013444680953398347,
|
| 673 |
+
0.004817881985218264
|
| 674 |
+
],
|
| 675 |
+
"orientation": {
|
| 676 |
+
"w": 0.5281057942898282,
|
| 677 |
+
"xyz": [
|
| 678 |
+
0.4832335014541643,
|
| 679 |
+
0.5366400688376977,
|
| 680 |
+
0.4467740923864418
|
| 681 |
+
]
|
| 682 |
+
}
|
| 683 |
+
},
|
| 684 |
+
"grasp_4": {
|
| 685 |
+
"confidence": 0.8032057881355286,
|
| 686 |
+
"position": [
|
| 687 |
+
-0.12755283061414957,
|
| 688 |
+
0.0013383045443333685,
|
| 689 |
+
0.004761308795423247
|
| 690 |
+
],
|
| 691 |
+
"orientation": {
|
| 692 |
+
"w": 0.4988746554635249,
|
| 693 |
+
"xyz": [
|
| 694 |
+
0.512139454940966,
|
| 695 |
+
0.509192226585064,
|
| 696 |
+
0.4791247574632981
|
| 697 |
+
]
|
| 698 |
+
}
|
| 699 |
+
},
|
| 700 |
+
"grasp_5": {
|
| 701 |
+
"confidence": 0.7339957356452942,
|
| 702 |
+
"position": [
|
| 703 |
+
-0.12704710755497217,
|
| 704 |
+
0.002562741341535002,
|
| 705 |
+
0.009622043362469412
|
| 706 |
+
],
|
| 707 |
+
"orientation": {
|
| 708 |
+
"w": 0.629196124204912,
|
| 709 |
+
"xyz": [
|
| 710 |
+
-0.29111164488070046,
|
| 711 |
+
0.6579708624045509,
|
| 712 |
+
-0.2940078089557857
|
| 713 |
+
]
|
| 714 |
+
}
|
| 715 |
+
},
|
| 716 |
+
"grasp_7": {
|
| 717 |
+
"confidence": 0.8789950013160706,
|
| 718 |
+
"position": [
|
| 719 |
+
-0.12127360049635172,
|
| 720 |
+
-0.04843541159061715,
|
| 721 |
+
0.016949129654676653
|
| 722 |
+
],
|
| 723 |
+
"orientation": {
|
| 724 |
+
"w": 0.09080290169890759,
|
| 725 |
+
"xyz": [
|
| 726 |
+
-0.7115715237212265,
|
| 727 |
+
-0.2498173052527799,
|
| 728 |
+
-0.6503938142912723
|
| 729 |
+
]
|
| 730 |
+
}
|
| 731 |
+
},
|
| 732 |
+
"grasp_8": {
|
| 733 |
+
"confidence": 0.9289898872375488,
|
| 734 |
+
"position": [
|
| 735 |
+
-0.09035872016102076,
|
| 736 |
+
-0.0869467735174112,
|
| 737 |
+
0.0003417216648813337
|
| 738 |
+
],
|
| 739 |
+
"orientation": {
|
| 740 |
+
"w": 0.347473212839551,
|
| 741 |
+
"xyz": [
|
| 742 |
+
-0.6270074938072591,
|
| 743 |
+
-0.31684716484306474,
|
| 744 |
+
-0.6210731383656934
|
| 745 |
+
]
|
| 746 |
+
}
|
| 747 |
+
},
|
| 748 |
+
"grasp_9": {
|
| 749 |
+
"confidence": 0.9264954924583435,
|
| 750 |
+
"position": [
|
| 751 |
+
-0.08879149053245783,
|
| 752 |
+
-0.08822522609261796,
|
| 753 |
+
0.0014425239205593243
|
| 754 |
+
],
|
| 755 |
+
"orientation": {
|
| 756 |
+
"w": 0.34986208317241513,
|
| 757 |
+
"xyz": [
|
| 758 |
+
-0.6255055153765837,
|
| 759 |
+
-0.3284499059607945,
|
| 760 |
+
-0.6151910534671952
|
| 761 |
+
]
|
| 762 |
+
}
|
| 763 |
+
},
|
| 764 |
+
"grasp_11": {
|
| 765 |
+
"confidence": 0.8658909797668457,
|
| 766 |
+
"position": [
|
| 767 |
+
-0.12288364861160517,
|
| 768 |
+
-0.04922564624575898,
|
| 769 |
+
0.014225001810700633
|
| 770 |
+
],
|
| 771 |
+
"orientation": {
|
| 772 |
+
"w": 0.08260431067438577,
|
| 773 |
+
"xyz": [
|
| 774 |
+
-0.7042702603384605,
|
| 775 |
+
-0.2525422380754947,
|
| 776 |
+
-0.6583330055895927
|
| 777 |
+
]
|
| 778 |
+
}
|
| 779 |
+
},
|
| 780 |
+
"grasp_13": {
|
| 781 |
+
"confidence": 0.7868475914001465,
|
| 782 |
+
"position": [
|
| 783 |
+
-0.10210185591131449,
|
| 784 |
+
-0.0446218058350496,
|
| 785 |
+
0.035282728626043536
|
| 786 |
+
],
|
| 787 |
+
"orientation": {
|
| 788 |
+
"w": 0.589066986713339,
|
| 789 |
+
"xyz": [
|
| 790 |
+
-0.37904956471274437,
|
| 791 |
+
0.7136211043082962,
|
| 792 |
+
-0.00815059147265015
|
| 793 |
+
]
|
| 794 |
+
}
|
| 795 |
+
},
|
| 796 |
+
"grasp_15": {
|
| 797 |
+
"confidence": 0.8224777579307556,
|
| 798 |
+
"position": [
|
| 799 |
+
-0.12236329261213541,
|
| 800 |
+
-0.0432550564291887,
|
| 801 |
+
0.03833220656088088
|
| 802 |
+
],
|
| 803 |
+
"orientation": {
|
| 804 |
+
"w": 0.5681795223171591,
|
| 805 |
+
"xyz": [
|
| 806 |
+
-0.43052204195024063,
|
| 807 |
+
0.6981355481516188,
|
| 808 |
+
-0.06655492635019285
|
| 809 |
+
]
|
| 810 |
+
}
|
| 811 |
+
},
|
| 812 |
+
"grasp_16": {
|
| 813 |
+
"confidence": 0.8020908832550049,
|
| 814 |
+
"position": [
|
| 815 |
+
-0.11601863894611597,
|
| 816 |
+
-0.028529751289170235,
|
| 817 |
+
0.04738126452139113
|
| 818 |
+
],
|
| 819 |
+
"orientation": {
|
| 820 |
+
"w": 0.5027696480072932,
|
| 821 |
+
"xyz": [
|
| 822 |
+
-0.47781497147646607,
|
| 823 |
+
0.7014488801790046,
|
| 824 |
+
-0.1639664678255497
|
| 825 |
+
]
|
| 826 |
+
}
|
| 827 |
+
}
|
| 828 |
+
}
|
| 829 |
+
},
|
| 830 |
+
{
|
| 831 |
+
"part_name": "transition ring",
|
| 832 |
+
"mask_color": "Magenta",
|
| 833 |
+
"graspable": false,
|
| 834 |
+
"grasp_scenarios": [],
|
| 835 |
+
"functional_labels": [
|
| 836 |
+
"join adjacent pen sections",
|
| 837 |
+
"provide a structural transition between lower barrel and tip cone",
|
| 838 |
+
"visually mark the boundary near the front"
|
| 839 |
+
],
|
| 840 |
+
"semantic_description": "A very thin tan-to-brown ring around the pen near the front transition, with a smooth hard finish and narrow circular band shape between the lower barrel and the front cone.",
|
| 841 |
+
"id": 7,
|
| 842 |
+
"grasp_group": {}
|
| 843 |
+
},
|
| 844 |
+
{
|
| 845 |
+
"part_name": "lanyard loop",
|
| 846 |
+
"mask_color": "Orange",
|
| 847 |
+
"graspable": true,
|
| 848 |
+
"grasp_scenarios": [
|
| 849 |
+
{
|
| 850 |
+
"scenario": "hook or pinch the loop to lift the pen lightly",
|
| 851 |
+
"confidence": 0.44
|
| 852 |
+
},
|
| 853 |
+
{
|
| 854 |
+
"scenario": "use the loop to pull the pen from a tight holder",
|
| 855 |
+
"confidence": 0.58
|
| 856 |
+
}
|
| 857 |
+
],
|
| 858 |
+
"functional_labels": [
|
| 859 |
+
"attach a cord",
|
| 860 |
+
"hang the pen",
|
| 861 |
+
"provide retrieval point",
|
| 862 |
+
"indicate the back end"
|
| 863 |
+
],
|
| 864 |
+
"semantic_description": "A small dark brown loop at the rear end with a wood-like appearance, smooth hard texture, and rounded open shape, protruding from the top of the pen as a hanging attachment point.",
|
| 865 |
+
"id": 4,
|
| 866 |
+
"grasp_group": {
|
| 867 |
+
"grasp_61": {
|
| 868 |
+
"confidence": 0.7263765931129456,
|
| 869 |
+
"position": [
|
| 870 |
+
-0.14633958879858255,
|
| 871 |
+
0.002334408985916525,
|
| 872 |
+
0.0017666885541984811
|
| 873 |
+
],
|
| 874 |
+
"orientation": {
|
| 875 |
+
"w": 0.6882855606014924,
|
| 876 |
+
"xyz": [
|
| 877 |
+
-0.09688529664867533,
|
| 878 |
+
0.7102629087234615,
|
| 879 |
+
-0.11136797947559075
|
| 880 |
+
]
|
| 881 |
+
}
|
| 882 |
+
},
|
| 883 |
+
"grasp_63": {
|
| 884 |
+
"confidence": 0.7170922160148621,
|
| 885 |
+
"position": [
|
| 886 |
+
-0.14632824901491404,
|
| 887 |
+
0.002205964003223926,
|
| 888 |
+
0.002382057617069222
|
| 889 |
+
],
|
| 890 |
+
"orientation": {
|
| 891 |
+
"w": 0.6917695498461641,
|
| 892 |
+
"xyz": [
|
| 893 |
+
-0.06828010199546537,
|
| 894 |
+
0.7142871991386044,
|
| 895 |
+
-0.08115734547070758
|
| 896 |
+
]
|
| 897 |
+
}
|
| 898 |
+
},
|
| 899 |
+
"grasp_64": {
|
| 900 |
+
"confidence": 0.6776512265205383,
|
| 901 |
+
"position": [
|
| 902 |
+
-0.14612332824617624,
|
| 903 |
+
0.0003755597717827186,
|
| 904 |
+
0.0031587361736455932
|
| 905 |
+
],
|
| 906 |
+
"orientation": {
|
| 907 |
+
"w": 0.05867799416665096,
|
| 908 |
+
"xyz": [
|
| 909 |
+
-0.7151011366195895,
|
| 910 |
+
0.06922843223800323,
|
| 911 |
+
-0.6931051013921466
|
| 912 |
+
]
|
| 913 |
+
}
|
| 914 |
+
},
|
| 915 |
+
"grasp_73": {
|
| 916 |
+
"confidence": 0.772555410861969,
|
| 917 |
+
"position": [
|
| 918 |
+
-0.1451221788302064,
|
| 919 |
+
0.003646315832156688,
|
| 920 |
+
-0.001359411733574234
|
| 921 |
+
],
|
| 922 |
+
"orientation": {
|
| 923 |
+
"w": 0.7113434597821091,
|
| 924 |
+
"xyz": [
|
| 925 |
+
0.08332484138439085,
|
| 926 |
+
0.6949049359869803,
|
| 927 |
+
0.06445605459858499
|
| 928 |
+
]
|
| 929 |
+
}
|
| 930 |
+
},
|
| 931 |
+
"grasp_75": {
|
| 932 |
+
"confidence": 0.7475417256355286,
|
| 933 |
+
"position": [
|
| 934 |
+
-0.14542812947183847,
|
| 935 |
+
-0.001982707006391138,
|
| 936 |
+
0.0038328605151036754
|
| 937 |
+
],
|
| 938 |
+
"orientation": {
|
| 939 |
+
"w": 0.6996326940334088,
|
| 940 |
+
"xyz": [
|
| 941 |
+
-0.009477621901122108,
|
| 942 |
+
0.7142970910555241,
|
| 943 |
+
0.014280540335388657
|
| 944 |
+
]
|
| 945 |
+
}
|
| 946 |
+
},
|
| 947 |
+
"grasp_76": {
|
| 948 |
+
"confidence": 0.7393174767494202,
|
| 949 |
+
"position": [
|
| 950 |
+
-0.14572387281805277,
|
| 951 |
+
0.001647293975111097,
|
| 952 |
+
0.0018539668672019616
|
| 953 |
+
],
|
| 954 |
+
"orientation": {
|
| 955 |
+
"w": 0.5257794567804107,
|
| 956 |
+
"xyz": [
|
| 957 |
+
0.4769335031588104,
|
| 958 |
+
0.5404470456573979,
|
| 959 |
+
0.4516717693553051
|
| 960 |
+
]
|
| 961 |
+
}
|
| 962 |
+
},
|
| 963 |
+
"grasp_78": {
|
| 964 |
+
"confidence": 0.7353440523147583,
|
| 965 |
+
"position": [
|
| 966 |
+
-0.1431077802553773,
|
| 967 |
+
0.000451537300250493,
|
| 968 |
+
0.0030047696927795187
|
| 969 |
+
],
|
| 970 |
+
"orientation": {
|
| 971 |
+
"w": 0.4413783472328003,
|
| 972 |
+
"xyz": [
|
| 973 |
+
-0.5454740950417699,
|
| 974 |
+
0.46015402499917923,
|
| 975 |
+
-0.543968233915785
|
| 976 |
+
]
|
| 977 |
+
}
|
| 978 |
+
}
|
| 979 |
+
}
|
| 980 |
+
}
|
| 981 |
+
],
|
| 982 |
+
"quality_check": {
|
| 983 |
+
"success": true,
|
| 984 |
+
"message": "YES"
|
| 985 |
+
}
|
| 986 |
+
}
|
dataset/desktop_supplies/office_stationery/0017d520d50856389f512d1d237d9a29/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ee80dcbcb2ab991052dfca24b6eb81137d042db1efbfc580650ffc04136656ea
|
| 3 |
+
size 3794352
|