Add asset desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e
Browse files
.gitattributes
CHANGED
|
@@ -6305,3 +6305,4 @@ dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/affo
|
|
| 6305 |
dataset/desktop_supplies/office_stationery/3595795f8711538395de08027f1fa214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6306 |
dataset/desktop_supplies/office_stationery/3656004426b658169850d0078a4aca29/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6307 |
dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6305 |
dataset/desktop_supplies/office_stationery/3595795f8711538395de08027f1fa214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6306 |
dataset/desktop_supplies/office_stationery/3656004426b658169850d0078a4aca29/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6307 |
dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6308 |
+
dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,875 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the base from the sides to pick up and relocate the stapler",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the stapler while pressing the handle",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support the stapler",
|
| 19 |
+
"rest on the desk",
|
| 20 |
+
"house the staple channel and clinching area",
|
| 21 |
+
"provide a stable gripping area"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rectangular light gray metal base with a smooth slightly glossy finish, rounded corners, and the large lower portion that rests on the desk.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_4": {
|
| 27 |
+
"confidence": 0.8746572136878967,
|
| 28 |
+
"position": [
|
| 29 |
+
-5.9177933962928364e-05,
|
| 30 |
+
0.1192580012138933,
|
| 31 |
+
-0.014728198759257793
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.02471000525627444,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.006298366334132512,
|
| 37 |
+
0.7400417258083198,
|
| 38 |
+
-0.6720773692696396
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_6": {
|
| 43 |
+
"confidence": 0.8681354522705078,
|
| 44 |
+
"position": [
|
| 45 |
+
0.00018130895978174522,
|
| 46 |
+
0.11592788225971162,
|
| 47 |
+
-0.0246623232960701
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.011729882275383248,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.01968730630154127,
|
| 53 |
+
0.7043805131867636,
|
| 54 |
+
-0.7094525442023211
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_13": {
|
| 59 |
+
"confidence": 0.8399065732955933,
|
| 60 |
+
"position": [
|
| 61 |
+
0.004091570588116156,
|
| 62 |
+
0.11680916673503816,
|
| 63 |
+
-0.02523002028465271
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7035897701427869,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.710235413662803,
|
| 69 |
+
-0.015473728854347168,
|
| 70 |
+
0.01696043174538118
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_14": {
|
| 75 |
+
"confidence": 0.8266597390174866,
|
| 76 |
+
"position": [
|
| 77 |
+
0.004247543836299883,
|
| 78 |
+
0.11079110926948488,
|
| 79 |
+
-0.032863924279809
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.014650848184259404,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.0005860488900260905,
|
| 85 |
+
-0.6795417053702437,
|
| 86 |
+
0.7334903406703333
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_15": {
|
| 91 |
+
"confidence": 0.7843154072761536,
|
| 92 |
+
"position": [
|
| 93 |
+
0.004346628641997086,
|
| 94 |
+
0.11241245246492326,
|
| 95 |
+
-0.025674039497971535
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.7132195161364697,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.7007234084644487,
|
| 101 |
+
-0.009309195593032338,
|
| 102 |
+
0.014763655016167344
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_18": {
|
| 107 |
+
"confidence": 0.5525047183036804,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.0010369334218012227,
|
| 110 |
+
0.1075787169393152,
|
| 111 |
+
-0.026230376213788986
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.7213039474313103,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.69256407226583,
|
| 117 |
+
0.00739813621836205,
|
| 118 |
+
0.004570427449838418
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"part_name": "top handle",
|
| 126 |
+
"mask_color": "Magenta",
|
| 127 |
+
"graspable": true,
|
| 128 |
+
"grasp_scenarios": [
|
| 129 |
+
{
|
| 130 |
+
"scenario": "grasp the top handle to lift and reposition the stapler",
|
| 131 |
+
"confidence": 0.74
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"scenario": "press down on the handle to actuate stapling while another gripper stabilizes the base",
|
| 135 |
+
"confidence": 0.95
|
| 136 |
+
}
|
| 137 |
+
],
|
| 138 |
+
"functional_labels": [
|
| 139 |
+
"press to staple",
|
| 140 |
+
"cover the staple channel",
|
| 141 |
+
"provide leverage",
|
| 142 |
+
"guide the stapling motion"
|
| 143 |
+
],
|
| 144 |
+
"semantic_description": "Long light gray metal upper arm with a smooth semi-gloss finish, spanning above the base as the main movable pressing part.",
|
| 145 |
+
"id": 7,
|
| 146 |
+
"grasp_group": {
|
| 147 |
+
"grasp_41": {
|
| 148 |
+
"confidence": 0.9692636728286743,
|
| 149 |
+
"position": [
|
| 150 |
+
0.0016952280107034312,
|
| 151 |
+
-0.041890722000971437,
|
| 152 |
+
0.09565107710659504
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.07703587854224136,
|
| 156 |
+
"xyz": [
|
| 157 |
+
-0.9970157713116956,
|
| 158 |
+
-0.0023728475827946016,
|
| 159 |
+
0.004403949059479371
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"grasp_42": {
|
| 164 |
+
"confidence": 0.9628719687461853,
|
| 165 |
+
"position": [
|
| 166 |
+
-0.004126555783386721,
|
| 167 |
+
-0.011130166472867131,
|
| 168 |
+
0.09609313495457172
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
+
"w": 0.018555247600469137,
|
| 172 |
+
"xyz": [
|
| 173 |
+
-0.006018323731970829,
|
| 174 |
+
0.9960573802808369,
|
| 175 |
+
-0.08654003555591328
|
| 176 |
+
]
|
| 177 |
+
}
|
| 178 |
+
},
|
| 179 |
+
"grasp_43": {
|
| 180 |
+
"confidence": 0.9603707194328308,
|
| 181 |
+
"position": [
|
| 182 |
+
-0.0031754053511576785,
|
| 183 |
+
-0.08713511400856078,
|
| 184 |
+
0.07944763638079166
|
| 185 |
+
],
|
| 186 |
+
"orientation": {
|
| 187 |
+
"w": 0.28886921481068945,
|
| 188 |
+
"xyz": [
|
| 189 |
+
-0.9570107945348256,
|
| 190 |
+
-0.01951830801248483,
|
| 191 |
+
-0.01743420576932699
|
| 192 |
+
]
|
| 193 |
+
}
|
| 194 |
+
},
|
| 195 |
+
"grasp_44": {
|
| 196 |
+
"confidence": 0.9596242308616638,
|
| 197 |
+
"position": [
|
| 198 |
+
0.002178974185426341,
|
| 199 |
+
-0.040059115970507264,
|
| 200 |
+
0.09953352995216846
|
| 201 |
+
],
|
| 202 |
+
"orientation": {
|
| 203 |
+
"w": 0.07307966116077268,
|
| 204 |
+
"xyz": [
|
| 205 |
+
-0.9972848597512574,
|
| 206 |
+
-0.005977985856829404,
|
| 207 |
+
0.006821680191651551
|
| 208 |
+
]
|
| 209 |
+
}
|
| 210 |
+
},
|
| 211 |
+
"grasp_45": {
|
| 212 |
+
"confidence": 0.9579976797103882,
|
| 213 |
+
"position": [
|
| 214 |
+
-0.000643216279513581,
|
| 215 |
+
-0.0819344820920378,
|
| 216 |
+
0.0859308261424303
|
| 217 |
+
],
|
| 218 |
+
"orientation": {
|
| 219 |
+
"w": 0.26458039764845365,
|
| 220 |
+
"xyz": [
|
| 221 |
+
-0.9642693716579401,
|
| 222 |
+
-0.012427513227816267,
|
| 223 |
+
-0.005229624992246358
|
| 224 |
+
]
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
"grasp_46": {
|
| 228 |
+
"confidence": 0.9569571614265442,
|
| 229 |
+
"position": [
|
| 230 |
+
0.002124149320934521,
|
| 231 |
+
-0.07906553917564452,
|
| 232 |
+
0.08489818312227726
|
| 233 |
+
],
|
| 234 |
+
"orientation": {
|
| 235 |
+
"w": 0.27970827966049233,
|
| 236 |
+
"xyz": [
|
| 237 |
+
-0.9598846594472362,
|
| 238 |
+
-0.019147046485739394,
|
| 239 |
+
0.004255520896935776
|
| 240 |
+
]
|
| 241 |
+
}
|
| 242 |
+
},
|
| 243 |
+
"grasp_47": {
|
| 244 |
+
"confidence": 0.9568391442298889,
|
| 245 |
+
"position": [
|
| 246 |
+
0.007720556078766094,
|
| 247 |
+
-0.05854357802309096,
|
| 248 |
+
0.09522228874266148
|
| 249 |
+
],
|
| 250 |
+
"orientation": {
|
| 251 |
+
"w": 0.1426446604418013,
|
| 252 |
+
"xyz": [
|
| 253 |
+
-0.989216933945633,
|
| 254 |
+
-0.01949878127421517,
|
| 255 |
+
0.026872959856792944
|
| 256 |
+
]
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"grasp_48": {
|
| 260 |
+
"confidence": 0.9559090733528137,
|
| 261 |
+
"position": [
|
| 262 |
+
-1.6225105810008245e-05,
|
| 263 |
+
-0.08179292851127684,
|
| 264 |
+
0.07888589985668659
|
| 265 |
+
],
|
| 266 |
+
"orientation": {
|
| 267 |
+
"w": 0.29830266441780723,
|
| 268 |
+
"xyz": [
|
| 269 |
+
-0.9544580198818164,
|
| 270 |
+
-0.002332833570620474,
|
| 271 |
+
0.00446839703374945
|
| 272 |
+
]
|
| 273 |
+
}
|
| 274 |
+
},
|
| 275 |
+
"grasp_49": {
|
| 276 |
+
"confidence": 0.9553742408752441,
|
| 277 |
+
"position": [
|
| 278 |
+
0.0008631111973045336,
|
| 279 |
+
-0.05983090423978865,
|
| 280 |
+
0.09341569431126118
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.025298118355264503,
|
| 284 |
+
"xyz": [
|
| 285 |
+
-0.014091490189127972,
|
| 286 |
+
-0.9805997840006265,
|
| 287 |
+
-0.1938697983953588
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"grasp_50": {
|
| 292 |
+
"confidence": 0.9544472098350525,
|
| 293 |
+
"position": [
|
| 294 |
+
0.0029896504397584067,
|
| 295 |
+
-0.08504395210184157,
|
| 296 |
+
0.08053727634251118
|
| 297 |
+
],
|
| 298 |
+
"orientation": {
|
| 299 |
+
"w": 0.28817661646548426,
|
| 300 |
+
"xyz": [
|
| 301 |
+
-0.9574653329020537,
|
| 302 |
+
-0.013712939920901446,
|
| 303 |
+
0.005131207654186388
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
},
|
| 307 |
+
"grasp_51": {
|
| 308 |
+
"confidence": 0.9529553055763245,
|
| 309 |
+
"position": [
|
| 310 |
+
0.004068567851845728,
|
| 311 |
+
-0.08467629575170577,
|
| 312 |
+
0.08072575367987156
|
| 313 |
+
],
|
| 314 |
+
"orientation": {
|
| 315 |
+
"w": 0.28973723264008666,
|
| 316 |
+
"xyz": [
|
| 317 |
+
-0.9569160476078837,
|
| 318 |
+
-0.018034065800415444,
|
| 319 |
+
0.0062278666714217674
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
},
|
| 323 |
+
"grasp_52": {
|
| 324 |
+
"confidence": 0.9528239965438843,
|
| 325 |
+
"position": [
|
| 326 |
+
0.004638037147287832,
|
| 327 |
+
-0.057215009117498994,
|
| 328 |
+
0.0939317587763071
|
| 329 |
+
],
|
| 330 |
+
"orientation": {
|
| 331 |
+
"w": 0.036539002288594,
|
| 332 |
+
"xyz": [
|
| 333 |
+
-0.05868409849665478,
|
| 334 |
+
-0.9893908695520001,
|
| 335 |
+
-0.12777630900337814
|
| 336 |
+
]
|
| 337 |
+
}
|
| 338 |
+
},
|
| 339 |
+
"grasp_54": {
|
| 340 |
+
"confidence": 0.9522914886474609,
|
| 341 |
+
"position": [
|
| 342 |
+
-0.005534002588774456,
|
| 343 |
+
-0.04793663346208632,
|
| 344 |
+
0.0973090473562479
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
+
"w": 0.012404079771395213,
|
| 348 |
+
"xyz": [
|
| 349 |
+
0.0013118680974686825,
|
| 350 |
+
0.9960833361969682,
|
| 351 |
+
0.08753516526423497
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
},
|
| 355 |
+
"grasp_55": {
|
| 356 |
+
"confidence": 0.9516063332557678,
|
| 357 |
+
"position": [
|
| 358 |
+
0.004221785316531168,
|
| 359 |
+
-0.08029183023609221,
|
| 360 |
+
0.08055122382938862
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.030791494931245774,
|
| 364 |
+
"xyz": [
|
| 365 |
+
0.013778005257558058,
|
| 366 |
+
-0.9563494184733448,
|
| 367 |
+
-0.29027201070154485
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_56": {
|
| 372 |
+
"confidence": 0.9507633447647095,
|
| 373 |
+
"position": [
|
| 374 |
+
0.01354401602065991,
|
| 375 |
+
-0.06731782131828368,
|
| 376 |
+
0.08999049104750156
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.06451446169312366,
|
| 380 |
+
"xyz": [
|
| 381 |
+
-0.007070336025867764,
|
| 382 |
+
-0.9743625134713494,
|
| 383 |
+
-0.21541956021383382
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_57": {
|
| 388 |
+
"confidence": 0.9505950808525085,
|
| 389 |
+
"position": [
|
| 390 |
+
0.012496530512635218,
|
| 391 |
+
-0.060841296100988984,
|
| 392 |
+
0.09295494295656681
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.18691446692733987,
|
| 396 |
+
"xyz": [
|
| 397 |
+
-0.9810989797121266,
|
| 398 |
+
-0.014047051811827527,
|
| 399 |
+
0.04806718627596941
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_58": {
|
| 404 |
+
"confidence": 0.9483820199966431,
|
| 405 |
+
"position": [
|
| 406 |
+
-0.00708527167671491,
|
| 407 |
+
-0.11854139738716185,
|
| 408 |
+
0.04020637087523937
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.5242215819679168,
|
| 412 |
+
"xyz": [
|
| 413 |
+
-0.8504975009571818,
|
| 414 |
+
-0.020898322465489505,
|
| 415 |
+
-0.03753656860678257
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_59": {
|
| 420 |
+
"confidence": 0.9464302659034729,
|
| 421 |
+
"position": [
|
| 422 |
+
0.008849356757764326,
|
| 423 |
+
-0.0882545264903456,
|
| 424 |
+
0.07985666580498219
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.2957630276471132,
|
| 428 |
+
"xyz": [
|
| 429 |
+
-0.9549214752632683,
|
| 430 |
+
-0.010849030257230996,
|
| 431 |
+
0.02305441607401912
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
}
|
| 435 |
+
}
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"part_name": "staple magazine rail",
|
| 439 |
+
"mask_color": "Cyan",
|
| 440 |
+
"graspable": true,
|
| 441 |
+
"grasp_scenarios": [
|
| 442 |
+
{
|
| 443 |
+
"scenario": "grasp the rail when opening or manipulating the stapler for reloading",
|
| 444 |
+
"confidence": 0.42
|
| 445 |
+
},
|
| 446 |
+
{
|
| 447 |
+
"scenario": "use a precision gripper on the rail to pull or align the magazine during maintenance",
|
| 448 |
+
"confidence": 0.38
|
| 449 |
+
}
|
| 450 |
+
],
|
| 451 |
+
"functional_labels": [
|
| 452 |
+
"hold the staple strip",
|
| 453 |
+
"guide staples forward",
|
| 454 |
+
"support reloading",
|
| 455 |
+
"align staples for dispensing"
|
| 456 |
+
],
|
| 457 |
+
"semantic_description": "Long narrow light gray channel-like member running along the upper assembly, with a ruler-like printed scale visible on its side.",
|
| 458 |
+
"id": 6,
|
| 459 |
+
"grasp_group": {
|
| 460 |
+
"grasp_21": {
|
| 461 |
+
"confidence": 0.8466110825538635,
|
| 462 |
+
"position": [
|
| 463 |
+
0.005815631678615318,
|
| 464 |
+
0.12583022541366518,
|
| 465 |
+
0.028383789584040642
|
| 466 |
+
],
|
| 467 |
+
"orientation": {
|
| 468 |
+
"w": 0.04808807236107393,
|
| 469 |
+
"xyz": [
|
| 470 |
+
0.04890750896073506,
|
| 471 |
+
0.7400817811793776,
|
| 472 |
+
-0.6690101270012372
|
| 473 |
+
]
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"grasp_22": {
|
| 477 |
+
"confidence": 0.8104088306427002,
|
| 478 |
+
"position": [
|
| 479 |
+
-0.012097556641037954,
|
| 480 |
+
0.1032975313719362,
|
| 481 |
+
0.08112427033483982
|
| 482 |
+
],
|
| 483 |
+
"orientation": {
|
| 484 |
+
"w": 0.051765846619337745,
|
| 485 |
+
"xyz": [
|
| 486 |
+
0.013103571505408237,
|
| 487 |
+
0.8972767586573512,
|
| 488 |
+
-0.4382271236595727
|
| 489 |
+
]
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"grasp_23": {
|
| 493 |
+
"confidence": 0.7651005983352661,
|
| 494 |
+
"position": [
|
| 495 |
+
-0.011013718818958296,
|
| 496 |
+
0.10156644857488573,
|
| 497 |
+
0.08213269896805286
|
| 498 |
+
],
|
| 499 |
+
"orientation": {
|
| 500 |
+
"w": 0.04012729805490273,
|
| 501 |
+
"xyz": [
|
| 502 |
+
-0.04217741783063225,
|
| 503 |
+
0.9006593408718098,
|
| 504 |
+
-0.4306084266201841
|
| 505 |
+
]
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"grasp_24": {
|
| 509 |
+
"confidence": 0.7508735060691833,
|
| 510 |
+
"position": [
|
| 511 |
+
0.004640561962787615,
|
| 512 |
+
0.11288105673156679,
|
| 513 |
+
0.06882292218506336
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.4966805006521538,
|
| 517 |
+
"xyz": [
|
| 518 |
+
0.8677128521434101,
|
| 519 |
+
-0.016852200228814562,
|
| 520 |
+
0.0099443373093523
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_25": {
|
| 525 |
+
"confidence": 0.7309478521347046,
|
| 526 |
+
"position": [
|
| 527 |
+
-0.00359932336368729,
|
| 528 |
+
0.12345134443603456,
|
| 529 |
+
0.040736811235547066
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.6286062605140812,
|
| 533 |
+
"xyz": [
|
| 534 |
+
0.7656132081127075,
|
| 535 |
+
0.12512611271375984,
|
| 536 |
+
-0.055082127074164385
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_26": {
|
| 541 |
+
"confidence": 0.7225919961929321,
|
| 542 |
+
"position": [
|
| 543 |
+
0.0011989854660896526,
|
| 544 |
+
0.10950525826774538,
|
| 545 |
+
0.06936114467680454
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.49377200273027755,
|
| 549 |
+
"xyz": [
|
| 550 |
+
0.869443256764673,
|
| 551 |
+
0.015953397048224016,
|
| 552 |
+
-0.0017668358134297045
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_27": {
|
| 557 |
+
"confidence": 0.7186141610145569,
|
| 558 |
+
"position": [
|
| 559 |
+
0.005990175033275591,
|
| 560 |
+
0.11850079870782793,
|
| 561 |
+
0.047137973830103874
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.06520490650792501,
|
| 565 |
+
"xyz": [
|
| 566 |
+
0.08312172272925844,
|
| 567 |
+
0.790084712556484,
|
| 568 |
+
-0.6038255098638601
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_28": {
|
| 573 |
+
"confidence": 0.705249547958374,
|
| 574 |
+
"position": [
|
| 575 |
+
0.002486383278210269,
|
| 576 |
+
0.10486108041368425,
|
| 577 |
+
0.0765720997005701
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.02042683954554569,
|
| 581 |
+
"xyz": [
|
| 582 |
+
0.0541409295480735,
|
| 583 |
+
0.8842891533815278,
|
| 584 |
+
-0.4633402607000949
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"grasp_29": {
|
| 589 |
+
"confidence": 0.7000866532325745,
|
| 590 |
+
"position": [
|
| 591 |
+
0.0010947660462079511,
|
| 592 |
+
0.10586384660564363,
|
| 593 |
+
0.07587515749037266
|
| 594 |
+
],
|
| 595 |
+
"orientation": {
|
| 596 |
+
"w": 0.47355532892091295,
|
| 597 |
+
"xyz": [
|
| 598 |
+
0.8805261935989895,
|
| 599 |
+
0.020335359869783742,
|
| 600 |
+
0.0023336614250658474
|
| 601 |
+
]
|
| 602 |
+
}
|
| 603 |
+
},
|
| 604 |
+
"grasp_30": {
|
| 605 |
+
"confidence": 0.6952411532402039,
|
| 606 |
+
"position": [
|
| 607 |
+
-0.012793528413112654,
|
| 608 |
+
0.10352911031804979,
|
| 609 |
+
0.0811395887285471
|
| 610 |
+
],
|
| 611 |
+
"orientation": {
|
| 612 |
+
"w": 0.43857225827199736,
|
| 613 |
+
"xyz": [
|
| 614 |
+
0.8834738982017987,
|
| 615 |
+
-0.10651767690914782,
|
| 616 |
+
0.12562734565450503
|
| 617 |
+
]
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"grasp_31": {
|
| 621 |
+
"confidence": 0.6792423129081726,
|
| 622 |
+
"position": [
|
| 623 |
+
0.01512497334397267,
|
| 624 |
+
0.10925254947505891,
|
| 625 |
+
0.07048925943672657
|
| 626 |
+
],
|
| 627 |
+
"orientation": {
|
| 628 |
+
"w": 0.4908109007758294,
|
| 629 |
+
"xyz": [
|
| 630 |
+
0.8687536641681761,
|
| 631 |
+
0.028254052248221584,
|
| 632 |
+
-0.05977825027166432
|
| 633 |
+
]
|
| 634 |
+
}
|
| 635 |
+
},
|
| 636 |
+
"grasp_32": {
|
| 637 |
+
"confidence": 0.6783064603805542,
|
| 638 |
+
"position": [
|
| 639 |
+
0.009091408426229464,
|
| 640 |
+
0.10652357316575944,
|
| 641 |
+
0.07389876432716846
|
| 642 |
+
],
|
| 643 |
+
"orientation": {
|
| 644 |
+
"w": 0.018817940949666257,
|
| 645 |
+
"xyz": [
|
| 646 |
+
-0.022094316262390497,
|
| 647 |
+
-0.883845447110692,
|
| 648 |
+
0.466877876868259
|
| 649 |
+
]
|
| 650 |
+
}
|
| 651 |
+
},
|
| 652 |
+
"grasp_33": {
|
| 653 |
+
"confidence": 0.6774156093597412,
|
| 654 |
+
"position": [
|
| 655 |
+
-0.022876211939092173,
|
| 656 |
+
0.0955291313584894,
|
| 657 |
+
0.08777464367449284
|
| 658 |
+
],
|
| 659 |
+
"orientation": {
|
| 660 |
+
"w": 0.20684330307899107,
|
| 661 |
+
"xyz": [
|
| 662 |
+
0.17112278147891313,
|
| 663 |
+
0.9017502278249186,
|
| 664 |
+
-0.33879103920853537
|
| 665 |
+
]
|
| 666 |
+
}
|
| 667 |
+
},
|
| 668 |
+
"grasp_34": {
|
| 669 |
+
"confidence": 0.6437633037567139,
|
| 670 |
+
"position": [
|
| 671 |
+
-0.00010912942752838717,
|
| 672 |
+
0.10386516130529344,
|
| 673 |
+
0.07668598927557468
|
| 674 |
+
],
|
| 675 |
+
"orientation": {
|
| 676 |
+
"w": 0.462763492861264,
|
| 677 |
+
"xyz": [
|
| 678 |
+
0.8863500310543393,
|
| 679 |
+
-0.0017168671427277848,
|
| 680 |
+
0.015186325823870542
|
| 681 |
+
]
|
| 682 |
+
}
|
| 683 |
+
},
|
| 684 |
+
"grasp_35": {
|
| 685 |
+
"confidence": 0.5894098281860352,
|
| 686 |
+
"position": [
|
| 687 |
+
-0.00846042720013429,
|
| 688 |
+
0.10198954469524324,
|
| 689 |
+
0.07438898272812366
|
| 690 |
+
],
|
| 691 |
+
"orientation": {
|
| 692 |
+
"w": 0.033254884169431134,
|
| 693 |
+
"xyz": [
|
| 694 |
+
0.015871721890723268,
|
| 695 |
+
0.8874015600894151,
|
| 696 |
+
-0.45952222174120566
|
| 697 |
+
]
|
| 698 |
+
}
|
| 699 |
+
},
|
| 700 |
+
"grasp_36": {
|
| 701 |
+
"confidence": 0.5713867545127869,
|
| 702 |
+
"position": [
|
| 703 |
+
0.01831483139312695,
|
| 704 |
+
0.10082352883182466,
|
| 705 |
+
0.08010287024080753
|
| 706 |
+
],
|
| 707 |
+
"orientation": {
|
| 708 |
+
"w": 0.44932880741769293,
|
| 709 |
+
"xyz": [
|
| 710 |
+
0.890767761731587,
|
| 711 |
+
-0.058001895157934025,
|
| 712 |
+
-0.035667879701219596
|
| 713 |
+
]
|
| 714 |
+
}
|
| 715 |
+
},
|
| 716 |
+
"grasp_37": {
|
| 717 |
+
"confidence": 0.5649726390838623,
|
| 718 |
+
"position": [
|
| 719 |
+
-0.002198480566676153,
|
| 720 |
+
0.09581196284852922,
|
| 721 |
+
0.0847593117505312
|
| 722 |
+
],
|
| 723 |
+
"orientation": {
|
| 724 |
+
"w": 0.02899474311000167,
|
| 725 |
+
"xyz": [
|
| 726 |
+
0.02741559460955297,
|
| 727 |
+
0.9085983366488336,
|
| 728 |
+
-0.41576045108110377
|
| 729 |
+
]
|
| 730 |
+
}
|
| 731 |
+
},
|
| 732 |
+
"grasp_38": {
|
| 733 |
+
"confidence": 0.5064114332199097,
|
| 734 |
+
"position": [
|
| 735 |
+
0.007582284478758083,
|
| 736 |
+
0.10994433588348329,
|
| 737 |
+
0.060316191986203194
|
| 738 |
+
],
|
| 739 |
+
"orientation": {
|
| 740 |
+
"w": 0.5094616559472828,
|
| 741 |
+
"xyz": [
|
| 742 |
+
0.8387909917496558,
|
| 743 |
+
0.1479574393770028,
|
| 744 |
+
-0.12242176853845053
|
| 745 |
+
]
|
| 746 |
+
}
|
| 747 |
+
}
|
| 748 |
+
}
|
| 749 |
+
},
|
| 750 |
+
{
|
| 751 |
+
"part_name": "magazine end cap",
|
| 752 |
+
"mask_color": "Yellow",
|
| 753 |
+
"graspable": true,
|
| 754 |
+
"grasp_scenarios": [
|
| 755 |
+
{
|
| 756 |
+
"scenario": "pinch the rear end cap to pull or release the magazine for reloading",
|
| 757 |
+
"confidence": 0.68
|
| 758 |
+
},
|
| 759 |
+
{
|
| 760 |
+
"scenario": "use the end cap as a rear pinch point for small adjustments",
|
| 761 |
+
"confidence": 0.35
|
| 762 |
+
}
|
| 763 |
+
],
|
| 764 |
+
"functional_labels": [
|
| 765 |
+
"terminate the magazine",
|
| 766 |
+
"provide a pull point",
|
| 767 |
+
"assist reloading",
|
| 768 |
+
"retain magazine parts"
|
| 769 |
+
],
|
| 770 |
+
"semantic_description": "Small rounded light gray cap at the rear end of the long magazine rail, with a smooth hard surface and slightly bulkier cylindrical form than the rail.",
|
| 771 |
+
"id": 3,
|
| 772 |
+
"grasp_group": {}
|
| 773 |
+
},
|
| 774 |
+
{
|
| 775 |
+
"part_name": "release tab",
|
| 776 |
+
"mask_color": "Orange",
|
| 777 |
+
"graspable": false,
|
| 778 |
+
"grasp_scenarios": [],
|
| 779 |
+
"functional_labels": [
|
| 780 |
+
"unlock or release the magazine",
|
| 781 |
+
"assist staple reloading",
|
| 782 |
+
"provide a small actuation point"
|
| 783 |
+
],
|
| 784 |
+
"semantic_description": "Very small narrow orange-bounded tab-like feature near the rear end of the magazine assembly, visible as a thin band between the cyan rail and yellow end cap.",
|
| 785 |
+
"id": 4,
|
| 786 |
+
"grasp_group": {}
|
| 787 |
+
},
|
| 788 |
+
{
|
| 789 |
+
"part_name": "rear hinge housing",
|
| 790 |
+
"mask_color": "Teal",
|
| 791 |
+
"graspable": true,
|
| 792 |
+
"grasp_scenarios": [
|
| 793 |
+
{
|
| 794 |
+
"scenario": "grasp the rear housing area to help orient the stapler during setup",
|
| 795 |
+
"confidence": 0.5
|
| 796 |
+
},
|
| 797 |
+
{
|
| 798 |
+
"scenario": "hold near the hinge while opening the stapler for loading or maintenance",
|
| 799 |
+
"confidence": 0.47
|
| 800 |
+
}
|
| 801 |
+
],
|
| 802 |
+
"functional_labels": [
|
| 803 |
+
"connect handle to hinge",
|
| 804 |
+
"enclose the rear mechanism",
|
| 805 |
+
"support pivoting motion",
|
| 806 |
+
"reinforce the rear end"
|
| 807 |
+
],
|
| 808 |
+
"semantic_description": "Chunky light gray rear housing block at the back of the upper assembly where the handle meets the hinge area, with a smooth semi-gloss hard surface.",
|
| 809 |
+
"id": 10,
|
| 810 |
+
"grasp_group": {
|
| 811 |
+
"grasp_76": {
|
| 812 |
+
"confidence": 0.7655279636383057,
|
| 813 |
+
"position": [
|
| 814 |
+
0.09965670711017083,
|
| 815 |
+
-0.04219312616623938,
|
| 816 |
+
0.005780091509222984
|
| 817 |
+
],
|
| 818 |
+
"orientation": {
|
| 819 |
+
"w": 0.6727289884878482,
|
| 820 |
+
"xyz": [
|
| 821 |
+
0.003404637770076611,
|
| 822 |
+
-0.7389643495719074,
|
| 823 |
+
-0.036821278515810484
|
| 824 |
+
]
|
| 825 |
+
}
|
| 826 |
+
}
|
| 827 |
+
}
|
| 828 |
+
},
|
| 829 |
+
{
|
| 830 |
+
"part_name": "anvil plate",
|
| 831 |
+
"mask_color": "Yellow",
|
| 832 |
+
"graspable": false,
|
| 833 |
+
"grasp_scenarios": [],
|
| 834 |
+
"functional_labels": [
|
| 835 |
+
"bend staple legs",
|
| 836 |
+
"support paper during stapling",
|
| 837 |
+
"provide a clinching surface"
|
| 838 |
+
],
|
| 839 |
+
"semantic_description": "Small shiny metal plate inset near the front of the base, with a reflective smooth finish and compact rectangular shape where staples are clinched.",
|
| 840 |
+
"id": 3,
|
| 841 |
+
"grasp_group": {}
|
| 842 |
+
},
|
| 843 |
+
{
|
| 844 |
+
"part_name": "inner support link",
|
| 845 |
+
"mask_color": "Green",
|
| 846 |
+
"graspable": false,
|
| 847 |
+
"grasp_scenarios": [],
|
| 848 |
+
"functional_labels": [
|
| 849 |
+
"support the upper arm",
|
| 850 |
+
"link moving parts",
|
| 851 |
+
"guide stapling motion"
|
| 852 |
+
],
|
| 853 |
+
"semantic_description": "Small internal support element visible beneath the top handle near the middle of the stapler, partially hidden inside the open structure.",
|
| 854 |
+
"id": 1,
|
| 855 |
+
"grasp_group": {}
|
| 856 |
+
},
|
| 857 |
+
{
|
| 858 |
+
"part_name": "inner staple channel",
|
| 859 |
+
"mask_color": "Light Pink",
|
| 860 |
+
"graspable": false,
|
| 861 |
+
"grasp_scenarios": [],
|
| 862 |
+
"functional_labels": [
|
| 863 |
+
"guide staple movement",
|
| 864 |
+
"form part of the internal feed path",
|
| 865 |
+
"support the magazine interior"
|
| 866 |
+
],
|
| 867 |
+
"semantic_description": "Slim pale internal component visible inside the stapler beneath the top handle, with an elongated shape running within the internal channel area.",
|
| 868 |
+
"id": null
|
| 869 |
+
}
|
| 870 |
+
],
|
| 871 |
+
"quality_check": {
|
| 872 |
+
"success": false,
|
| 873 |
+
"message": "Mask colors reused incorrectly; several part identities and descriptions mismatch visible segmented parts."
|
| 874 |
+
}
|
| 875 |
+
}
|
dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:87b7cc8c9134577cf3fbf6583a03e6201105416336c80b5407f36247334c0199
|
| 3 |
+
size 3788776
|