Add asset desktop_supplies/office_stationery/aafe299f29345dbd9a70f91a22a7f6f9
Browse files
.gitattributes
CHANGED
|
@@ -6453,4 +6453,4 @@ dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/affo
|
|
| 6453 |
dataset/desktop_supplies/office_stationery/a7c4c14fca8c528eafc91082f36a55dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6454 |
dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6455 |
dataset/desktop_supplies/office_stationery/aa09b94522e2576a9c2d08dfdc9667c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6456 |
-
dataset/desktop_supplies/office_stationery/
|
|
|
|
| 6453 |
dataset/desktop_supplies/office_stationery/a7c4c14fca8c528eafc91082f36a55dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6454 |
dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6455 |
dataset/desktop_supplies/office_stationery/aa09b94522e2576a9c2d08dfdc9667c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6456 |
+
dataset/desktop_supplies/office_stationery/aafe299f29345dbd9a70f91a22a7f6f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/aafe299f29345dbd9a70f91a22a7f6f9/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,445 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "barrel",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and reposition the pen",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to stabilize the pen during writing-tool manipulation",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the barrel near the center to orient the nib",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the ink reservoir",
|
| 24 |
+
"support writing-tool manipulation",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long cylindrical gold-colored metal barrel with a glossy reflective finish and hard smooth surface, forming the largest central body of the pen with a simple tapered profile.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_2": {
|
| 31 |
+
"confidence": 0.9905549883842468,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.029284939635545015,
|
| 34 |
+
-0.09826968554989435,
|
| 35 |
+
0.00299907689623069
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5008369321401668,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5067596681958226,
|
| 41 |
+
0.5102200815147623,
|
| 42 |
+
0.48169749274161194
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_3": {
|
| 47 |
+
"confidence": 0.9904223680496216,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0262898956425488,
|
| 50 |
+
-0.09970682804123498,
|
| 51 |
+
-0.008139884288539179
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5206962084553138,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.476013360945606,
|
| 57 |
+
-0.4825013006168217,
|
| 58 |
+
-0.5191138927100724
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.9902955889701843,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.007869735360145569,
|
| 66 |
+
-0.0950833702518139,
|
| 67 |
+
0.01596348341263365
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.41529424949127475,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.5850154360183752,
|
| 73 |
+
0.4950078899248693,
|
| 74 |
+
0.4901579489020222
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_6": {
|
| 79 |
+
"confidence": 0.9900009632110596,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.04364596912637353,
|
| 82 |
+
-0.09524375144974329,
|
| 83 |
+
0.026998232860933058
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.40907907760706197,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5715046386669997,
|
| 89 |
+
-0.5608342877893052,
|
| 90 |
+
-0.43760902399987167
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_7": {
|
| 95 |
+
"confidence": 0.9899987578392029,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.002628166228532791,
|
| 98 |
+
-0.09584590737358667,
|
| 99 |
+
-0.00658835815556813
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5406124988639996,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.44802254655087076,
|
| 105 |
+
-0.5074661783823889,
|
| 106 |
+
-0.49949174332722324
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_8": {
|
| 111 |
+
"confidence": 0.9899775981903076,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.036742978263646364,
|
| 114 |
+
-0.09481193815008737,
|
| 115 |
+
0.03103752042807173
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.37979461335692855,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.5900971884849007,
|
| 121 |
+
-0.5576431060563156,
|
| 122 |
+
-0.4433683864182715
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_9": {
|
| 127 |
+
"confidence": 0.989903450012207,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.01527652284130454,
|
| 130 |
+
-0.01989298258558847,
|
| 131 |
+
-0.09573552217625547
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7037261518271403,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.08465797514507549,
|
| 137 |
+
0.05266998814958779,
|
| 138 |
+
0.7034404046024242
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_10": {
|
| 143 |
+
"confidence": 0.9898086786270142,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.011444922536611557,
|
| 146 |
+
-0.022503142623463646,
|
| 147 |
+
-0.09620283004187513
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.7106271472831907,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.04557814088162446,
|
| 153 |
+
-0.1000462377221708,
|
| 154 |
+
-0.6949262125834426
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_11": {
|
| 159 |
+
"confidence": 0.9897680878639221,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.026665809098631144,
|
| 162 |
+
0.09377943779691122,
|
| 163 |
+
-0.006806633624364622
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.47600038550163154,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.5121451472839631,
|
| 169 |
+
-0.4482127021397204,
|
| 170 |
+
0.5569886486782263
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_13": {
|
| 175 |
+
"confidence": 0.9896857142448425,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.03335820557549596,
|
| 178 |
+
-0.043891410721698776,
|
| 179 |
+
-0.08914853837632108
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.6872883294758122,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.16693904921598127,
|
| 185 |
+
-0.14108606268772506,
|
| 186 |
+
-0.6927198776767466
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_14": {
|
| 191 |
+
"confidence": 0.9896747469902039,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.016609058249741793,
|
| 194 |
+
-0.04257195387617685,
|
| 195 |
+
-0.0900359397783177
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.6872653648262452,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.1509722719344005,
|
| 201 |
+
-0.1412694147247352,
|
| 202 |
+
-0.6963595650815352
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_15": {
|
| 207 |
+
"confidence": 0.9896684885025024,
|
| 208 |
+
"position": [
|
| 209 |
+
0.009049493353813887,
|
| 210 |
+
-0.023412051988998428,
|
| 211 |
+
-0.09346187319897581
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.692180708342216,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.07979427766061212,
|
| 217 |
+
0.08103802685817063,
|
| 218 |
+
0.7127072179053782
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_16": {
|
| 223 |
+
"confidence": 0.9896141886711121,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.013456484768539667,
|
| 226 |
+
-0.0997564340068493,
|
| 227 |
+
-0.0008257101435447112
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.49917641356206094,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.4926558206727679,
|
| 233 |
+
-0.5089312391813707,
|
| 234 |
+
-0.49910133669012924
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"part_name": "nib",
|
| 242 |
+
"mask_color": "Green",
|
| 243 |
+
"graspable": true,
|
| 244 |
+
"grasp_scenarios": [
|
| 245 |
+
{
|
| 246 |
+
"scenario": "delicately grasp the nib to orient the pen during fine manipulation",
|
| 247 |
+
"confidence": 0.24
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"scenario": "pinch the nib lightly to extract or inspect the pen tip",
|
| 251 |
+
"confidence": 0.18
|
| 252 |
+
}
|
| 253 |
+
],
|
| 254 |
+
"functional_labels": [
|
| 255 |
+
"write on surfaces",
|
| 256 |
+
"deposit ink",
|
| 257 |
+
"provide fine contact tip",
|
| 258 |
+
"indicate writing end"
|
| 259 |
+
],
|
| 260 |
+
"semantic_description": "Small pointed gold-toned metal nib with a glossy reflective finish and hard smooth surface, located at the front tip and showing the split fountain-pen writing point.",
|
| 261 |
+
"id": 1,
|
| 262 |
+
"grasp_group": {
|
| 263 |
+
"grasp_20": {
|
| 264 |
+
"confidence": 0.9623012542724609,
|
| 265 |
+
"position": [
|
| 266 |
+
0.09264683490619063,
|
| 267 |
+
-0.012205427890876308,
|
| 268 |
+
0.08274765852547716
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.2319309035954079,
|
| 272 |
+
"xyz": [
|
| 273 |
+
-0.6450417348865003,
|
| 274 |
+
-0.7140565271086999,
|
| 275 |
+
0.14231125150701823
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_26": {
|
| 280 |
+
"confidence": 0.9267513751983643,
|
| 281 |
+
"position": [
|
| 282 |
+
0.0923584452830255,
|
| 283 |
+
0.07333240713342093,
|
| 284 |
+
0.04366742986894678
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.1552285809339058,
|
| 288 |
+
"xyz": [
|
| 289 |
+
0.6596943366585848,
|
| 290 |
+
0.5389736560639201,
|
| 291 |
+
-0.5002148217625375
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_29": {
|
| 296 |
+
"confidence": 0.8942019939422607,
|
| 297 |
+
"position": [
|
| 298 |
+
0.10490599786862731,
|
| 299 |
+
0.03629691954120062,
|
| 300 |
+
0.06750074568844866
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.07667168325224365,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.6692274695811612,
|
| 306 |
+
-0.6263510763153368,
|
| 307 |
+
0.39235236222543995
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_30": {
|
| 312 |
+
"confidence": 0.8876563310623169,
|
| 313 |
+
"position": [
|
| 314 |
+
0.12915789103135467,
|
| 315 |
+
-0.0008859108493197709,
|
| 316 |
+
0.053584525172482245
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.3570338043077274,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.5914548683208987,
|
| 322 |
+
-0.6470203504970505,
|
| 323 |
+
0.322602956222868
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_34": {
|
| 328 |
+
"confidence": 0.8628026247024536,
|
| 329 |
+
"position": [
|
| 330 |
+
0.12669650232419372,
|
| 331 |
+
0.009423773357411847,
|
| 332 |
+
0.05419212002016138
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.39457399433203694,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.5662270769954699,
|
| 338 |
+
-0.6674747644198427,
|
| 339 |
+
-0.2795991758512586
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_35": {
|
| 344 |
+
"confidence": 0.8627105355262756,
|
| 345 |
+
"position": [
|
| 346 |
+
0.13107106601819396,
|
| 347 |
+
-0.01109232977614738,
|
| 348 |
+
0.05127590689517092
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.42217652966432845,
|
| 352 |
+
"xyz": [
|
| 353 |
+
-0.5498507224850178,
|
| 354 |
+
-0.6746121277201428,
|
| 355 |
+
0.253632880195353
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_36": {
|
| 360 |
+
"confidence": 0.8601195216178894,
|
| 361 |
+
"position": [
|
| 362 |
+
0.1288267276249826,
|
| 363 |
+
-0.0041727103816810995,
|
| 364 |
+
0.05147857758856844
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.40651922956637443,
|
| 368 |
+
"xyz": [
|
| 369 |
+
-0.5512479034846334,
|
| 370 |
+
-0.6662321710077718,
|
| 371 |
+
0.29496196231180166
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_37": {
|
| 376 |
+
"confidence": 0.8501091003417969,
|
| 377 |
+
"position": [
|
| 378 |
+
0.13012502109631896,
|
| 379 |
+
0.0006701319653075188,
|
| 380 |
+
0.05075395274616312
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.36704399114958186,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.5835068634192507,
|
| 386 |
+
-0.6420354279551708,
|
| 387 |
+
-0.3355427814065363
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_38": {
|
| 392 |
+
"confidence": 0.8250554800033569,
|
| 393 |
+
"position": [
|
| 394 |
+
0.11817554151639342,
|
| 395 |
+
0.01600724513991736,
|
| 396 |
+
0.055362680737744085
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.2413538275412294,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.6504573490177642,
|
| 402 |
+
-0.5935900245031247,
|
| 403 |
+
0.40780442598181965
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_39": {
|
| 408 |
+
"confidence": 0.8135382533073425,
|
| 409 |
+
"position": [
|
| 410 |
+
0.14166948711499572,
|
| 411 |
+
0.012172099755844101,
|
| 412 |
+
-0.04515484180592466
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.6073608903464035,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.32032673313199467,
|
| 418 |
+
-0.41319140852999514,
|
| 419 |
+
0.5981441237992785
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
}
|
| 423 |
+
}
|
| 424 |
+
},
|
| 425 |
+
{
|
| 426 |
+
"part_name": "barrel end",
|
| 427 |
+
"mask_color": "Blue",
|
| 428 |
+
"graspable": false,
|
| 429 |
+
"grasp_scenarios": [],
|
| 430 |
+
"functional_labels": [
|
| 431 |
+
"close the barrel",
|
| 432 |
+
"finish the rear end",
|
| 433 |
+
"protect internal cavity boundary",
|
| 434 |
+
"indicate pen orientation"
|
| 435 |
+
],
|
| 436 |
+
"semantic_description": "Small circular gold-colored metal end cap area with a glossy reflective finish and hard smooth surface, positioned at the flat rear end of the cylindrical pen body.",
|
| 437 |
+
"id": 2,
|
| 438 |
+
"grasp_group": {}
|
| 439 |
+
}
|
| 440 |
+
],
|
| 441 |
+
"quality_check": {
|
| 442 |
+
"success": true,
|
| 443 |
+
"message": "YES"
|
| 444 |
+
}
|
| 445 |
+
}
|
dataset/desktop_supplies/office_stationery/aafe299f29345dbd9a70f91a22a7f6f9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9375e05deb39b07224390c2391456a9d46fee9da6cdb24da5497014dcd9e379c
|
| 3 |
+
size 702780
|