Add asset desktop_supplies/office_stationery/65489a6275435019a8c5b134845f29b7
Browse files
.gitattributes
CHANGED
|
@@ -6351,3 +6351,4 @@ dataset/desktop_supplies/office_stationery/621262a3233256cfa486d16e2673414e/affo
|
|
| 6351 |
dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6352 |
dataset/desktop_supplies/office_stationery/64c13f071a635aa295e17fcadb60f119/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6353 |
dataset/desktop_supplies/office_stationery/64f58ade54a2575184d5fe7e50ecf78a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6351 |
dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6352 |
dataset/desktop_supplies/office_stationery/64c13f071a635aa295e17fcadb60f119/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6353 |
dataset/desktop_supplies/office_stationery/64f58ade54a2575184d5fe7e50ecf78a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6354 |
+
dataset/desktop_supplies/office_stationery/65489a6275435019a8c5b134845f29b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/65489a6275435019a8c5b134845f29b7/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,711 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eraser sleeve",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sleeve around the middle to pick up and move the eraser",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sleeve to stabilize the eraser while rubbing an edge against paper",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the sleeve to reorient the eraser without touching the abrasive faces",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main grip surface",
|
| 23 |
+
"protect the eraser core",
|
| 24 |
+
"improve handling during erasing",
|
| 25 |
+
"indicate branding and orientation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "White paper or thin cardboard wrapper with a matte smooth surface, rectangular band around the middle, medium-sized relative to the eraser, printed with gray text, blue barcode-like graphics, and red accent lines.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9847767353057861,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.016356971231289208,
|
| 34 |
+
-0.10069469920563279,
|
| 35 |
+
-0.0014181622264004545
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5085671813992899,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.491824507978467,
|
| 41 |
+
0.5060564235131982,
|
| 42 |
+
0.4933304892020671
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9843741059303284,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.011298477766104043,
|
| 50 |
+
-0.09949065557884751,
|
| 51 |
+
-0.0006260155660129385
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5020584544030745,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.4974211411711376,
|
| 57 |
+
-0.5008631284195769,
|
| 58 |
+
-0.49964551761038906
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.984176516532898,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.01537790906149894,
|
| 66 |
+
-0.09964822790789185,
|
| 67 |
+
-0.0016307512723869877
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.503505794110787,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.4941989329094565,
|
| 73 |
+
-0.4952475811389865,
|
| 74 |
+
-0.506931122919084
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9840086698532104,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.01495046925265342,
|
| 82 |
+
-0.10022830031084595,
|
| 83 |
+
-0.0037272602512530284
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5109133470917333,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.49460627064918394,
|
| 89 |
+
0.4971697345272649,
|
| 90 |
+
0.4971463002659455
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9839755296707153,
|
| 96 |
+
"position": [
|
| 97 |
+
0.0014606848708353937,
|
| 98 |
+
-0.10022589377331315,
|
| 99 |
+
-0.0024349717150471406
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.4985775747279616,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.510032181862045,
|
| 105 |
+
0.4856912025028084,
|
| 106 |
+
0.5053628708708242
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.9838010668754578,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.01544187602121383,
|
| 114 |
+
-0.10009556076693116,
|
| 115 |
+
-0.00272880817828991
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5048088867160474,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.5016122917608513,
|
| 121 |
+
0.4954493675789269,
|
| 122 |
+
0.4980793318464172
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.9837117791175842,
|
| 128 |
+
"position": [
|
| 129 |
+
0.005943551077507436,
|
| 130 |
+
-0.09921011886763154,
|
| 131 |
+
-0.007571871597974678
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5429308567398747,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.4580858344088572,
|
| 137 |
+
-0.5077422374369379,
|
| 138 |
+
-0.48742309489413693
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_8": {
|
| 143 |
+
"confidence": 0.983528733253479,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.01748814817983657,
|
| 146 |
+
-0.10064145735668717,
|
| 147 |
+
-0.003929493688701768
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5069925983498177,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.4945827186759603,
|
| 153 |
+
0.4976818285038296,
|
| 154 |
+
0.5006588031610765
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_9": {
|
| 159 |
+
"confidence": 0.9834165573120117,
|
| 160 |
+
"position": [
|
| 161 |
+
0.010835779714398086,
|
| 162 |
+
0.10191215016675415,
|
| 163 |
+
0.0032878867623367114
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.5030005302988093,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.5001856255475037,
|
| 169 |
+
-0.5093460836554593,
|
| 170 |
+
0.48720773144482776
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_10": {
|
| 175 |
+
"confidence": 0.9834133386611938,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.006423578248359263,
|
| 178 |
+
-0.10145307145285187,
|
| 179 |
+
-0.006013509557305952
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.5133033972039535,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.48687371833814036,
|
| 185 |
+
0.49346984423091456,
|
| 186 |
+
0.505926000167209
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_13": {
|
| 191 |
+
"confidence": 0.983066201210022,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.010643446003086865,
|
| 194 |
+
-0.0992898996846634,
|
| 195 |
+
-0.002507810686438461
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.5004362896015686,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.5038181580385038,
|
| 201 |
+
0.49863331604502226,
|
| 202 |
+
0.4970871149109068
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_14": {
|
| 207 |
+
"confidence": 0.983012855052948,
|
| 208 |
+
"position": [
|
| 209 |
+
0.0137188684893772,
|
| 210 |
+
0.09955311008525314,
|
| 211 |
+
0.004209348726362805
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.4879743835458658,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.5138525723566869,
|
| 217 |
+
0.5188867803326874,
|
| 218 |
+
-0.4781140492407903
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_17": {
|
| 223 |
+
"confidence": 0.9828678369522095,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.0014152691001072526,
|
| 226 |
+
-0.10005827061104355,
|
| 227 |
+
7.223105603770819e-05
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.5033329259233015,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.4906287604960107,
|
| 233 |
+
-0.5007978554629675,
|
| 234 |
+
-0.5051147325304715
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"part_name": "eraser end",
|
| 242 |
+
"mask_color": "Green",
|
| 243 |
+
"graspable": true,
|
| 244 |
+
"grasp_scenarios": [
|
| 245 |
+
{
|
| 246 |
+
"scenario": "grasp one exposed end to pull the eraser partly out of the sleeve",
|
| 247 |
+
"confidence": 0.63
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"scenario": "pinch an exposed end for delicate repositioning",
|
| 251 |
+
"confidence": 0.48
|
| 252 |
+
}
|
| 253 |
+
],
|
| 254 |
+
"functional_labels": [
|
| 255 |
+
"erase pencil marks",
|
| 256 |
+
"provide frictional contact for rubbing",
|
| 257 |
+
"expose usable erasing surface",
|
| 258 |
+
"allow sliding out of sleeve"
|
| 259 |
+
],
|
| 260 |
+
"semantic_description": "Beige rubber end with a matte dull finish and slightly soft smooth texture, rounded-rectangular in shape, forming one small exposed tip of the block eraser.",
|
| 261 |
+
"id": 1,
|
| 262 |
+
"grasp_group": {
|
| 263 |
+
"grasp_21": {
|
| 264 |
+
"confidence": 0.9741463661193848,
|
| 265 |
+
"position": [
|
| 266 |
+
0.029249999555759132,
|
| 267 |
+
0.09992413409781875,
|
| 268 |
+
-0.00564998501977243
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.4961172664756354,
|
| 272 |
+
"xyz": [
|
| 273 |
+
0.49928361860094916,
|
| 274 |
+
0.5007307745092892,
|
| 275 |
+
-0.5038374912219343
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_22": {
|
| 280 |
+
"confidence": 0.9708037972450256,
|
| 281 |
+
"position": [
|
| 282 |
+
0.035656383144669235,
|
| 283 |
+
-0.09943850151466904,
|
| 284 |
+
-0.001926295548400958
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.4946461139389754,
|
| 288 |
+
"xyz": [
|
| 289 |
+
-0.5101997971477056,
|
| 290 |
+
0.4732470874048491,
|
| 291 |
+
0.5206328679773662
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_25": {
|
| 296 |
+
"confidence": 0.9698549509048462,
|
| 297 |
+
"position": [
|
| 298 |
+
0.03830754186492413,
|
| 299 |
+
0.10008224286866607,
|
| 300 |
+
-0.003258929327785154
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.4804003232116198,
|
| 304 |
+
"xyz": [
|
| 305 |
+
0.5110107554710251,
|
| 306 |
+
0.4963766866587308,
|
| 307 |
+
-0.5115600865908166
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_26": {
|
| 312 |
+
"confidence": 0.9693729281425476,
|
| 313 |
+
"position": [
|
| 314 |
+
0.08110484282951802,
|
| 315 |
+
0.09230485745501937,
|
| 316 |
+
-0.0037970682333252626
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.35977703729387395,
|
| 320 |
+
"xyz": [
|
| 321 |
+
0.59241966292302,
|
| 322 |
+
0.373324560998893,
|
| 323 |
+
-0.616626466001259
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_28": {
|
| 328 |
+
"confidence": 0.9688684344291687,
|
| 329 |
+
"position": [
|
| 330 |
+
0.029964532586745918,
|
| 331 |
+
-0.10133774391579209,
|
| 332 |
+
-0.0002927943442045944
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.5147840499224228,
|
| 336 |
+
"xyz": [
|
| 337 |
+
-0.5038946942718203,
|
| 338 |
+
0.488347065659942,
|
| 339 |
+
0.49254914728532584
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_29": {
|
| 344 |
+
"confidence": 0.9683992266654968,
|
| 345 |
+
"position": [
|
| 346 |
+
0.12201670359354466,
|
| 347 |
+
0.056879514835600276,
|
| 348 |
+
-0.0031658929965487914
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.683439158169506,
|
| 352 |
+
"xyz": [
|
| 353 |
+
0.18436174843781955,
|
| 354 |
+
-0.6800726743002447,
|
| 355 |
+
0.19084763677766833
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_32": {
|
| 360 |
+
"confidence": 0.9680288434028625,
|
| 361 |
+
"position": [
|
| 362 |
+
0.07832857023458928,
|
| 363 |
+
0.09229224362206878,
|
| 364 |
+
0.0019151668802805943
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.3608586456983487,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.6089452264699444,
|
| 370 |
+
0.36964136894146526,
|
| 371 |
+
-0.6019402024713929
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_33": {
|
| 376 |
+
"confidence": 0.9679559469223022,
|
| 377 |
+
"position": [
|
| 378 |
+
0.0480584668694064,
|
| 379 |
+
0.10094800778460922,
|
| 380 |
+
-0.0027061218588642078
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.4798663531270441,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.5309336652449472,
|
| 386 |
+
0.4636913074697726,
|
| 387 |
+
-0.5223294914353295
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_34": {
|
| 392 |
+
"confidence": 0.96766597032547,
|
| 393 |
+
"position": [
|
| 394 |
+
0.12167805980425328,
|
| 395 |
+
0.054420890293840785,
|
| 396 |
+
-7.457408901245799e-05
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.6880251934254884,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.17162521176770018,
|
| 402 |
+
-0.6829239397507356,
|
| 403 |
+
0.17544518349856458
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_35": {
|
| 408 |
+
"confidence": 0.9671756029129028,
|
| 409 |
+
"position": [
|
| 410 |
+
0.081949686515145,
|
| 411 |
+
0.09296679683757247,
|
| 412 |
+
-7.322771671169903e-05
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.3568306751332361,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.6037892809238683,
|
| 418 |
+
0.37244221807630973,
|
| 419 |
+
-0.6077805259464928
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_37": {
|
| 424 |
+
"confidence": 0.9668857455253601,
|
| 425 |
+
"position": [
|
| 426 |
+
0.12153822730761021,
|
| 427 |
+
-0.05258532799052773,
|
| 428 |
+
-0.0026450506138644414
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.19395459602420884,
|
| 432 |
+
"xyz": [
|
| 433 |
+
-0.6781314131299603,
|
| 434 |
+
0.17505179077684718,
|
| 435 |
+
0.6869325088778873
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_39": {
|
| 440 |
+
"confidence": 0.9666740298271179,
|
| 441 |
+
"position": [
|
| 442 |
+
0.07950556080322713,
|
| 443 |
+
0.09038911946845474,
|
| 444 |
+
-0.004970019888787647
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.361006376009227,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.5920622725148894,
|
| 450 |
+
0.3670947311018278,
|
| 451 |
+
-0.6199823548638029
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
},
|
| 457 |
+
{
|
| 458 |
+
"part_name": "eraser end",
|
| 459 |
+
"mask_color": "Blue",
|
| 460 |
+
"graspable": true,
|
| 461 |
+
"grasp_scenarios": [
|
| 462 |
+
{
|
| 463 |
+
"scenario": "grasp one exposed end to pull the eraser partly out of the sleeve",
|
| 464 |
+
"confidence": 0.61
|
| 465 |
+
},
|
| 466 |
+
{
|
| 467 |
+
"scenario": "pinch an exposed end for delicate repositioning",
|
| 468 |
+
"confidence": 0.46
|
| 469 |
+
}
|
| 470 |
+
],
|
| 471 |
+
"functional_labels": [
|
| 472 |
+
"erase pencil marks",
|
| 473 |
+
"provide frictional contact for rubbing",
|
| 474 |
+
"expose usable erasing surface",
|
| 475 |
+
"allow sliding out of sleeve"
|
| 476 |
+
],
|
| 477 |
+
"semantic_description": "Beige rubber end with a matte dull finish and slightly soft smooth texture, rounded-rectangular in shape, forming the opposite small exposed tip of the block eraser.",
|
| 478 |
+
"id": 2,
|
| 479 |
+
"grasp_group": {
|
| 480 |
+
"grasp_40": {
|
| 481 |
+
"confidence": 0.9686598777770996,
|
| 482 |
+
"position": [
|
| 483 |
+
-0.032173102837987244,
|
| 484 |
+
-0.1016736384408432,
|
| 485 |
+
0.001118368263632874
|
| 486 |
+
],
|
| 487 |
+
"orientation": {
|
| 488 |
+
"w": 0.5075333679725663,
|
| 489 |
+
"xyz": [
|
| 490 |
+
-0.4938917164048972,
|
| 491 |
+
0.5126753055740498,
|
| 492 |
+
0.48543267701670295
|
| 493 |
+
]
|
| 494 |
+
}
|
| 495 |
+
},
|
| 496 |
+
"grasp_41": {
|
| 497 |
+
"confidence": 0.968010663986206,
|
| 498 |
+
"position": [
|
| 499 |
+
-0.11907148559112102,
|
| 500 |
+
-0.04775278083252488,
|
| 501 |
+
-0.0016908138950384455
|
| 502 |
+
],
|
| 503 |
+
"orientation": {
|
| 504 |
+
"w": 0.6866612654523461,
|
| 505 |
+
"xyz": [
|
| 506 |
+
-0.16789519795066205,
|
| 507 |
+
0.6858741990224642,
|
| 508 |
+
0.1728701597956803
|
| 509 |
+
]
|
| 510 |
+
}
|
| 511 |
+
},
|
| 512 |
+
"grasp_42": {
|
| 513 |
+
"confidence": 0.9676107168197632,
|
| 514 |
+
"position": [
|
| 515 |
+
-0.023809803766198456,
|
| 516 |
+
0.10366409458947601,
|
| 517 |
+
-0.0021382367431215243
|
| 518 |
+
],
|
| 519 |
+
"orientation": {
|
| 520 |
+
"w": 0.49486746989402003,
|
| 521 |
+
"xyz": [
|
| 522 |
+
0.5109164193608506,
|
| 523 |
+
0.49173979913539156,
|
| 524 |
+
-0.5022574734281849
|
| 525 |
+
]
|
| 526 |
+
}
|
| 527 |
+
},
|
| 528 |
+
"grasp_43": {
|
| 529 |
+
"confidence": 0.9675585627555847,
|
| 530 |
+
"position": [
|
| 531 |
+
-0.04353299189824611,
|
| 532 |
+
-0.10134540311264573,
|
| 533 |
+
-0.0010011682479671435
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.5373697199762576,
|
| 537 |
+
"xyz": [
|
| 538 |
+
-0.4621165400578558,
|
| 539 |
+
0.5328927267402175,
|
| 540 |
+
0.46228500867427075
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"grasp_44": {
|
| 545 |
+
"confidence": 0.9640522599220276,
|
| 546 |
+
"position": [
|
| 547 |
+
-0.13281600375194103,
|
| 548 |
+
0.003537744989444036,
|
| 549 |
+
-0.0020305358066252666
|
| 550 |
+
],
|
| 551 |
+
"orientation": {
|
| 552 |
+
"w": 0.021773717060512263,
|
| 553 |
+
"xyz": [
|
| 554 |
+
0.701328310527735,
|
| 555 |
+
-0.006201077709852565,
|
| 556 |
+
0.712478808620241
|
| 557 |
+
]
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"grasp_45": {
|
| 561 |
+
"confidence": 0.9634267687797546,
|
| 562 |
+
"position": [
|
| 563 |
+
-0.12073334504384547,
|
| 564 |
+
-0.04690438321995316,
|
| 565 |
+
5.2482047976809554e-05
|
| 566 |
+
],
|
| 567 |
+
"orientation": {
|
| 568 |
+
"w": 0.6884458533422408,
|
| 569 |
+
"xyz": [
|
| 570 |
+
-0.16423654159590906,
|
| 571 |
+
0.6850790243158563,
|
| 572 |
+
0.1724395426313929
|
| 573 |
+
]
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"grasp_46": {
|
| 577 |
+
"confidence": 0.9623386859893799,
|
| 578 |
+
"position": [
|
| 579 |
+
-0.029403284308500588,
|
| 580 |
+
-0.10063351503777085,
|
| 581 |
+
-0.0044929885498277145
|
| 582 |
+
],
|
| 583 |
+
"orientation": {
|
| 584 |
+
"w": 0.5120290115531143,
|
| 585 |
+
"xyz": [
|
| 586 |
+
-0.49787357613450406,
|
| 587 |
+
0.49486394783377585,
|
| 588 |
+
0.4950331975225002
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"grasp_47": {
|
| 593 |
+
"confidence": 0.957536518573761,
|
| 594 |
+
"position": [
|
| 595 |
+
-0.13123025198001415,
|
| 596 |
+
0.0007297438642126508,
|
| 597 |
+
8.241316936619114e-05
|
| 598 |
+
],
|
| 599 |
+
"orientation": {
|
| 600 |
+
"w": 0.7034828596836235,
|
| 601 |
+
"xyz": [
|
| 602 |
+
0.02637609410151884,
|
| 603 |
+
0.7101741553235488,
|
| 604 |
+
0.008296800695667008
|
| 605 |
+
]
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"grasp_48": {
|
| 609 |
+
"confidence": 0.9574296474456787,
|
| 610 |
+
"position": [
|
| 611 |
+
-0.033386485767550766,
|
| 612 |
+
-0.10343029908108292,
|
| 613 |
+
-0.0018883358879975276
|
| 614 |
+
],
|
| 615 |
+
"orientation": {
|
| 616 |
+
"w": 0.5087777141984221,
|
| 617 |
+
"xyz": [
|
| 618 |
+
-0.49661191128734694,
|
| 619 |
+
0.5017779822533707,
|
| 620 |
+
0.49268722697903683
|
| 621 |
+
]
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
"grasp_50": {
|
| 625 |
+
"confidence": 0.9569458961486816,
|
| 626 |
+
"position": [
|
| 627 |
+
-0.02541507047135383,
|
| 628 |
+
0.10109230317902984,
|
| 629 |
+
-0.0013431398856482701
|
| 630 |
+
],
|
| 631 |
+
"orientation": {
|
| 632 |
+
"w": 0.4894389156141169,
|
| 633 |
+
"xyz": [
|
| 634 |
+
0.5147970506420523,
|
| 635 |
+
0.50045309666095,
|
| 636 |
+
-0.4949547884152525
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
"grasp_52": {
|
| 641 |
+
"confidence": 0.9547685384750366,
|
| 642 |
+
"position": [
|
| 643 |
+
-0.02730284456629306,
|
| 644 |
+
-0.09872595033812104,
|
| 645 |
+
-0.005768917240857263
|
| 646 |
+
],
|
| 647 |
+
"orientation": {
|
| 648 |
+
"w": 0.5071176535424478,
|
| 649 |
+
"xyz": [
|
| 650 |
+
-0.4994123829403351,
|
| 651 |
+
0.4910084829431721,
|
| 652 |
+
0.5023242248879729
|
| 653 |
+
]
|
| 654 |
+
}
|
| 655 |
+
},
|
| 656 |
+
"grasp_53": {
|
| 657 |
+
"confidence": 0.9544248580932617,
|
| 658 |
+
"position": [
|
| 659 |
+
-0.07864060450810939,
|
| 660 |
+
0.09064635076356353,
|
| 661 |
+
-0.004501963705479284
|
| 662 |
+
],
|
| 663 |
+
"orientation": {
|
| 664 |
+
"w": 0.36727073215011774,
|
| 665 |
+
"xyz": [
|
| 666 |
+
0.5955325743514764,
|
| 667 |
+
-0.3453952444743533,
|
| 668 |
+
0.6254240859502621
|
| 669 |
+
]
|
| 670 |
+
}
|
| 671 |
+
},
|
| 672 |
+
"grasp_54": {
|
| 673 |
+
"confidence": 0.9543007612228394,
|
| 674 |
+
"position": [
|
| 675 |
+
-0.13154590327758342,
|
| 676 |
+
-0.00010885992287512636,
|
| 677 |
+
0.00034943074388138484
|
| 678 |
+
],
|
| 679 |
+
"orientation": {
|
| 680 |
+
"w": 0.700609025117452,
|
| 681 |
+
"xyz": [
|
| 682 |
+
0.03219538200012614,
|
| 683 |
+
0.7126991293606122,
|
| 684 |
+
0.013053823595591372
|
| 685 |
+
]
|
| 686 |
+
}
|
| 687 |
+
},
|
| 688 |
+
"grasp_58": {
|
| 689 |
+
"confidence": 0.9523224234580994,
|
| 690 |
+
"position": [
|
| 691 |
+
-0.1315319110872224,
|
| 692 |
+
0.0038550491517526098,
|
| 693 |
+
-0.004886626005827566
|
| 694 |
+
],
|
| 695 |
+
"orientation": {
|
| 696 |
+
"w": 0.7163407376283941,
|
| 697 |
+
"xyz": [
|
| 698 |
+
0.02482364132588237,
|
| 699 |
+
0.6972915735483812,
|
| 700 |
+
0.004918933192681079
|
| 701 |
+
]
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
}
|
| 705 |
+
}
|
| 706 |
+
],
|
| 707 |
+
"quality_check": {
|
| 708 |
+
"success": true,
|
| 709 |
+
"message": "YES"
|
| 710 |
+
}
|
| 711 |
+
}
|
dataset/desktop_supplies/office_stationery/65489a6275435019a8c5b134845f29b7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4b54d72479737c627d5358a07f7a848969fb25c5c9fa8ce097826372ddab3ac7
|
| 3 |
+
size 3778952
|