Add asset desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0
Browse files
.gitattributes
CHANGED
|
@@ -6324,3 +6324,4 @@ dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/affo
|
|
| 6324 |
dataset/desktop_supplies/office_stationery/476422810f315b16828845719d2fc9fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6325 |
dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6326 |
dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6324 |
dataset/desktop_supplies/office_stationery/476422810f315b16828845719d2fc9fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6325 |
dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6326 |
dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6327 |
+
dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,485 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front cover",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the front cover edge to pick up the notebook from a table",
|
| 10 |
+
"confidence": 0.76
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the cover to open the notebook",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the cover to reposition the notebook",
|
| 18 |
+
"confidence": 0.68
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the pages",
|
| 23 |
+
"protect the notebook",
|
| 24 |
+
"provide writing support",
|
| 25 |
+
"open and close the notebook"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rectangular black front cover with a matte, pebbled leather-like texture and scattered small water droplets on the visible outer face. A black elastic band runs across the cover.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_64": {
|
| 31 |
+
"confidence": 0.9842975735664368,
|
| 32 |
+
"position": [
|
| 33 |
+
0.15393694769591093,
|
| 34 |
+
0.07029179867822677,
|
| 35 |
+
-0.0029590548656415194
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.002904485943335476,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6939799394827977,
|
| 41 |
+
0.009301030947709954,
|
| 42 |
+
-0.719928398092593
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_67": {
|
| 47 |
+
"confidence": 0.9752076864242554,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.011721734888851643,
|
| 50 |
+
0.19794436928350478,
|
| 51 |
+
0.001614187058294192
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4926946275733959,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.49754287750852094,
|
| 57 |
+
0.5109854397564352,
|
| 58 |
+
-0.49859499531962437
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_68": {
|
| 63 |
+
"confidence": 0.9748260378837585,
|
| 64 |
+
"position": [
|
| 65 |
+
0.1545124752447009,
|
| 66 |
+
0.047578130033798516,
|
| 67 |
+
-0.0020719242456834763
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7091815946023832,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.0063808868932163955,
|
| 73 |
+
-0.704976079174218,
|
| 74 |
+
0.005429360167095296
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_69": {
|
| 79 |
+
"confidence": 0.9744179248809814,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.022223147563636303,
|
| 82 |
+
0.1982339882524684,
|
| 83 |
+
0.0024405850854236633
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.4841300207475807,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.5059298264951886,
|
| 89 |
+
0.5108191444517375,
|
| 90 |
+
-0.49871528484205296
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_70": {
|
| 95 |
+
"confidence": 0.9738901853561401,
|
| 96 |
+
"position": [
|
| 97 |
+
0.15496900212019682,
|
| 98 |
+
-0.07650608930271119,
|
| 99 |
+
-0.0047083743556868285
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7239263889883233,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.01172562921990202,
|
| 105 |
+
-0.689774988754394,
|
| 106 |
+
-0.0018862223095050163
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_73": {
|
| 111 |
+
"confidence": 0.9679641723632812,
|
| 112 |
+
"position": [
|
| 113 |
+
0.1543845934793353,
|
| 114 |
+
-0.08832236740272492,
|
| 115 |
+
-0.004880870663328096
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.7206436365928505,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.01870226636232338,
|
| 121 |
+
-0.692399747485519,
|
| 122 |
+
-0.030092589671445725
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_74": {
|
| 127 |
+
"confidence": 0.9659891128540039,
|
| 128 |
+
"position": [
|
| 129 |
+
0.15437726210802794,
|
| 130 |
+
-0.030900413054041564,
|
| 131 |
+
-0.004846759111387655
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7164225339189372,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.00929235155214484,
|
| 137 |
+
-0.6976047317689391,
|
| 138 |
+
-0.00020810907605053007
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_76": {
|
| 143 |
+
"confidence": 0.9651763439178467,
|
| 144 |
+
"position": [
|
| 145 |
+
0.13624873291701078,
|
| 146 |
+
0.1530110799940303,
|
| 147 |
+
-0.007465454254997894
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.21295690608170878,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.6578101891380667,
|
| 153 |
+
0.2034348951314522,
|
| 154 |
+
-0.6932166722325006
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_79": {
|
| 159 |
+
"confidence": 0.9645534753799438,
|
| 160 |
+
"position": [
|
| 161 |
+
0.15168374311178923,
|
| 162 |
+
0.026877751690335572,
|
| 163 |
+
-0.0010633560304995626
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.0828283495938029,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.6957510770902072,
|
| 169 |
+
0.07527914972985428,
|
| 170 |
+
0.7095089519148671
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
}
|
| 175 |
+
},
|
| 176 |
+
{
|
| 177 |
+
"part_name": "back cover",
|
| 178 |
+
"mask_color": "Green",
|
| 179 |
+
"graspable": true,
|
| 180 |
+
"grasp_scenarios": [
|
| 181 |
+
{
|
| 182 |
+
"scenario": "grasp the back cover edge to lift or move the notebook",
|
| 183 |
+
"confidence": 0.79
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"scenario": "hold the back cover to stabilize the notebook while opening",
|
| 187 |
+
"confidence": 0.74
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"scenario": "use the back cover as the main support while placing or carrying the notebook",
|
| 191 |
+
"confidence": 0.7
|
| 192 |
+
}
|
| 193 |
+
],
|
| 194 |
+
"functional_labels": [
|
| 195 |
+
"support the notebook",
|
| 196 |
+
"protect the pages",
|
| 197 |
+
"provide backing for writing",
|
| 198 |
+
"stabilize the closed notebook"
|
| 199 |
+
],
|
| 200 |
+
"semantic_description": "Large rectangular black back cover with a matte, pebbled leather-like surface. It forms the rear outer panel of the notebook and appears plain aside from the band wrapping around it.",
|
| 201 |
+
"id": 1,
|
| 202 |
+
"grasp_group": {}
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"part_name": "elastic closure band",
|
| 206 |
+
"mask_color": "Blue",
|
| 207 |
+
"graspable": true,
|
| 208 |
+
"grasp_scenarios": [
|
| 209 |
+
{
|
| 210 |
+
"scenario": "pinch and pull the elastic band aside to open the notebook",
|
| 211 |
+
"confidence": 0.94
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"scenario": "grasp the band lightly to stabilize the notebook during handling",
|
| 215 |
+
"confidence": 0.43
|
| 216 |
+
},
|
| 217 |
+
{
|
| 218 |
+
"scenario": "hook or pinch the band to adjust the notebook position briefly",
|
| 219 |
+
"confidence": 0.32
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"functional_labels": [
|
| 223 |
+
"keep the notebook closed",
|
| 224 |
+
"provide tensioned closure",
|
| 225 |
+
"secure the covers",
|
| 226 |
+
"assist opening by releasing tension"
|
| 227 |
+
],
|
| 228 |
+
"semantic_description": "Narrow black elastic strap with a matte finish, wrapped around the notebook exterior as a long flexible band.",
|
| 229 |
+
"id": 2,
|
| 230 |
+
"grasp_group": {
|
| 231 |
+
"grasp_40": {
|
| 232 |
+
"confidence": 0.9783129692077637,
|
| 233 |
+
"position": [
|
| 234 |
+
0.04848406370729208,
|
| 235 |
+
0.19402131077367812,
|
| 236 |
+
0.0031123773951549083
|
| 237 |
+
],
|
| 238 |
+
"orientation": {
|
| 239 |
+
"w": 0.5037276565489887,
|
| 240 |
+
"xyz": [
|
| 241 |
+
0.48835555044611906,
|
| 242 |
+
-0.5058536479644289,
|
| 243 |
+
0.5018758723202498
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_42": {
|
| 248 |
+
"confidence": 0.9776025414466858,
|
| 249 |
+
"position": [
|
| 250 |
+
0.040179125033318996,
|
| 251 |
+
-0.1961444205371663,
|
| 252 |
+
-0.0011406441626604646
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.4975193658460475,
|
| 256 |
+
"xyz": [
|
| 257 |
+
-0.5050778257242752,
|
| 258 |
+
-0.49145835299525353,
|
| 259 |
+
-0.5058058499473673
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_43": {
|
| 264 |
+
"confidence": 0.976729154586792,
|
| 265 |
+
"position": [
|
| 266 |
+
0.04207312595099211,
|
| 267 |
+
-0.19618060055654496,
|
| 268 |
+
0.0007350804517045617
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.49300165887285724,
|
| 272 |
+
"xyz": [
|
| 273 |
+
-0.4949611629580852,
|
| 274 |
+
0.5019455212356172,
|
| 275 |
+
0.5099151941482964
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_44": {
|
| 280 |
+
"confidence": 0.9764776229858398,
|
| 281 |
+
"position": [
|
| 282 |
+
0.043967063538730145,
|
| 283 |
+
0.1955835634144023,
|
| 284 |
+
0.002417251031147316
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.48693856716586353,
|
| 288 |
+
"xyz": [
|
| 289 |
+
0.5111941000335785,
|
| 290 |
+
0.504944916263794,
|
| 291 |
+
-0.4965904302709281
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_45": {
|
| 296 |
+
"confidence": 0.9758840799331665,
|
| 297 |
+
"position": [
|
| 298 |
+
0.04364574234932661,
|
| 299 |
+
-0.19650568428914994,
|
| 300 |
+
-0.0002959699195344001
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.510144534634803,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.4991996856793877,
|
| 306 |
+
-0.49140293453724426,
|
| 307 |
+
-0.4990745270278033
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_47": {
|
| 312 |
+
"confidence": 0.9746071100234985,
|
| 313 |
+
"position": [
|
| 314 |
+
0.04644324164837599,
|
| 315 |
+
-0.1981486118165776,
|
| 316 |
+
0.0018883509619627148
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.4989012616362,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.502834847552896,
|
| 322 |
+
0.4875646492902228,
|
| 323 |
+
0.5104266450595676
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_48": {
|
| 328 |
+
"confidence": 0.9737860560417175,
|
| 329 |
+
"position": [
|
| 330 |
+
0.04204374086111784,
|
| 331 |
+
0.19043030973989516,
|
| 332 |
+
0.0015736201603431255
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.4892545456555455,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.5155741890507544,
|
| 338 |
+
0.4997446158491907,
|
| 339 |
+
-0.4950440021551489
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_49": {
|
| 344 |
+
"confidence": 0.9736297726631165,
|
| 345 |
+
"position": [
|
| 346 |
+
0.04609456192702055,
|
| 347 |
+
0.18985564645845443,
|
| 348 |
+
0.002555415063397959
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.496001359067232,
|
| 352 |
+
"xyz": [
|
| 353 |
+
0.5057861482431076,
|
| 354 |
+
0.5004728809174838,
|
| 355 |
+
-0.49768455824449165
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_52": {
|
| 360 |
+
"confidence": 0.9684715270996094,
|
| 361 |
+
"position": [
|
| 362 |
+
0.06487893965095282,
|
| 363 |
+
-0.19299733999650925,
|
| 364 |
+
-0.0037042675248812884
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.44387139611864557,
|
| 368 |
+
"xyz": [
|
| 369 |
+
-0.5413576433273648,
|
| 370 |
+
0.42760907218310473,
|
| 371 |
+
0.5718920939350622
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_53": {
|
| 376 |
+
"confidence": 0.9683104753494263,
|
| 377 |
+
"position": [
|
| 378 |
+
0.04648353438824415,
|
| 379 |
+
0.18853416678030044,
|
| 380 |
+
0.00255251771886833
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.4940742141900173,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.5040136382338899,
|
| 386 |
+
0.5038819518777701,
|
| 387 |
+
-0.49795973925469417
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_55": {
|
| 392 |
+
"confidence": 0.9668115377426147,
|
| 393 |
+
"position": [
|
| 394 |
+
0.0884620575234294,
|
| 395 |
+
0.18640415009576827,
|
| 396 |
+
0.0002370388901908882
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.3742475878713098,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.597039997330765,
|
| 402 |
+
0.36597586700526896,
|
| 403 |
+
-0.6079010193522693
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_56": {
|
| 408 |
+
"confidence": 0.9661051630973816,
|
| 409 |
+
"position": [
|
| 410 |
+
0.035197350196540356,
|
| 411 |
+
-0.1911456024972722,
|
| 412 |
+
-0.01058315156842582
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.5186068401686018,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.45689576229598405,
|
| 418 |
+
0.5045825643555675,
|
| 419 |
+
0.5173873244240426
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_59": {
|
| 424 |
+
"confidence": 0.9651957750320435,
|
| 425 |
+
"position": [
|
| 426 |
+
0.04048347007483244,
|
| 427 |
+
0.18845033284742385,
|
| 428 |
+
-0.00011331186397001147
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.50120114579922,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.5042264643664032,
|
| 434 |
+
0.4962307061601037,
|
| 435 |
+
-0.4983052983322076
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
}
|
| 439 |
+
}
|
| 440 |
+
},
|
| 441 |
+
{
|
| 442 |
+
"part_name": "page block",
|
| 443 |
+
"mask_color": "Red",
|
| 444 |
+
"graspable": true,
|
| 445 |
+
"grasp_scenarios": [
|
| 446 |
+
{
|
| 447 |
+
"scenario": "grasp the page block side to lift the notebook when covers are inaccessible",
|
| 448 |
+
"confidence": 0.4
|
| 449 |
+
},
|
| 450 |
+
{
|
| 451 |
+
"scenario": "pinch the page edges to flip or separate pages",
|
| 452 |
+
"confidence": 0.55
|
| 453 |
+
}
|
| 454 |
+
],
|
| 455 |
+
"functional_labels": [
|
| 456 |
+
"provide writing pages",
|
| 457 |
+
"store notes",
|
| 458 |
+
"form the paper interior",
|
| 459 |
+
"indicate book thickness"
|
| 460 |
+
],
|
| 461 |
+
"semantic_description": "Cream-colored paper page stack visible between the black covers, with smooth cut edges and a matte paper appearance.",
|
| 462 |
+
"id": 0,
|
| 463 |
+
"grasp_group": {}
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"part_name": "spine hinge strip",
|
| 467 |
+
"mask_color": "Orange",
|
| 468 |
+
"graspable": false,
|
| 469 |
+
"grasp_scenarios": [],
|
| 470 |
+
"functional_labels": [
|
| 471 |
+
"join the front and back covers",
|
| 472 |
+
"allow the notebook to open and close",
|
| 473 |
+
"reinforce the bound edge",
|
| 474 |
+
"protect the bound spine area"
|
| 475 |
+
],
|
| 476 |
+
"semantic_description": "Thin black strip running along the bound outer edge of the notebook near the spine, with a matte finish and slightly rounded profile where the covers hinge together.",
|
| 477 |
+
"id": 4,
|
| 478 |
+
"grasp_group": {}
|
| 479 |
+
}
|
| 480 |
+
],
|
| 481 |
+
"quality_check": {
|
| 482 |
+
"success": true,
|
| 483 |
+
"message": "YES"
|
| 484 |
+
}
|
| 485 |
+
}
|
dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:42aac2253b88bcc84e834e7d354a7fa762572c29ca3474fc607d4f288d47f580
|
| 3 |
+
size 3786820
|