Add asset desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/affordance_annot.json +810 -0
- dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/notebook_015.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8218,3 +8218,4 @@ dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affo
|
|
| 8218 |
dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8219 |
dataset/desktop_supplies/office_stationery/e7b82f1e5288564895659ebc23b435c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8220 |
dataset/desktop_supplies/office_stationery/e936c97e42d95c2eb5052eaf6dd911ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8218 |
dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8219 |
dataset/desktop_supplies/office_stationery/e7b82f1e5288564895659ebc23b435c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8220 |
dataset/desktop_supplies/office_stationery/e936c97e42d95c2eb5052eaf6dd911ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8221 |
+
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,810 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cover",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the notebook by pinching a cover edge or corner to pick it up",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cover to stabilize the notebook while opening, closing, or repositioning it",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"protect pages",
|
| 19 |
+
"provide rigid writing support",
|
| 20 |
+
"form the outer body",
|
| 21 |
+
"support opening and closing"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large tan cardboard cover with a matte finish and smooth hard surface, rounded rectangular shape, forming the outer front and back faces of the notebook.",
|
| 24 |
+
"id": 7,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_23": {
|
| 27 |
+
"confidence": 0.9657333493232727,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.002454947680234909,
|
| 30 |
+
-0.15739465109072626,
|
| 31 |
+
0.007464188587618992
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.4750903905900865,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.5209635605434958,
|
| 37 |
+
-0.5033644889164569,
|
| 38 |
+
-0.4995100405924564
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_24": {
|
| 43 |
+
"confidence": 0.9645634889602661,
|
| 44 |
+
"position": [
|
| 45 |
+
0.00518223294056952,
|
| 46 |
+
-0.15726504079066217,
|
| 47 |
+
-0.0011728295648936182
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4847304299378542,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.5083196155929744,
|
| 53 |
+
-0.4871399545701455,
|
| 54 |
+
-0.5189819297018633
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_25": {
|
| 59 |
+
"confidence": 0.9642890691757202,
|
| 60 |
+
"position": [
|
| 61 |
+
0.012591555481776595,
|
| 62 |
+
-0.1528859322424978,
|
| 63 |
+
0.0020524367864709347
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.47284985420051523,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.5255720367780576,
|
| 69 |
+
0.4840049842140346,
|
| 70 |
+
0.5156803513762062
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_26": {
|
| 75 |
+
"confidence": 0.9626522064208984,
|
| 76 |
+
"position": [
|
| 77 |
+
0.01151400781236589,
|
| 78 |
+
-0.15281989029608667,
|
| 79 |
+
-0.0007342953467741609
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5092748130789055,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.4819562480614016,
|
| 85 |
+
-0.5117342253358714,
|
| 86 |
+
-0.4964729824853699
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_28": {
|
| 91 |
+
"confidence": 0.9614038467407227,
|
| 92 |
+
"position": [
|
| 93 |
+
0.008820685790851712,
|
| 94 |
+
-0.15515593043528497,
|
| 95 |
+
0.0018167632806580514
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.4484609707515914,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.5581612610938593,
|
| 101 |
+
0.44800663779016103,
|
| 102 |
+
0.5353772658813676
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_29": {
|
| 107 |
+
"confidence": 0.961315929889679,
|
| 108 |
+
"position": [
|
| 109 |
+
0.012575572123751044,
|
| 110 |
+
-0.15131408325396478,
|
| 111 |
+
0.008344748493982479
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.5797572465755199,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.3878765795661301,
|
| 117 |
+
-0.6247063577591612,
|
| 118 |
+
-0.35096333233335675
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_30": {
|
| 123 |
+
"confidence": 0.9612836241722107,
|
| 124 |
+
"position": [
|
| 125 |
+
0.0066632835660129786,
|
| 126 |
+
-0.15822948864661157,
|
| 127 |
+
-0.0022060256742406636
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.47658260297628585,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.5099257568747669,
|
| 133 |
+
-0.4819070849235355,
|
| 134 |
+
-0.5297266337617393
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_31": {
|
| 139 |
+
"confidence": 0.9607231616973877,
|
| 140 |
+
"position": [
|
| 141 |
+
0.01453361171297729,
|
| 142 |
+
-0.15234835795126855,
|
| 143 |
+
-0.0006605735688935965
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.5167446009572485,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.47196632882255546,
|
| 149 |
+
-0.5199834607087206,
|
| 150 |
+
-0.489734624494405
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_32": {
|
| 155 |
+
"confidence": 0.9606658220291138,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.031504985177889466,
|
| 158 |
+
0.15543740638531744,
|
| 159 |
+
-0.006097629695432261
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.5231439920361712,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.4817843854375645,
|
| 165 |
+
-0.49269709976859233,
|
| 166 |
+
0.5014516301944032
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_33": {
|
| 171 |
+
"confidence": 0.9601007699966431,
|
| 172 |
+
"position": [
|
| 173 |
+
0.004597373073920608,
|
| 174 |
+
-0.15903018764220178,
|
| 175 |
+
-0.0036343734536785632
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.4850282658224474,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.5059685632477258,
|
| 181 |
+
-0.492275378982688,
|
| 182 |
+
-0.5161476006005956
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_34": {
|
| 187 |
+
"confidence": 0.9598686695098877,
|
| 188 |
+
"position": [
|
| 189 |
+
0.03925308561883867,
|
| 190 |
+
-0.15529793850146234,
|
| 191 |
+
-0.003565479797543958
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.5900584820446659,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.3948841107661842,
|
| 197 |
+
-0.5805162725440222,
|
| 198 |
+
-0.3986206017545242
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_35": {
|
| 203 |
+
"confidence": 0.9591399431228638,
|
| 204 |
+
"position": [
|
| 205 |
+
0.005395873682573438,
|
| 206 |
+
-0.1597046887036413,
|
| 207 |
+
0.007860477518988773
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.4785081859169522,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.5284284600726178,
|
| 213 |
+
-0.4912540352075525,
|
| 214 |
+
-0.5004625375470636
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_36": {
|
| 219 |
+
"confidence": 0.9583706855773926,
|
| 220 |
+
"position": [
|
| 221 |
+
0.01850800565443933,
|
| 222 |
+
-0.15507705858908594,
|
| 223 |
+
-0.004310532036470249
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.4881456826702915,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.5158185792756722,
|
| 229 |
+
0.47847927613660934,
|
| 230 |
+
0.516432539710821
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_39": {
|
| 235 |
+
"confidence": 0.9573377370834351,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.016696263337507844,
|
| 238 |
+
0.16060581454075873,
|
| 239 |
+
-0.004113032977329567
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.5192064104995396,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.4822587399991081,
|
| 245 |
+
-0.5019675533298221,
|
| 246 |
+
0.49586266888598124
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_40": {
|
| 251 |
+
"confidence": 0.9567430019378662,
|
| 252 |
+
"position": [
|
| 253 |
+
0.01823669276200235,
|
| 254 |
+
-0.16169040254317224,
|
| 255 |
+
-1.1672964319586754e-05
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.4913534406570531,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.515857391822715,
|
| 261 |
+
-0.48698345490912176,
|
| 262 |
+
-0.5052821610754902
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_41": {
|
| 267 |
+
"confidence": 0.956576943397522,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.006377762416377664,
|
| 270 |
+
-0.16134503833018243,
|
| 271 |
+
0.0026008991699200124
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.5079779980651846,
|
| 275 |
+
"xyz": [
|
| 276 |
+
-0.4983002699140517,
|
| 277 |
+
0.51754128903844,
|
| 278 |
+
0.4751907076382081
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_42": {
|
| 283 |
+
"confidence": 0.9564858078956604,
|
| 284 |
+
"position": [
|
| 285 |
+
0.015736213652417064,
|
| 286 |
+
-0.15662163845263422,
|
| 287 |
+
0.0011106596502941102
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.5895078558168417,
|
| 291 |
+
"xyz": [
|
| 292 |
+
-0.39728988963584944,
|
| 293 |
+
-0.5916291938975947,
|
| 294 |
+
-0.38028427321077407
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
{
|
| 301 |
+
"part_name": "elastic strap",
|
| 302 |
+
"mask_color": "Lime Green",
|
| 303 |
+
"graspable": true,
|
| 304 |
+
"grasp_scenarios": [
|
| 305 |
+
{
|
| 306 |
+
"scenario": "grasp the elastic strap and pull it away from the cover to open the notebook",
|
| 307 |
+
"confidence": 0.93
|
| 308 |
+
},
|
| 309 |
+
{
|
| 310 |
+
"scenario": "hold the strap while stretching it over the cover during closure",
|
| 311 |
+
"confidence": 0.78
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"functional_labels": [
|
| 315 |
+
"keep notebook closed",
|
| 316 |
+
"secure the covers",
|
| 317 |
+
"provide a pull point",
|
| 318 |
+
"assist opening and closing"
|
| 319 |
+
],
|
| 320 |
+
"semantic_description": "Wide multicolored elastic band with a soft woven texture, wrapping around one edge of the notebook as a closure strap.",
|
| 321 |
+
"id": 9,
|
| 322 |
+
"grasp_group": {
|
| 323 |
+
"grasp_45": {
|
| 324 |
+
"confidence": 0.9287596344947815,
|
| 325 |
+
"position": [
|
| 326 |
+
0.14938044524751604,
|
| 327 |
+
0.0622540193144232,
|
| 328 |
+
0.0169226820289623
|
| 329 |
+
],
|
| 330 |
+
"orientation": {
|
| 331 |
+
"w": 0.18302115805438066,
|
| 332 |
+
"xyz": [
|
| 333 |
+
0.7353418061097882,
|
| 334 |
+
0.17390473452571875,
|
| 335 |
+
-0.6289140062052739
|
| 336 |
+
]
|
| 337 |
+
}
|
| 338 |
+
},
|
| 339 |
+
"grasp_47": {
|
| 340 |
+
"confidence": 0.9232614636421204,
|
| 341 |
+
"position": [
|
| 342 |
+
0.15742783225141466,
|
| 343 |
+
0.05598201253451407,
|
| 344 |
+
-0.006730893190251663
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
+
"w": 0.16373610429772548,
|
| 348 |
+
"xyz": [
|
| 349 |
+
0.6813388893030887,
|
| 350 |
+
0.14970869983541735,
|
| 351 |
+
-0.6975350251178981
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
},
|
| 355 |
+
"grasp_52": {
|
| 356 |
+
"confidence": 0.9184110760688782,
|
| 357 |
+
"position": [
|
| 358 |
+
0.15802462375722826,
|
| 359 |
+
-0.015680223470553756,
|
| 360 |
+
-0.00655438334797509
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.7108283780686918,
|
| 364 |
+
"xyz": [
|
| 365 |
+
-0.01132314359157799,
|
| 366 |
+
-0.7031363630304273,
|
| 367 |
+
-0.013930482252260217
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_54": {
|
| 372 |
+
"confidence": 0.9163482189178467,
|
| 373 |
+
"position": [
|
| 374 |
+
0.1491671649273485,
|
| 375 |
+
0.04509821557439864,
|
| 376 |
+
-0.002618349884869531
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.17526596212043255,
|
| 380 |
+
"xyz": [
|
| 381 |
+
0.6871301187534621,
|
| 382 |
+
0.1579915428370149,
|
| 383 |
+
-0.687148248062841
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_57": {
|
| 388 |
+
"confidence": 0.9142307043075562,
|
| 389 |
+
"position": [
|
| 390 |
+
0.1616159228142351,
|
| 391 |
+
-0.0005541089922189713,
|
| 392 |
+
0.004662455496145412
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.6914265050687592,
|
| 396 |
+
"xyz": [
|
| 397 |
+
-0.04016988852809714,
|
| 398 |
+
-0.7212391684376644,
|
| 399 |
+
-0.011394299249512357
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_58": {
|
| 404 |
+
"confidence": 0.9139257073402405,
|
| 405 |
+
"position": [
|
| 406 |
+
0.15080818510614336,
|
| 407 |
+
0.040926598245278,
|
| 408 |
+
-0.00011388387065380812
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.18114039463331394,
|
| 412 |
+
"xyz": [
|
| 413 |
+
0.6900366983398841,
|
| 414 |
+
0.17132840006796168,
|
| 415 |
+
-0.6794733929348756
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_62": {
|
| 420 |
+
"confidence": 0.9085968732833862,
|
| 421 |
+
"position": [
|
| 422 |
+
0.15767981088720262,
|
| 423 |
+
0.05967475124634802,
|
| 424 |
+
-0.006402135390089825
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.1785420283871175,
|
| 428 |
+
"xyz": [
|
| 429 |
+
0.6914620632053476,
|
| 430 |
+
0.15037012543322792,
|
| 431 |
+
-0.6836605770588302
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
}
|
| 435 |
+
}
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"part_name": "binding rings",
|
| 439 |
+
"mask_color": "Orange",
|
| 440 |
+
"graspable": true,
|
| 441 |
+
"grasp_scenarios": [
|
| 442 |
+
{
|
| 443 |
+
"scenario": "grasp the ring area lightly to steady or reposition the notebook",
|
| 444 |
+
"confidence": 0.4
|
| 445 |
+
},
|
| 446 |
+
{
|
| 447 |
+
"scenario": "pinch a ring carefully for fine manipulation",
|
| 448 |
+
"confidence": 0.28
|
| 449 |
+
}
|
| 450 |
+
],
|
| 451 |
+
"functional_labels": [
|
| 452 |
+
"bind pages and covers",
|
| 453 |
+
"act as hinge points",
|
| 454 |
+
"allow pages to flip",
|
| 455 |
+
"connect notebook sections"
|
| 456 |
+
],
|
| 457 |
+
"semantic_description": "Several small white looped rings with a smooth hard surface, aligned along one side edge as the notebook binding.",
|
| 458 |
+
"id": 4,
|
| 459 |
+
"grasp_group": {
|
| 460 |
+
"grasp_0": {
|
| 461 |
+
"confidence": 0.9517439007759094,
|
| 462 |
+
"position": [
|
| 463 |
+
-0.14791972958482802,
|
| 464 |
+
-0.0539678146596998,
|
| 465 |
+
-0.000818645057734102
|
| 466 |
+
],
|
| 467 |
+
"orientation": {
|
| 468 |
+
"w": 0.028794557393113596,
|
| 469 |
+
"xyz": [
|
| 470 |
+
0.7046099557542149,
|
| 471 |
+
-0.014694272554479748,
|
| 472 |
+
0.7088580690594364
|
| 473 |
+
]
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"grasp_1": {
|
| 477 |
+
"confidence": 0.9468564987182617,
|
| 478 |
+
"position": [
|
| 479 |
+
-0.1477613600436598,
|
| 480 |
+
-0.020020423224195838,
|
| 481 |
+
0.003952598635805771
|
| 482 |
+
],
|
| 483 |
+
"orientation": {
|
| 484 |
+
"w": 0.026287108314309738,
|
| 485 |
+
"xyz": [
|
| 486 |
+
0.7096111138369386,
|
| 487 |
+
-0.012136908024678372,
|
| 488 |
+
0.7039984023555533
|
| 489 |
+
]
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"grasp_4": {
|
| 493 |
+
"confidence": 0.9267247915267944,
|
| 494 |
+
"position": [
|
| 495 |
+
-0.14967134618200362,
|
| 496 |
+
-0.01639660424552858,
|
| 497 |
+
-0.0038208563637454063
|
| 498 |
+
],
|
| 499 |
+
"orientation": {
|
| 500 |
+
"w": 0.7020617696656527,
|
| 501 |
+
"xyz": [
|
| 502 |
+
0.028253431617701993,
|
| 503 |
+
0.7106799495598178,
|
| 504 |
+
-0.03528490427095889
|
| 505 |
+
]
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"grasp_5": {
|
| 509 |
+
"confidence": 0.9223255515098572,
|
| 510 |
+
"position": [
|
| 511 |
+
-0.15721058868803084,
|
| 512 |
+
-0.03335018432699144,
|
| 513 |
+
-0.0075137825042475015
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.7115869844409134,
|
| 517 |
+
"xyz": [
|
| 518 |
+
0.02639074344225197,
|
| 519 |
+
0.7015697911985374,
|
| 520 |
+
-0.027337159920022922
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_6": {
|
| 525 |
+
"confidence": 0.9198352694511414,
|
| 526 |
+
"position": [
|
| 527 |
+
-0.15261508547700942,
|
| 528 |
+
0.08007999905385077,
|
| 529 |
+
-0.002471219311701134
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.7059954277284511,
|
| 533 |
+
"xyz": [
|
| 534 |
+
0.07579609589717785,
|
| 535 |
+
0.6994796824509604,
|
| 536 |
+
-0.08095419514497973
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_7": {
|
| 541 |
+
"confidence": 0.9054113626480103,
|
| 542 |
+
"position": [
|
| 543 |
+
-0.15092450403608382,
|
| 544 |
+
0.04820484691299498,
|
| 545 |
+
-0.007158341846661642
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.7036517819706416,
|
| 549 |
+
"xyz": [
|
| 550 |
+
0.017145590581089432,
|
| 551 |
+
0.7101693665308163,
|
| 552 |
+
-0.015481256227641486
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_8": {
|
| 557 |
+
"confidence": 0.8957433700561523,
|
| 558 |
+
"position": [
|
| 559 |
+
-0.15939398133195937,
|
| 560 |
+
0.06356340297497809,
|
| 561 |
+
-0.004315846861572936
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.7046080189297382,
|
| 565 |
+
"xyz": [
|
| 566 |
+
0.015644886490804595,
|
| 567 |
+
0.7089318588858515,
|
| 568 |
+
-0.026427195145364613
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_9": {
|
| 573 |
+
"confidence": 0.7964064478874207,
|
| 574 |
+
"position": [
|
| 575 |
+
-0.15506988787092268,
|
| 576 |
+
-0.03145610145293176,
|
| 577 |
+
0.033790299174143
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.6068816405475747,
|
| 581 |
+
"xyz": [
|
| 582 |
+
0.029173054970719547,
|
| 583 |
+
0.793021331271599,
|
| 584 |
+
-0.044280643380388736
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"grasp_10": {
|
| 589 |
+
"confidence": 0.7611870169639587,
|
| 590 |
+
"position": [
|
| 591 |
+
-0.14906473481096327,
|
| 592 |
+
0.047430731588974595,
|
| 593 |
+
-0.04614114252035506
|
| 594 |
+
],
|
| 595 |
+
"orientation": {
|
| 596 |
+
"w": 0.8218529528974866,
|
| 597 |
+
"xyz": [
|
| 598 |
+
0.02010747689227164,
|
| 599 |
+
0.5693283744260427,
|
| 600 |
+
-0.004314540544246425
|
| 601 |
+
]
|
| 602 |
+
}
|
| 603 |
+
},
|
| 604 |
+
"grasp_11": {
|
| 605 |
+
"confidence": 0.7108885049819946,
|
| 606 |
+
"position": [
|
| 607 |
+
-0.14999531232751906,
|
| 608 |
+
-0.0676576232071966,
|
| 609 |
+
0.039970872428966686
|
| 610 |
+
],
|
| 611 |
+
"orientation": {
|
| 612 |
+
"w": 0.577498853128444,
|
| 613 |
+
"xyz": [
|
| 614 |
+
-0.0886118084886959,
|
| 615 |
+
0.8054069819988734,
|
| 616 |
+
0.09981290186724917
|
| 617 |
+
]
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"grasp_12": {
|
| 621 |
+
"confidence": 0.9390925168991089,
|
| 622 |
+
"position": [
|
| 623 |
+
-0.14479070925153792,
|
| 624 |
+
0.0076940173748880625,
|
| 625 |
+
-0.0018450477218721062
|
| 626 |
+
],
|
| 627 |
+
"orientation": {
|
| 628 |
+
"w": 0.14371131292655226,
|
| 629 |
+
"xyz": [
|
| 630 |
+
0.6891422832456269,
|
| 631 |
+
-0.115767470983273,
|
| 632 |
+
0.700733804409398
|
| 633 |
+
]
|
| 634 |
+
}
|
| 635 |
+
},
|
| 636 |
+
"grasp_14": {
|
| 637 |
+
"confidence": 0.9199323058128357,
|
| 638 |
+
"position": [
|
| 639 |
+
-0.14751328551210463,
|
| 640 |
+
-0.019740663236007094,
|
| 641 |
+
-0.006371479510562494
|
| 642 |
+
],
|
| 643 |
+
"orientation": {
|
| 644 |
+
"w": 0.7088447041664744,
|
| 645 |
+
"xyz": [
|
| 646 |
+
0.023698332665676374,
|
| 647 |
+
0.7042784710508125,
|
| 648 |
+
-0.031135343555830912
|
| 649 |
+
]
|
| 650 |
+
}
|
| 651 |
+
},
|
| 652 |
+
"grasp_15": {
|
| 653 |
+
"confidence": 0.9162834286689758,
|
| 654 |
+
"position": [
|
| 655 |
+
-0.14513449394144118,
|
| 656 |
+
-0.09824709943495691,
|
| 657 |
+
-0.009457950975047424
|
| 658 |
+
],
|
| 659 |
+
"orientation": {
|
| 660 |
+
"w": 0.13950373982006928,
|
| 661 |
+
"xyz": [
|
| 662 |
+
-0.6712796593746275,
|
| 663 |
+
-0.1561841670903481,
|
| 664 |
+
-0.7110055073179058
|
| 665 |
+
]
|
| 666 |
+
}
|
| 667 |
+
},
|
| 668 |
+
"grasp_16": {
|
| 669 |
+
"confidence": 0.909352719783783,
|
| 670 |
+
"position": [
|
| 671 |
+
-0.14273050450719893,
|
| 672 |
+
-0.07062829635106027,
|
| 673 |
+
0.012328115728450939
|
| 674 |
+
],
|
| 675 |
+
"orientation": {
|
| 676 |
+
"w": 0.6542586557027665,
|
| 677 |
+
"xyz": [
|
| 678 |
+
-0.09236084694882916,
|
| 679 |
+
0.7400063458781065,
|
| 680 |
+
0.12572069618418744
|
| 681 |
+
]
|
| 682 |
+
}
|
| 683 |
+
},
|
| 684 |
+
"grasp_18": {
|
| 685 |
+
"confidence": 0.9446818828582764,
|
| 686 |
+
"position": [
|
| 687 |
+
-0.13558942102827132,
|
| 688 |
+
-0.10240520141087472,
|
| 689 |
+
0.001831127068726346
|
| 690 |
+
],
|
| 691 |
+
"orientation": {
|
| 692 |
+
"w": 0.6805258788233253,
|
| 693 |
+
"xyz": [
|
| 694 |
+
-0.16825018193407568,
|
| 695 |
+
0.6922713794424615,
|
| 696 |
+
0.17127971781773463
|
| 697 |
+
]
|
| 698 |
+
}
|
| 699 |
+
},
|
| 700 |
+
"grasp_19": {
|
| 701 |
+
"confidence": 0.9312236309051514,
|
| 702 |
+
"position": [
|
| 703 |
+
-0.14065939211286604,
|
| 704 |
+
-0.07824902585707605,
|
| 705 |
+
0.0016476511664222926
|
| 706 |
+
],
|
| 707 |
+
"orientation": {
|
| 708 |
+
"w": 0.6992917825672078,
|
| 709 |
+
"xyz": [
|
| 710 |
+
-0.13326141268616498,
|
| 711 |
+
0.6880069977288216,
|
| 712 |
+
0.14099209126414616
|
| 713 |
+
]
|
| 714 |
+
}
|
| 715 |
+
}
|
| 716 |
+
}
|
| 717 |
+
},
|
| 718 |
+
{
|
| 719 |
+
"part_name": "page block",
|
| 720 |
+
"mask_color": "Maroon",
|
| 721 |
+
"graspable": true,
|
| 722 |
+
"grasp_scenarios": [
|
| 723 |
+
{
|
| 724 |
+
"scenario": "grasp the exposed page block side to pick up or steady the notebook",
|
| 725 |
+
"confidence": 0.74
|
| 726 |
+
},
|
| 727 |
+
{
|
| 728 |
+
"scenario": "pinch the page edges to separate or flip pages",
|
| 729 |
+
"confidence": 0.62
|
| 730 |
+
}
|
| 731 |
+
],
|
| 732 |
+
"functional_labels": [
|
| 733 |
+
"provide writing pages",
|
| 734 |
+
"store notes",
|
| 735 |
+
"flip for reading",
|
| 736 |
+
"form the interior paper stack"
|
| 737 |
+
],
|
| 738 |
+
"semantic_description": "Thick white stack of paper pages with a matte finish and fine smooth texture, visible along the side edges inside the covers.",
|
| 739 |
+
"id": 12,
|
| 740 |
+
"grasp_group": {
|
| 741 |
+
"grasp_66": {
|
| 742 |
+
"confidence": 0.038114406168460846,
|
| 743 |
+
"position": [
|
| 744 |
+
-0.12788590812124312,
|
| 745 |
+
0.04897566535510123,
|
| 746 |
+
0.038016950216842815
|
| 747 |
+
],
|
| 748 |
+
"orientation": {
|
| 749 |
+
"w": 0.3965303070581032,
|
| 750 |
+
"xyz": [
|
| 751 |
+
0.624906797275545,
|
| 752 |
+
0.5423028047846984,
|
| 753 |
+
0.39769696783591013
|
| 754 |
+
]
|
| 755 |
+
}
|
| 756 |
+
}
|
| 757 |
+
}
|
| 758 |
+
},
|
| 759 |
+
{
|
| 760 |
+
"part_name": "cover edge trim",
|
| 761 |
+
"mask_color": "Teal",
|
| 762 |
+
"graspable": false,
|
| 763 |
+
"grasp_scenarios": [],
|
| 764 |
+
"functional_labels": [
|
| 765 |
+
"finish cover perimeter",
|
| 766 |
+
"protect edge",
|
| 767 |
+
"visually outline the cover"
|
| 768 |
+
],
|
| 769 |
+
"semantic_description": "Thin tan-brown edge layer running around the cover perimeter, visible as a narrow smooth border between the tan cover faces and surrounding edges.",
|
| 770 |
+
"id": 10,
|
| 771 |
+
"grasp_group": {}
|
| 772 |
+
},
|
| 773 |
+
{
|
| 774 |
+
"part_name": "strap tab",
|
| 775 |
+
"mask_color": "Cyan",
|
| 776 |
+
"graspable": true,
|
| 777 |
+
"grasp_scenarios": [
|
| 778 |
+
{
|
| 779 |
+
"scenario": "pinch the small tab/pad attached to the elastic strap to pull the strap free",
|
| 780 |
+
"confidence": 0.8
|
| 781 |
+
}
|
| 782 |
+
],
|
| 783 |
+
"functional_labels": [
|
| 784 |
+
"provide a pull tab",
|
| 785 |
+
"reinforce the strap end",
|
| 786 |
+
"assist opening"
|
| 787 |
+
],
|
| 788 |
+
"semantic_description": "Small light cyan semicircular pad attached near the end of the elastic strap, with a smooth surface and rounded shape at the notebook edge.",
|
| 789 |
+
"id": 6,
|
| 790 |
+
"grasp_group": {}
|
| 791 |
+
},
|
| 792 |
+
{
|
| 793 |
+
"part_name": "small cover mark",
|
| 794 |
+
"mask_color": "Purple",
|
| 795 |
+
"graspable": false,
|
| 796 |
+
"grasp_scenarios": [],
|
| 797 |
+
"functional_labels": [
|
| 798 |
+
"decorative graphic",
|
| 799 |
+
"surface marking"
|
| 800 |
+
],
|
| 801 |
+
"semantic_description": "Tiny dark teal printed mark on the tan cover surface, flat and small, located near the center area of the cover.",
|
| 802 |
+
"id": 5,
|
| 803 |
+
"grasp_group": {}
|
| 804 |
+
}
|
| 805 |
+
],
|
| 806 |
+
"quality_check": {
|
| 807 |
+
"success": false,
|
| 808 |
+
"message": "Several semantic descriptions use mask colors, and edge trim identity/appearance is incorrect."
|
| 809 |
+
}
|
| 810 |
+
}
|
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:53007a7cf28cc9de12306e92c3e420bdbad092f94e7794cc084fe8a78ee9135d
|
| 3 |
+
size 3795248
|
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/notebook_015.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|