Add asset desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff
Browse files
.gitattributes
CHANGED
|
@@ -8230,4 +8230,4 @@ dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affo
|
|
| 8230 |
dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8231 |
dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8232 |
dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8233 |
-
dataset/desktop_supplies/office_tools/
|
|
|
|
| 8230 |
dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8231 |
dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8232 |
dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8233 |
+
dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,526 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape strip and outer side surface",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the loose tape end to pull and dispense more tape",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the hanging tape end to start peeling or reposition the tape",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the outer side surface of the roll to pick up or stabilize the tape roll",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"dispense from the roll",
|
| 23 |
+
"provide a peel tab",
|
| 24 |
+
"adhere to surfaces",
|
| 25 |
+
"serve as an outer gripping surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "An off-white tape material region including the loose flexible tape end and the outer cylindrical side of the roll. The surface appears smooth and slightly glossy, with the strip forming a thin curved ribbon extending away from the roll.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "roll face of wound tape",
|
| 33 |
+
"mask_color": "Blue",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the flat circular rim faces of the roll to pick up the tape roll",
|
| 38 |
+
"confidence": 0.84
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "hold the roll by its front and back tape faces to stabilize it while pulling the free end",
|
| 42 |
+
"confidence": 0.82
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"scenario": "clamp the roll faces lightly for placement into a dispenser or fixture",
|
| 46 |
+
"confidence": 0.62
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"functional_labels": [
|
| 50 |
+
"support the wound tape",
|
| 51 |
+
"provide grasp surfaces",
|
| 52 |
+
"maintain roll shape",
|
| 53 |
+
"define the circular outer rim"
|
| 54 |
+
],
|
| 55 |
+
"semantic_description": "An off-white annular face of the wound tape visible on the front and back sides of the roll. It has a smooth slightly glossy appearance and forms a broad flat ring around the inner core opening.",
|
| 56 |
+
"id": 2,
|
| 57 |
+
"grasp_group": {
|
| 58 |
+
"grasp_40": {
|
| 59 |
+
"confidence": 0.9845899343490601,
|
| 60 |
+
"position": [
|
| 61 |
+
0.037170076509937644,
|
| 62 |
+
0.13446813495829701,
|
| 63 |
+
-0.0016327520133927464
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4315420907208892,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.5707149597517442,
|
| 69 |
+
0.4264187943051896,
|
| 70 |
+
-0.5533740782826001
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_41": {
|
| 75 |
+
"confidence": 0.9809160828590393,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.07684269384481013,
|
| 78 |
+
0.11564653040841222,
|
| 79 |
+
0.004166821949183941
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5789665296141333,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.3999368282501504,
|
| 85 |
+
0.5974728809495478,
|
| 86 |
+
-0.38454446755300464
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_42": {
|
| 91 |
+
"confidence": 0.9806182980537415,
|
| 92 |
+
"position": [
|
| 93 |
+
0.030526855727657676,
|
| 94 |
+
0.13570016296580434,
|
| 95 |
+
-0.0013727922923862934
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.5627328778473865,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.44962191592528533,
|
| 101 |
+
-0.5428714853263547,
|
| 102 |
+
0.43181291241558717
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_43": {
|
| 107 |
+
"confidence": 0.9798049330711365,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.001483031315729022,
|
| 110 |
+
0.14017724664881825,
|
| 111 |
+
0.008745378814637661
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.46752455369669155,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.5427905056261212,
|
| 117 |
+
0.4819646316689128,
|
| 118 |
+
-0.5044891996000487
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_44": {
|
| 123 |
+
"confidence": 0.9778972268104553,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.07449515000917017,
|
| 126 |
+
0.1162154939956963,
|
| 127 |
+
0.002615732606500387
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.5720442448957977,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.41029907642792923,
|
| 133 |
+
0.5866888869781999,
|
| 134 |
+
-0.40027015834341856
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_45": {
|
| 139 |
+
"confidence": 0.9768531322479248,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.027861884096637368,
|
| 142 |
+
0.13845787616446614,
|
| 143 |
+
-0.0034089500550180674
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.5314900688647901,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.4784553882855049,
|
| 149 |
+
0.5287232702422612,
|
| 150 |
+
-0.4572203534653685
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_46": {
|
| 155 |
+
"confidence": 0.9680137634277344,
|
| 156 |
+
"position": [
|
| 157 |
+
0.1129843161907047,
|
| 158 |
+
0.0756746125407517,
|
| 159 |
+
-0.005473568104207516
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.6801974601116879,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.23301605312460014,
|
| 165 |
+
-0.6527098239127523,
|
| 166 |
+
0.23875682191641337
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_49": {
|
| 171 |
+
"confidence": 0.9622485041618347,
|
| 172 |
+
"position": [
|
| 173 |
+
0.11763683869503438,
|
| 174 |
+
0.07242489280179143,
|
| 175 |
+
-0.0005987792392261326
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.20507355576115624,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.6812243491296256,
|
| 181 |
+
0.2167885295289087,
|
| 182 |
+
-0.6684915529347302
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_50": {
|
| 187 |
+
"confidence": 0.9604917168617249,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.1357903762254864,
|
| 190 |
+
-0.017946408595889807,
|
| 191 |
+
-0.0071796998381614685
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.1489613825962704,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.6792911404915676,
|
| 197 |
+
-0.12004570690859895,
|
| 198 |
+
-0.7084935293970497
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_52": {
|
| 203 |
+
"confidence": 0.9558451771736145,
|
| 204 |
+
"position": [
|
| 205 |
+
0.12900357111357152,
|
| 206 |
+
0.04473185585811734,
|
| 207 |
+
0.0014332099817693233
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.693764536536148,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.08033676622836439,
|
| 213 |
+
-0.7115024340473091,
|
| 214 |
+
0.0774664971552682
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_53": {
|
| 219 |
+
"confidence": 0.9558194279670715,
|
| 220 |
+
"position": [
|
| 221 |
+
0.0439799556042999,
|
| 222 |
+
-0.1234005275182426,
|
| 223 |
+
0.0019413073314353824
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.624111611467491,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.3298776827711326,
|
| 229 |
+
-0.6179465537736313,
|
| 230 |
+
-0.3461321532598386
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_54": {
|
| 235 |
+
"confidence": 0.9534244537353516,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.13648445741273463,
|
| 238 |
+
0.007681228686124086,
|
| 239 |
+
-0.01463434286415577
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.07661451607843528,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.6563580637791074,
|
| 245 |
+
-0.08370584703125661,
|
| 246 |
+
0.7458670385604851
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_56": {
|
| 251 |
+
"confidence": 0.9515811800956726,
|
| 252 |
+
"position": [
|
| 253 |
+
-0.13535111979581416,
|
| 254 |
+
0.008333685342222452,
|
| 255 |
+
-0.0034316505771130323
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.7095043672736925,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.059768172710327194,
|
| 261 |
+
0.6980875948194687,
|
| 262 |
+
0.07553163780559125
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_57": {
|
| 267 |
+
"confidence": 0.9427170157432556,
|
| 268 |
+
"position": [
|
| 269 |
+
0.13213668926618993,
|
| 270 |
+
0.034032628405839205,
|
| 271 |
+
0.0023085754364728928
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.693307106779149,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.0502198453923982,
|
| 277 |
+
-0.7174658297895548,
|
| 278 |
+
0.04523279675938141
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_58": {
|
| 283 |
+
"confidence": 0.9376888871192932,
|
| 284 |
+
"position": [
|
| 285 |
+
-0.03846954391337931,
|
| 286 |
+
-0.11623137025162578,
|
| 287 |
+
0.0010989700676873326
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.32093757756807784,
|
| 291 |
+
"xyz": [
|
| 292 |
+
-0.625654878222654,
|
| 293 |
+
-0.3222122751219405,
|
| 294 |
+
-0.6338251292128398
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_59": {
|
| 299 |
+
"confidence": 0.9373152852058411,
|
| 300 |
+
"position": [
|
| 301 |
+
-0.13549497560597956,
|
| 302 |
+
-0.0027784426929429173,
|
| 303 |
+
-0.008491620421409607
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.7163917995726782,
|
| 307 |
+
"xyz": [
|
| 308 |
+
0.08025221459071497,
|
| 309 |
+
0.691155317339267,
|
| 310 |
+
-0.051446077323387164
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
{
|
| 317 |
+
"part_name": "cardboard core",
|
| 318 |
+
"mask_color": "Green",
|
| 319 |
+
"graspable": true,
|
| 320 |
+
"grasp_scenarios": [
|
| 321 |
+
{
|
| 322 |
+
"scenario": "insert parallel gripper fingers into the center hole to lift the roll by the core",
|
| 323 |
+
"confidence": 0.71
|
| 324 |
+
},
|
| 325 |
+
{
|
| 326 |
+
"scenario": "grasp the inner core to orient the roll for mounting on a spindle",
|
| 327 |
+
"confidence": 0.76
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"scenario": "hold the core from inside while the other gripper manipulates the tape end",
|
| 331 |
+
"confidence": 0.54
|
| 332 |
+
}
|
| 333 |
+
],
|
| 334 |
+
"functional_labels": [
|
| 335 |
+
"mount on spindle",
|
| 336 |
+
"maintain central opening",
|
| 337 |
+
"support roll structure",
|
| 338 |
+
"indicate roll center"
|
| 339 |
+
],
|
| 340 |
+
"semantic_description": "A light brown cardboard inner ring with a matte paper-like finish and hollow cylindrical shape centered inside the tape roll. It appears rigid and slightly darker at the rim than the white inner cavity surface.",
|
| 341 |
+
"id": 1,
|
| 342 |
+
"grasp_group": {
|
| 343 |
+
"grasp_23": {
|
| 344 |
+
"confidence": 0.11136041581630707,
|
| 345 |
+
"position": [
|
| 346 |
+
0.017931962152943015,
|
| 347 |
+
-0.00846960162743926,
|
| 348 |
+
0.1112085236236453
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.07497238115607613,
|
| 352 |
+
"xyz": [
|
| 353 |
+
-0.9177851524554026,
|
| 354 |
+
-0.38967502377815055,
|
| 355 |
+
-0.014245414690306853
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_24": {
|
| 360 |
+
"confidence": 0.06482573598623276,
|
| 361 |
+
"position": [
|
| 362 |
+
0.008939915569499135,
|
| 363 |
+
0.006937618833035231,
|
| 364 |
+
0.110993224196136
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.02954633069444536,
|
| 368 |
+
"xyz": [
|
| 369 |
+
-0.4717343995291841,
|
| 370 |
+
0.881071974606092,
|
| 371 |
+
0.01748845925338225
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_25": {
|
| 376 |
+
"confidence": 0.9172376394271851,
|
| 377 |
+
"position": [
|
| 378 |
+
-0.02954024658538401,
|
| 379 |
+
0.11741792829707265,
|
| 380 |
+
-0.03563853818923235
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.4975605058779793,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.4538585969630975,
|
| 386 |
+
-0.355549767385114,
|
| 387 |
+
0.6480974308431786
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_26": {
|
| 392 |
+
"confidence": 0.8689482808113098,
|
| 393 |
+
"position": [
|
| 394 |
+
-0.10791034833528101,
|
| 395 |
+
-0.05819164915010333,
|
| 396 |
+
-0.04438544902950525
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.2101246177874705,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.4932878298156077,
|
| 402 |
+
-0.15379429134525702,
|
| 403 |
+
-0.8299771550501179
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_27": {
|
| 408 |
+
"confidence": 0.7894304990768433,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.03654834092594683,
|
| 411 |
+
0.11438582511618733,
|
| 412 |
+
-0.04582893196493387
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.7449252513130484,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.3505428718447239,
|
| 418 |
+
0.3582517335273854,
|
| 419 |
+
-0.44029735449996615
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_28": {
|
| 424 |
+
"confidence": 0.787662923336029,
|
| 425 |
+
"position": [
|
| 426 |
+
0.10317737027071416,
|
| 427 |
+
0.04854529397562146,
|
| 428 |
+
-0.04107122588902712
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.8296421555712296,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.16958426065461393,
|
| 434 |
+
-0.5139323081461199,
|
| 435 |
+
0.13714464947985985
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_30": {
|
| 440 |
+
"confidence": 0.6417478322982788,
|
| 441 |
+
"position": [
|
| 442 |
+
-0.04127432988025248,
|
| 443 |
+
0.10745579423382878,
|
| 444 |
+
-0.0494008706882596
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.7678036253029537,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.29073000885891315,
|
| 450 |
+
0.376600897560625,
|
| 451 |
+
-0.429098379019392
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_31": {
|
| 456 |
+
"confidence": 0.6320429444313049,
|
| 457 |
+
"position": [
|
| 458 |
+
-0.09378933743573725,
|
| 459 |
+
-0.06437988532707095,
|
| 460 |
+
-0.05196568462997675
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.31983617918450896,
|
| 464 |
+
"xyz": [
|
| 465 |
+
-0.45948048883651277,
|
| 466 |
+
-0.049933119496671896,
|
| 467 |
+
-0.8270968398201899
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_35": {
|
| 472 |
+
"confidence": 0.03770908713340759,
|
| 473 |
+
"position": [
|
| 474 |
+
-0.005457747029140592,
|
| 475 |
+
-0.005181395215913653,
|
| 476 |
+
0.10887300502508879
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.04204912352608979,
|
| 480 |
+
"xyz": [
|
| 481 |
+
0.5242127064196058,
|
| 482 |
+
0.8505443626545842,
|
| 483 |
+
-0.0026826843695562244
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_37": {
|
| 488 |
+
"confidence": 0.023985683917999268,
|
| 489 |
+
"position": [
|
| 490 |
+
-0.05886807129718363,
|
| 491 |
+
-0.007337500806897879,
|
| 492 |
+
0.09921450447291136
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.18766599078470952,
|
| 496 |
+
"xyz": [
|
| 497 |
+
-0.7302705648972508,
|
| 498 |
+
0.6444840413729813,
|
| 499 |
+
-0.126990938113678
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_38": {
|
| 504 |
+
"confidence": 0.02304213121533394,
|
| 505 |
+
"position": [
|
| 506 |
+
-0.00019434653222560883,
|
| 507 |
+
0.0003800767008215189,
|
| 508 |
+
-0.10922191012650728
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.9133575754669412,
|
| 512 |
+
"xyz": [
|
| 513 |
+
0.015218188734943808,
|
| 514 |
+
0.022784046609346187,
|
| 515 |
+
-0.4062354407100414
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
}
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
],
|
| 522 |
+
"quality_check": {
|
| 523 |
+
"success": true,
|
| 524 |
+
"message": "YES"
|
| 525 |
+
}
|
| 526 |
+
}
|
dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:030d1d2dd8e490e7d30710b1be30abc72b393873b14483507ca87819225a7f3b
|
| 3 |
+
size 2043352
|