Add asset desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed
Browse files
.gitattributes
CHANGED
|
@@ -8608,3 +8608,4 @@ dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/affo
|
|
| 8608 |
dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8609 |
dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8610 |
dataset/desktop_supplies/office_stationery/ebcf86a5fb8e5b63b8654cd5857b93a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8608 |
dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8609 |
dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8610 |
dataset/desktop_supplies/office_stationery/ebcf86a5fb8e5b63b8654cd5857b93a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8611 |
+
dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,586 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front cover main panel",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the notebook by the front cover edge or broad face to pick it up from a table",
|
| 10 |
+
"confidence": 0.85
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the front cover while reorienting or placing the notebook",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the notebook by pinching the front cover during opening",
|
| 18 |
+
"confidence": 0.67
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the pages",
|
| 23 |
+
"protect the notebook contents",
|
| 24 |
+
"provide exterior support",
|
| 25 |
+
"support opening and closing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rectangular white front cover panel with a smooth matte paper surface, printed ruled area, and adjacent blue graphic band on the outside face.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_31": {
|
| 31 |
+
"confidence": 0.963065505027771,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09873779070039745,
|
| 34 |
+
-0.14803280543492292,
|
| 35 |
+
-0.0034672799665713683
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.3660760489373149,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.6125628456417201,
|
| 41 |
+
0.3343826458565503,
|
| 42 |
+
0.6155837332838936
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_33": {
|
| 47 |
+
"confidence": 0.962929904460907,
|
| 48 |
+
"position": [
|
| 49 |
+
0.13128124874492642,
|
| 50 |
+
-0.10346296291754697,
|
| 51 |
+
-0.0002771612489596009
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.18156817099643313,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6933916993072593,
|
| 57 |
+
0.1838538458619584,
|
| 58 |
+
0.6726356472672027
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_37": {
|
| 63 |
+
"confidence": 0.9560822248458862,
|
| 64 |
+
"position": [
|
| 65 |
+
0.13975495797058102,
|
| 66 |
+
0.05857977408959414,
|
| 67 |
+
0.03066525979375001
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5849741570445098,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.0025198060902212804,
|
| 73 |
+
-0.8107744812841863,
|
| 74 |
+
0.021062446811616682
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_38": {
|
| 79 |
+
"confidence": 0.9473602771759033,
|
| 80 |
+
"position": [
|
| 81 |
+
0.14020805757900234,
|
| 82 |
+
0.016293342672724975,
|
| 83 |
+
0.028211871147505008
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5872241917448086,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.011700528065182392,
|
| 89 |
+
-0.8091151689396847,
|
| 90 |
+
-0.019065404909363436
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
}
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
{
|
| 97 |
+
"part_name": "front cover label band",
|
| 98 |
+
"mask_color": "Red",
|
| 99 |
+
"graspable": false,
|
| 100 |
+
"grasp_scenarios": [],
|
| 101 |
+
"functional_labels": [
|
| 102 |
+
"display title and branding",
|
| 103 |
+
"provide visual identification",
|
| 104 |
+
"carry front-cover graphics"
|
| 105 |
+
],
|
| 106 |
+
"semantic_description": "Wide vertical blue printed band on the front cover with large white 'Notebook' text and A4 marking, smooth matte printed paper surface.",
|
| 107 |
+
"id": 0,
|
| 108 |
+
"grasp_group": {}
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"part_name": "front cover badge",
|
| 112 |
+
"mask_color": "Yellow",
|
| 113 |
+
"graspable": false,
|
| 114 |
+
"grasp_scenarios": [],
|
| 115 |
+
"functional_labels": [
|
| 116 |
+
"display product marking",
|
| 117 |
+
"highlight product details",
|
| 118 |
+
"provide visual identifier"
|
| 119 |
+
],
|
| 120 |
+
"semantic_description": "Small yellow circular printed badge on the blue front-cover band, flat and smooth.",
|
| 121 |
+
"id": 3,
|
| 122 |
+
"grasp_group": {}
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"part_name": "binding spine",
|
| 126 |
+
"mask_color": "Green",
|
| 127 |
+
"graspable": true,
|
| 128 |
+
"grasp_scenarios": [
|
| 129 |
+
{
|
| 130 |
+
"scenario": "pinch the bound spine edge to lift or carry the notebook",
|
| 131 |
+
"confidence": 0.8
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"scenario": "hold the spine to stabilize the notebook while opening pages",
|
| 135 |
+
"confidence": 0.82
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "pull the notebook from a stack by the spine edge",
|
| 139 |
+
"confidence": 0.71
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"functional_labels": [
|
| 143 |
+
"bind the pages together",
|
| 144 |
+
"support opening hinge",
|
| 145 |
+
"reinforce the bound edge",
|
| 146 |
+
"provide a narrow grip area"
|
| 147 |
+
],
|
| 148 |
+
"semantic_description": "Long narrow bound edge running along one side of the notebook, appearing white in the RGB image with a matte finish and slightly rounded profile.",
|
| 149 |
+
"id": 1,
|
| 150 |
+
"grasp_group": {
|
| 151 |
+
"grasp_0": {
|
| 152 |
+
"confidence": 0.9757438898086548,
|
| 153 |
+
"position": [
|
| 154 |
+
-0.0361090866063023,
|
| 155 |
+
0.162911483534117,
|
| 156 |
+
0.0014585475291823968
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.4868027783603967,
|
| 160 |
+
"xyz": [
|
| 161 |
+
0.511663058184717,
|
| 162 |
+
0.5057958916934326,
|
| 163 |
+
-0.4953730774029883
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_4": {
|
| 168 |
+
"confidence": 0.9748483300209045,
|
| 169 |
+
"position": [
|
| 170 |
+
-0.14409417707065586,
|
| 171 |
+
-0.046984492353658425,
|
| 172 |
+
-0.0034019779559457675
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.707630682684622,
|
| 176 |
+
"xyz": [
|
| 177 |
+
0.01784313583776157,
|
| 178 |
+
0.7063543753158615,
|
| 179 |
+
-0.0019839100057023155
|
| 180 |
+
]
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"grasp_5": {
|
| 184 |
+
"confidence": 0.9747732281684875,
|
| 185 |
+
"position": [
|
| 186 |
+
-0.038414843860664405,
|
| 187 |
+
0.16338477421595599,
|
| 188 |
+
0.004146564737311564
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.4902325665829639,
|
| 192 |
+
"xyz": [
|
| 193 |
+
0.5093346260508894,
|
| 194 |
+
0.5058148705307685,
|
| 195 |
+
-0.4943698879553875
|
| 196 |
+
]
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"grasp_6": {
|
| 200 |
+
"confidence": 0.9747037887573242,
|
| 201 |
+
"position": [
|
| 202 |
+
-0.14273159998992924,
|
| 203 |
+
-0.04556468736336683,
|
| 204 |
+
0.0007257594697875902
|
| 205 |
+
],
|
| 206 |
+
"orientation": {
|
| 207 |
+
"w": 0.6943942577297539,
|
| 208 |
+
"xyz": [
|
| 209 |
+
0.025793759283694446,
|
| 210 |
+
0.7191274226333565,
|
| 211 |
+
0.002654586721856419
|
| 212 |
+
]
|
| 213 |
+
}
|
| 214 |
+
},
|
| 215 |
+
"grasp_11": {
|
| 216 |
+
"confidence": 0.974277675151825,
|
| 217 |
+
"position": [
|
| 218 |
+
-0.04061739939788822,
|
| 219 |
+
0.15787600863768603,
|
| 220 |
+
0.004171045482507907
|
| 221 |
+
],
|
| 222 |
+
"orientation": {
|
| 223 |
+
"w": 0.480636866842552,
|
| 224 |
+
"xyz": [
|
| 225 |
+
0.5090903574420711,
|
| 226 |
+
0.511589579264284,
|
| 227 |
+
-0.4980876555180548
|
| 228 |
+
]
|
| 229 |
+
}
|
| 230 |
+
},
|
| 231 |
+
"grasp_12": {
|
| 232 |
+
"confidence": 0.974105715751648,
|
| 233 |
+
"position": [
|
| 234 |
+
-0.13386472362617496,
|
| 235 |
+
-0.08872235428498243,
|
| 236 |
+
-0.0037630673177773133
|
| 237 |
+
],
|
| 238 |
+
"orientation": {
|
| 239 |
+
"w": 0.6915879198289403,
|
| 240 |
+
"xyz": [
|
| 241 |
+
-0.15483428767502355,
|
| 242 |
+
0.684318212080428,
|
| 243 |
+
0.1715840235042107
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_13": {
|
| 248 |
+
"confidence": 0.9738587737083435,
|
| 249 |
+
"position": [
|
| 250 |
+
-0.04113489064911846,
|
| 251 |
+
-0.16129039835141157,
|
| 252 |
+
-0.005178023609914817
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.5039232334524917,
|
| 256 |
+
"xyz": [
|
| 257 |
+
-0.4990176460704051,
|
| 258 |
+
0.5006446238180063,
|
| 259 |
+
0.49638465360974304
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_14": {
|
| 264 |
+
"confidence": 0.9738469123840332,
|
| 265 |
+
"position": [
|
| 266 |
+
-0.1425110479030991,
|
| 267 |
+
-0.03301581602499937,
|
| 268 |
+
-0.0026580668200040236
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.7063057851035425,
|
| 272 |
+
"xyz": [
|
| 273 |
+
0.010890778857670294,
|
| 274 |
+
0.7078167205098609,
|
| 275 |
+
-0.0030031702928544554
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_15": {
|
| 280 |
+
"confidence": 0.973457932472229,
|
| 281 |
+
"position": [
|
| 282 |
+
-0.13358313638309482,
|
| 283 |
+
-0.09529140453742002,
|
| 284 |
+
-0.004861586741753854
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.694434275199219,
|
| 288 |
+
"xyz": [
|
| 289 |
+
-0.15263179228355578,
|
| 290 |
+
0.6798610768144756,
|
| 291 |
+
0.1795925656743791
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_16": {
|
| 296 |
+
"confidence": 0.973404049873352,
|
| 297 |
+
"position": [
|
| 298 |
+
-0.1367209335003281,
|
| 299 |
+
-0.0753731788317964,
|
| 300 |
+
-0.0029063853580737486
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.690803269116833,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.12302506524819075,
|
| 306 |
+
0.6996664453149927,
|
| 307 |
+
0.13461999108029027
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_17": {
|
| 312 |
+
"confidence": 0.973283052444458,
|
| 313 |
+
"position": [
|
| 314 |
+
-0.1334776212606812,
|
| 315 |
+
-0.09024021636651014,
|
| 316 |
+
0.0005357150075724348
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.6842559144891059,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.16070688324455162,
|
| 322 |
+
0.6902554441635174,
|
| 323 |
+
0.17179802957870408
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
}
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"part_name": "back cover",
|
| 331 |
+
"mask_color": "Orange",
|
| 332 |
+
"graspable": true,
|
| 333 |
+
"grasp_scenarios": [
|
| 334 |
+
{
|
| 335 |
+
"scenario": "grasp the notebook by the back cover to pick it up",
|
| 336 |
+
"confidence": 0.84
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"scenario": "hold the back cover to support the notebook while writing or flipping pages",
|
| 340 |
+
"confidence": 0.74
|
| 341 |
+
}
|
| 342 |
+
],
|
| 343 |
+
"functional_labels": [
|
| 344 |
+
"cover the pages",
|
| 345 |
+
"protect the notebook contents",
|
| 346 |
+
"provide rear support",
|
| 347 |
+
"stiffen the notebook body"
|
| 348 |
+
],
|
| 349 |
+
"semantic_description": "Large rectangular white back cover with a smooth matte finish, mostly plain except for a small printed mark and a blue side band.",
|
| 350 |
+
"id": 4,
|
| 351 |
+
"grasp_group": {
|
| 352 |
+
"grasp_47": {
|
| 353 |
+
"confidence": 0.9765458703041077,
|
| 354 |
+
"position": [
|
| 355 |
+
0.024611616026959382,
|
| 356 |
+
-0.16490404915020918,
|
| 357 |
+
-0.002870724318199791
|
| 358 |
+
],
|
| 359 |
+
"orientation": {
|
| 360 |
+
"w": 0.5077427512494398,
|
| 361 |
+
"xyz": [
|
| 362 |
+
-0.49103566934603343,
|
| 363 |
+
-0.49780532440918657,
|
| 364 |
+
-0.5032604981253812
|
| 365 |
+
]
|
| 366 |
+
}
|
| 367 |
+
},
|
| 368 |
+
"grasp_48": {
|
| 369 |
+
"confidence": 0.9760027527809143,
|
| 370 |
+
"position": [
|
| 371 |
+
0.024566703927121125,
|
| 372 |
+
-0.16492424022362684,
|
| 373 |
+
-0.0017660809826338664
|
| 374 |
+
],
|
| 375 |
+
"orientation": {
|
| 376 |
+
"w": 0.49993585167876525,
|
| 377 |
+
"xyz": [
|
| 378 |
+
-0.5005573867303778,
|
| 379 |
+
0.49196559251756333,
|
| 380 |
+
0.5074212279504337
|
| 381 |
+
]
|
| 382 |
+
}
|
| 383 |
+
},
|
| 384 |
+
"grasp_50": {
|
| 385 |
+
"confidence": 0.9718281626701355,
|
| 386 |
+
"position": [
|
| 387 |
+
0.13018008273502346,
|
| 388 |
+
0.10467793185307528,
|
| 389 |
+
-0.000511349513544701
|
| 390 |
+
],
|
| 391 |
+
"orientation": {
|
| 392 |
+
"w": 0.1866742818746554,
|
| 393 |
+
"xyz": [
|
| 394 |
+
0.6731685420480286,
|
| 395 |
+
0.19334236682369088,
|
| 396 |
+
-0.6889234759206035
|
| 397 |
+
]
|
| 398 |
+
}
|
| 399 |
+
},
|
| 400 |
+
"grasp_51": {
|
| 401 |
+
"confidence": 0.9705523252487183,
|
| 402 |
+
"position": [
|
| 403 |
+
-0.038724594298400916,
|
| 404 |
+
-0.15554433178112959,
|
| 405 |
+
-0.00433010516280774
|
| 406 |
+
],
|
| 407 |
+
"orientation": {
|
| 408 |
+
"w": 0.3769755221464814,
|
| 409 |
+
"xyz": [
|
| 410 |
+
-0.6000930839418872,
|
| 411 |
+
-0.3681412294152189,
|
| 412 |
+
-0.6018718979252596
|
| 413 |
+
]
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"grasp_52": {
|
| 417 |
+
"confidence": 0.970416784286499,
|
| 418 |
+
"position": [
|
| 419 |
+
0.13037895363231655,
|
| 420 |
+
0.029811784141202224,
|
| 421 |
+
-0.0036815209459746256
|
| 422 |
+
],
|
| 423 |
+
"orientation": {
|
| 424 |
+
"w": 0.18870766009124953,
|
| 425 |
+
"xyz": [
|
| 426 |
+
0.6694071825868251,
|
| 427 |
+
0.18568721672337773,
|
| 428 |
+
-0.6941208111485926
|
| 429 |
+
]
|
| 430 |
+
}
|
| 431 |
+
},
|
| 432 |
+
"grasp_53": {
|
| 433 |
+
"confidence": 0.970331072807312,
|
| 434 |
+
"position": [
|
| 435 |
+
0.07729798507352825,
|
| 436 |
+
0.15572395313574816,
|
| 437 |
+
0.00041139642416965216
|
| 438 |
+
],
|
| 439 |
+
"orientation": {
|
| 440 |
+
"w": 0.3748948658728483,
|
| 441 |
+
"xyz": [
|
| 442 |
+
0.6049161286160686,
|
| 443 |
+
0.3659247508381678,
|
| 444 |
+
-0.5996910818132547
|
| 445 |
+
]
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"grasp_54": {
|
| 449 |
+
"confidence": 0.9697299003601074,
|
| 450 |
+
"position": [
|
| 451 |
+
0.06469914269109722,
|
| 452 |
+
-0.1531111360709474,
|
| 453 |
+
-0.007581831436255015
|
| 454 |
+
],
|
| 455 |
+
"orientation": {
|
| 456 |
+
"w": 0.3724082684312696,
|
| 457 |
+
"xyz": [
|
| 458 |
+
-0.600397244482495,
|
| 459 |
+
0.33992593188233233,
|
| 460 |
+
0.6207137756291372
|
| 461 |
+
]
|
| 462 |
+
}
|
| 463 |
+
},
|
| 464 |
+
"grasp_55": {
|
| 465 |
+
"confidence": 0.9695197939872742,
|
| 466 |
+
"position": [
|
| 467 |
+
0.08991767418046948,
|
| 468 |
+
-0.15196411918805097,
|
| 469 |
+
-0.005011155750253238
|
| 470 |
+
],
|
| 471 |
+
"orientation": {
|
| 472 |
+
"w": 0.36016213194110264,
|
| 473 |
+
"xyz": [
|
| 474 |
+
-0.6096371397405901,
|
| 475 |
+
0.3365090854651459,
|
| 476 |
+
0.6207958053691753
|
| 477 |
+
]
|
| 478 |
+
}
|
| 479 |
+
},
|
| 480 |
+
"grasp_56": {
|
| 481 |
+
"confidence": 0.9694265723228455,
|
| 482 |
+
"position": [
|
| 483 |
+
0.0685242931212997,
|
| 484 |
+
-0.15321860324547742,
|
| 485 |
+
2.424292324576527e-05
|
| 486 |
+
],
|
| 487 |
+
"orientation": {
|
| 488 |
+
"w": 0.36244727447577707,
|
| 489 |
+
"xyz": [
|
| 490 |
+
-0.6111127137701761,
|
| 491 |
+
0.35055398806879023,
|
| 492 |
+
0.6101517235430854
|
| 493 |
+
]
|
| 494 |
+
}
|
| 495 |
+
},
|
| 496 |
+
"grasp_57": {
|
| 497 |
+
"confidence": 0.9669302105903625,
|
| 498 |
+
"position": [
|
| 499 |
+
0.142942852791748,
|
| 500 |
+
-0.0011020655692846049,
|
| 501 |
+
-0.0031322448194259778
|
| 502 |
+
],
|
| 503 |
+
"orientation": {
|
| 504 |
+
"w": 0.02136754633489385,
|
| 505 |
+
"xyz": [
|
| 506 |
+
-0.7006956447363897,
|
| 507 |
+
0.01315495621397944,
|
| 508 |
+
0.7130189257923593
|
| 509 |
+
]
|
| 510 |
+
}
|
| 511 |
+
},
|
| 512 |
+
"grasp_59": {
|
| 513 |
+
"confidence": 0.9588384032249451,
|
| 514 |
+
"position": [
|
| 515 |
+
0.11428835194965359,
|
| 516 |
+
-0.12019795786545728,
|
| 517 |
+
-0.0024597922019893304
|
| 518 |
+
],
|
| 519 |
+
"orientation": {
|
| 520 |
+
"w": 0.1912393380421733,
|
| 521 |
+
"xyz": [
|
| 522 |
+
-0.6874631156029732,
|
| 523 |
+
0.17896752483659928,
|
| 524 |
+
0.67734231030145
|
| 525 |
+
]
|
| 526 |
+
}
|
| 527 |
+
}
|
| 528 |
+
}
|
| 529 |
+
},
|
| 530 |
+
{
|
| 531 |
+
"part_name": "back cover label band",
|
| 532 |
+
"mask_color": "Cyan",
|
| 533 |
+
"graspable": false,
|
| 534 |
+
"grasp_scenarios": [],
|
| 535 |
+
"functional_labels": [
|
| 536 |
+
"continue back-cover graphic design",
|
| 537 |
+
"display printed information",
|
| 538 |
+
"provide visual contrast"
|
| 539 |
+
],
|
| 540 |
+
"semantic_description": "Vertical blue printed band on the back cover, smooth matte printed surface, narrower than the main back panel.",
|
| 541 |
+
"id": 6,
|
| 542 |
+
"grasp_group": {}
|
| 543 |
+
},
|
| 544 |
+
{
|
| 545 |
+
"part_name": "back cover mark",
|
| 546 |
+
"mask_color": "Purple",
|
| 547 |
+
"graspable": false,
|
| 548 |
+
"grasp_scenarios": [],
|
| 549 |
+
"functional_labels": [
|
| 550 |
+
"display back-side branding",
|
| 551 |
+
"mark product details",
|
| 552 |
+
"provide visual identifier"
|
| 553 |
+
],
|
| 554 |
+
"semantic_description": "Small dark printed logo-like mark on the back cover band area, flat and compact on the otherwise light surface.",
|
| 555 |
+
"id": 5,
|
| 556 |
+
"grasp_group": {}
|
| 557 |
+
},
|
| 558 |
+
{
|
| 559 |
+
"part_name": "page edges",
|
| 560 |
+
"mask_color": "Magenta",
|
| 561 |
+
"graspable": true,
|
| 562 |
+
"grasp_scenarios": [
|
| 563 |
+
{
|
| 564 |
+
"scenario": "pinch the page block edge lightly to flip or separate pages",
|
| 565 |
+
"confidence": 0.56
|
| 566 |
+
},
|
| 567 |
+
{
|
| 568 |
+
"scenario": "grasp the page block together with a cover edge to stabilize the notebook",
|
| 569 |
+
"confidence": 0.48
|
| 570 |
+
}
|
| 571 |
+
],
|
| 572 |
+
"functional_labels": [
|
| 573 |
+
"form the exposed edges of the paper stack",
|
| 574 |
+
"allow page separation",
|
| 575 |
+
"define notebook thickness"
|
| 576 |
+
],
|
| 577 |
+
"semantic_description": "Thin exposed edges of the white paper stack with fine layered lines and a matte paper texture, visible along the outer side of the sheets.",
|
| 578 |
+
"id": 7,
|
| 579 |
+
"grasp_group": {}
|
| 580 |
+
}
|
| 581 |
+
],
|
| 582 |
+
"quality_check": {
|
| 583 |
+
"success": false,
|
| 584 |
+
"message": "Several part descriptions mismatch visible appearance and locations, especially badge/mark positions and page-edge colors; some names over-segment printed graphics as physical parts."
|
| 585 |
+
}
|
| 586 |
+
}
|
dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bee025f0cac53fd75648606d2e651317b92b794469690493b01f817c7419aac9
|
| 3 |
+
size 3786476
|