Add asset desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/affordance/affordance_annot.json +865 -0
- dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/sticky_notes_011.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8233,4 +8233,4 @@ dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordanc
|
|
| 8233 |
dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8234 |
dataset/desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8235 |
dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8236 |
-
dataset/desktop_supplies/office_tools/
|
|
|
|
| 8233 |
dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8234 |
dataset/desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8235 |
dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8236 |
+
dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,865 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top sheet surface with central pull tab",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the edge of the top sheet or the raised central tab to start peeling the first sticky note",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly press and lift at the top surface while separating the top note from the stack",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide writable top note surface",
|
| 19 |
+
"allow peeling off a single sticky note",
|
| 20 |
+
"present the first note for access"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Top visible surface of the flower-shaped sticky note pad, mostly off-white paper with a smooth matte finish and a raised circular yellow tab near the center.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.700057864189148,
|
| 27 |
+
"position": [
|
| 28 |
+
0.09735965199070051,
|
| 29 |
+
0.02380337449721992,
|
| 30 |
+
0.005337324546417221
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.5753093162546934,
|
| 34 |
+
"xyz": [
|
| 35 |
+
0.5433355503564773,
|
| 36 |
+
-0.42338472463921395,
|
| 37 |
+
-0.44107940928086625
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_1": {
|
| 42 |
+
"confidence": 0.7234677076339722,
|
| 43 |
+
"position": [
|
| 44 |
+
-0.03955182962818071,
|
| 45 |
+
0.07344174641184509,
|
| 46 |
+
0.06396871022298001
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.462133456227823,
|
| 50 |
+
"xyz": [
|
| 51 |
+
0.813479899156222,
|
| 52 |
+
0.3462243109064147,
|
| 53 |
+
0.06936749124112804
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_2": {
|
| 58 |
+
"confidence": 0.6748677492141724,
|
| 59 |
+
"position": [
|
| 60 |
+
-0.07842683576745912,
|
| 61 |
+
0.032565588830038905,
|
| 62 |
+
0.059377830097218975
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.25046365367838724,
|
| 66 |
+
"xyz": [
|
| 67 |
+
-0.5608108646903469,
|
| 68 |
+
0.6630758771562316,
|
| 69 |
+
-0.42788960417943317
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_3": {
|
| 74 |
+
"confidence": 0.5008106231689453,
|
| 75 |
+
"position": [
|
| 76 |
+
-0.043221102736424655,
|
| 77 |
+
0.10750460880808532,
|
| 78 |
+
0.008589163975557312
|
| 79 |
+
],
|
| 80 |
+
"orientation": {
|
| 81 |
+
"w": 0.692104153584442,
|
| 82 |
+
"xyz": [
|
| 83 |
+
0.6846232183013974,
|
| 84 |
+
0.15844802632339006,
|
| 85 |
+
0.16485482251976225
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_5": {
|
| 90 |
+
"confidence": 0.977123498916626,
|
| 91 |
+
"position": [
|
| 92 |
+
0.09252218372421339,
|
| 93 |
+
0.04641116666607559,
|
| 94 |
+
-0.0012540686002466828
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
+
"w": 0.6938116132448047,
|
| 98 |
+
"xyz": [
|
| 99 |
+
0.14726426308778642,
|
| 100 |
+
-0.6866617700067157,
|
| 101 |
+
0.15948133356320238
|
| 102 |
+
]
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"grasp_8": {
|
| 106 |
+
"confidence": 0.9757437705993652,
|
| 107 |
+
"position": [
|
| 108 |
+
0.09192307508783415,
|
| 109 |
+
0.049139155773445964,
|
| 110 |
+
-0.001985601178603247
|
| 111 |
+
],
|
| 112 |
+
"orientation": {
|
| 113 |
+
"w": 0.1775411525240662,
|
| 114 |
+
"xyz": [
|
| 115 |
+
0.6949146125268632,
|
| 116 |
+
0.16131164517896956,
|
| 117 |
+
-0.6779021858548032
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"grasp_9": {
|
| 122 |
+
"confidence": 0.9756925106048584,
|
| 123 |
+
"position": [
|
| 124 |
+
0.09482654399471357,
|
| 125 |
+
0.05031389626674354,
|
| 126 |
+
-0.000473414285806939
|
| 127 |
+
],
|
| 128 |
+
"orientation": {
|
| 129 |
+
"w": 0.6963291440801032,
|
| 130 |
+
"xyz": [
|
| 131 |
+
0.17185687984263595,
|
| 132 |
+
-0.6789007115463667,
|
| 133 |
+
0.15711384349337595
|
| 134 |
+
]
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"grasp_10": {
|
| 138 |
+
"confidence": 0.9754452705383301,
|
| 139 |
+
"position": [
|
| 140 |
+
0.09560738719301298,
|
| 141 |
+
0.0462549205403775,
|
| 142 |
+
0.0007160446548368782
|
| 143 |
+
],
|
| 144 |
+
"orientation": {
|
| 145 |
+
"w": 0.6915034489304699,
|
| 146 |
+
"xyz": [
|
| 147 |
+
0.14819573263974806,
|
| 148 |
+
-0.6887841860955639,
|
| 149 |
+
0.1594909086101906
|
| 150 |
+
]
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
"grasp_11": {
|
| 154 |
+
"confidence": 0.9750028848648071,
|
| 155 |
+
"position": [
|
| 156 |
+
0.09872924751834944,
|
| 157 |
+
0.037174007622525096,
|
| 158 |
+
-0.005453807214507833
|
| 159 |
+
],
|
| 160 |
+
"orientation": {
|
| 161 |
+
"w": 0.7193303259452674,
|
| 162 |
+
"xyz": [
|
| 163 |
+
0.11966777627522888,
|
| 164 |
+
-0.6761091492293536,
|
| 165 |
+
0.10545104942662781
|
| 166 |
+
]
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"grasp_12": {
|
| 170 |
+
"confidence": 0.974814236164093,
|
| 171 |
+
"position": [
|
| 172 |
+
0.09809483803110197,
|
| 173 |
+
0.03370772558264434,
|
| 174 |
+
-0.0022321663855109364
|
| 175 |
+
],
|
| 176 |
+
"orientation": {
|
| 177 |
+
"w": 0.12256680001159338,
|
| 178 |
+
"xyz": [
|
| 179 |
+
0.7002142241637432,
|
| 180 |
+
0.11035685028380304,
|
| 181 |
+
-0.6946213251902962
|
| 182 |
+
]
|
| 183 |
+
}
|
| 184 |
+
},
|
| 185 |
+
"grasp_13": {
|
| 186 |
+
"confidence": 0.9746408462524414,
|
| 187 |
+
"position": [
|
| 188 |
+
0.08184109843568876,
|
| 189 |
+
0.06039683776907623,
|
| 190 |
+
-0.002393024187767878
|
| 191 |
+
],
|
| 192 |
+
"orientation": {
|
| 193 |
+
"w": 0.6772402041715502,
|
| 194 |
+
"xyz": [
|
| 195 |
+
0.2176250201293249,
|
| 196 |
+
-0.6683560031463898,
|
| 197 |
+
0.21745185564987038
|
| 198 |
+
]
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
"grasp_14": {
|
| 202 |
+
"confidence": 0.9746332764625549,
|
| 203 |
+
"position": [
|
| 204 |
+
0.09943833417491987,
|
| 205 |
+
0.02699750359170139,
|
| 206 |
+
-0.002289447613293305
|
| 207 |
+
],
|
| 208 |
+
"orientation": {
|
| 209 |
+
"w": 0.7062602285930617,
|
| 210 |
+
"xyz": [
|
| 211 |
+
0.0743189787550137,
|
| 212 |
+
-0.7005025165827546,
|
| 213 |
+
0.07049399382724532
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
},
|
| 217 |
+
"grasp_17": {
|
| 218 |
+
"confidence": 0.9745982885360718,
|
| 219 |
+
"position": [
|
| 220 |
+
0.0980368948657997,
|
| 221 |
+
0.037914375541731715,
|
| 222 |
+
-0.00018084806833940092
|
| 223 |
+
],
|
| 224 |
+
"orientation": {
|
| 225 |
+
"w": 0.1383962727171457,
|
| 226 |
+
"xyz": [
|
| 227 |
+
0.7024656728911559,
|
| 228 |
+
0.1430109757096607,
|
| 229 |
+
-0.6833273819584191
|
| 230 |
+
]
|
| 231 |
+
}
|
| 232 |
+
},
|
| 233 |
+
"grasp_18": {
|
| 234 |
+
"confidence": 0.9744476079940796,
|
| 235 |
+
"position": [
|
| 236 |
+
0.10057167179184034,
|
| 237 |
+
0.03357760491780937,
|
| 238 |
+
0.0010693187068682164
|
| 239 |
+
],
|
| 240 |
+
"orientation": {
|
| 241 |
+
"w": 0.12010756919109901,
|
| 242 |
+
"xyz": [
|
| 243 |
+
0.7069953580964828,
|
| 244 |
+
0.11660806290549841,
|
| 245 |
+
-0.6871202915927159
|
| 246 |
+
]
|
| 247 |
+
}
|
| 248 |
+
},
|
| 249 |
+
"grasp_19": {
|
| 250 |
+
"confidence": 0.974388837814331,
|
| 251 |
+
"position": [
|
| 252 |
+
0.09876018977956846,
|
| 253 |
+
0.04069669055752456,
|
| 254 |
+
-0.003841400524834171
|
| 255 |
+
],
|
| 256 |
+
"orientation": {
|
| 257 |
+
"w": 0.14585065205611514,
|
| 258 |
+
"xyz": [
|
| 259 |
+
0.6949640925599905,
|
| 260 |
+
0.12847175606949368,
|
| 261 |
+
-0.6922770437039613
|
| 262 |
+
]
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"part_name": "side stack of sticky notes",
|
| 269 |
+
"mask_color": "Blue",
|
| 270 |
+
"graspable": true,
|
| 271 |
+
"grasp_scenarios": [
|
| 272 |
+
{
|
| 273 |
+
"scenario": "grasp the pad from the sides to pick up and reposition the whole stack",
|
| 274 |
+
"confidence": 0.9
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"scenario": "hold the side stack to stabilize the pad while peeling off a note",
|
| 278 |
+
"confidence": 0.84
|
| 279 |
+
}
|
| 280 |
+
],
|
| 281 |
+
"functional_labels": [
|
| 282 |
+
"form the main supply of sticky notes",
|
| 283 |
+
"provide bulk structure",
|
| 284 |
+
"support whole-pad handling",
|
| 285 |
+
"stabilize the stack during note removal"
|
| 286 |
+
],
|
| 287 |
+
"semantic_description": "Thick flower-shaped stack of paper notes with visible layered side edges in yellow, blue, and pink bands, matte finish, and fine papery texture around the perimeter.",
|
| 288 |
+
"id": 2,
|
| 289 |
+
"grasp_group": {
|
| 290 |
+
"grasp_20": {
|
| 291 |
+
"confidence": 0.9329718947410583,
|
| 292 |
+
"position": [
|
| 293 |
+
0.0531479439814575,
|
| 294 |
+
-0.07658191514201462,
|
| 295 |
+
0.04662134833051823
|
| 296 |
+
],
|
| 297 |
+
"orientation": {
|
| 298 |
+
"w": 0.48851681368955274,
|
| 299 |
+
"xyz": [
|
| 300 |
+
-0.8227825952476826,
|
| 301 |
+
-0.2478204823147938,
|
| 302 |
+
0.1515425096973066
|
| 303 |
+
]
|
| 304 |
+
}
|
| 305 |
+
},
|
| 306 |
+
"grasp_21": {
|
| 307 |
+
"confidence": 0.9202513098716736,
|
| 308 |
+
"position": [
|
| 309 |
+
0.04973779834108427,
|
| 310 |
+
-0.08104680222459137,
|
| 311 |
+
0.04981411583139561
|
| 312 |
+
],
|
| 313 |
+
"orientation": {
|
| 314 |
+
"w": 0.4837737748942701,
|
| 315 |
+
"xyz": [
|
| 316 |
+
-0.8265401897872959,
|
| 317 |
+
-0.2623667728057889,
|
| 318 |
+
0.11814366643372809
|
| 319 |
+
]
|
| 320 |
+
}
|
| 321 |
+
},
|
| 322 |
+
"grasp_22": {
|
| 323 |
+
"confidence": 0.9159926176071167,
|
| 324 |
+
"position": [
|
| 325 |
+
0.03158642939524725,
|
| 326 |
+
-0.048242607386782765,
|
| 327 |
+
0.08498957715346478
|
| 328 |
+
],
|
| 329 |
+
"orientation": {
|
| 330 |
+
"w": 0.26247726510219627,
|
| 331 |
+
"xyz": [
|
| 332 |
+
-0.9199772167200521,
|
| 333 |
+
-0.28029562751492726,
|
| 334 |
+
0.07862548706692425
|
| 335 |
+
]
|
| 336 |
+
}
|
| 337 |
+
},
|
| 338 |
+
"grasp_23": {
|
| 339 |
+
"confidence": 0.915565013885498,
|
| 340 |
+
"position": [
|
| 341 |
+
-0.04763288580579683,
|
| 342 |
+
0.09406732278876007,
|
| 343 |
+
-0.031652178993681446
|
| 344 |
+
],
|
| 345 |
+
"orientation": {
|
| 346 |
+
"w": 0.7825390192705913,
|
| 347 |
+
"xyz": [
|
| 348 |
+
0.5734148833038027,
|
| 349 |
+
0.150900336553088,
|
| 350 |
+
0.18988718585747744
|
| 351 |
+
]
|
| 352 |
+
}
|
| 353 |
+
},
|
| 354 |
+
"grasp_25": {
|
| 355 |
+
"confidence": 0.9109522700309753,
|
| 356 |
+
"position": [
|
| 357 |
+
0.045573493756819516,
|
| 358 |
+
-0.09286836278624833,
|
| 359 |
+
-0.02845571786747314
|
| 360 |
+
],
|
| 361 |
+
"orientation": {
|
| 362 |
+
"w": 0.18417947320246655,
|
| 363 |
+
"xyz": [
|
| 364 |
+
0.12949951365579065,
|
| 365 |
+
-0.6062366520249504,
|
| 366 |
+
-0.7627482673565076
|
| 367 |
+
]
|
| 368 |
+
}
|
| 369 |
+
},
|
| 370 |
+
"grasp_26": {
|
| 371 |
+
"confidence": 0.905083179473877,
|
| 372 |
+
"position": [
|
| 373 |
+
-0.04172090225620195,
|
| 374 |
+
0.08210080373100936,
|
| 375 |
+
-0.04856728427694179
|
| 376 |
+
],
|
| 377 |
+
"orientation": {
|
| 378 |
+
"w": 0.18864069386971152,
|
| 379 |
+
"xyz": [
|
| 380 |
+
-0.1389589800311144,
|
| 381 |
+
0.49863260016307775,
|
| 382 |
+
-0.8345481535176231
|
| 383 |
+
]
|
| 384 |
+
}
|
| 385 |
+
},
|
| 386 |
+
"grasp_27": {
|
| 387 |
+
"confidence": 0.9040015339851379,
|
| 388 |
+
"position": [
|
| 389 |
+
-0.044765779457520694,
|
| 390 |
+
0.08773280936293304,
|
| 391 |
+
0.04453809521510266
|
| 392 |
+
],
|
| 393 |
+
"orientation": {
|
| 394 |
+
"w": 0.5040485306775477,
|
| 395 |
+
"xyz": [
|
| 396 |
+
0.8332502652891792,
|
| 397 |
+
0.1907537351608397,
|
| 398 |
+
0.12345884593461103
|
| 399 |
+
]
|
| 400 |
+
}
|
| 401 |
+
},
|
| 402 |
+
"grasp_28": {
|
| 403 |
+
"confidence": 0.9039981961250305,
|
| 404 |
+
"position": [
|
| 405 |
+
-0.024413939274381846,
|
| 406 |
+
0.05053566279821098,
|
| 407 |
+
0.08491907975985669
|
| 408 |
+
],
|
| 409 |
+
"orientation": {
|
| 410 |
+
"w": 0.2503772043294743,
|
| 411 |
+
"xyz": [
|
| 412 |
+
0.9345033270726583,
|
| 413 |
+
0.24649654972163004,
|
| 414 |
+
0.05704593077179695
|
| 415 |
+
]
|
| 416 |
+
}
|
| 417 |
+
},
|
| 418 |
+
"grasp_29": {
|
| 419 |
+
"confidence": 0.9035694003105164,
|
| 420 |
+
"position": [
|
| 421 |
+
0.05040811590151861,
|
| 422 |
+
-0.07290755701251328,
|
| 423 |
+
0.0516854073794093
|
| 424 |
+
],
|
| 425 |
+
"orientation": {
|
| 426 |
+
"w": 0.47925067276097577,
|
| 427 |
+
"xyz": [
|
| 428 |
+
-0.8308781703945721,
|
| 429 |
+
-0.23974555193437697,
|
| 430 |
+
0.1499410849220499
|
| 431 |
+
]
|
| 432 |
+
}
|
| 433 |
+
},
|
| 434 |
+
"grasp_30": {
|
| 435 |
+
"confidence": 0.9029123187065125,
|
| 436 |
+
"position": [
|
| 437 |
+
0.034719145216513425,
|
| 438 |
+
-0.08072955650277436,
|
| 439 |
+
0.0518064979405608
|
| 440 |
+
],
|
| 441 |
+
"orientation": {
|
| 442 |
+
"w": 0.4824323956195192,
|
| 443 |
+
"xyz": [
|
| 444 |
+
-0.848394122596853,
|
| 445 |
+
-0.20355518145692986,
|
| 446 |
+
0.07779257356563121
|
| 447 |
+
]
|
| 448 |
+
}
|
| 449 |
+
},
|
| 450 |
+
"grasp_31": {
|
| 451 |
+
"confidence": 0.9022653102874756,
|
| 452 |
+
"position": [
|
| 453 |
+
0.05610963172512129,
|
| 454 |
+
-0.07890474540181458,
|
| 455 |
+
-0.04662482478306629
|
| 456 |
+
],
|
| 457 |
+
"orientation": {
|
| 458 |
+
"w": 0.7899241611222858,
|
| 459 |
+
"xyz": [
|
| 460 |
+
-0.5021540019093188,
|
| 461 |
+
-0.10563144158439519,
|
| 462 |
+
0.3357129377764747
|
| 463 |
+
]
|
| 464 |
+
}
|
| 465 |
+
},
|
| 466 |
+
"grasp_32": {
|
| 467 |
+
"confidence": 0.9020912647247314,
|
| 468 |
+
"position": [
|
| 469 |
+
-0.06912501686019823,
|
| 470 |
+
0.06692893314175308,
|
| 471 |
+
-0.051165219774702564
|
| 472 |
+
],
|
| 473 |
+
"orientation": {
|
| 474 |
+
"w": 0.7924401399425598,
|
| 475 |
+
"xyz": [
|
| 476 |
+
0.4744032670365965,
|
| 477 |
+
0.21975214555554468,
|
| 478 |
+
0.3141483079001926
|
| 479 |
+
]
|
| 480 |
+
}
|
| 481 |
+
},
|
| 482 |
+
"grasp_33": {
|
| 483 |
+
"confidence": 0.9003798961639404,
|
| 484 |
+
"position": [
|
| 485 |
+
-0.025048685900401324,
|
| 486 |
+
0.08850005525164306,
|
| 487 |
+
-0.05344530232832767
|
| 488 |
+
],
|
| 489 |
+
"orientation": {
|
| 490 |
+
"w": 0.8558661330704043,
|
| 491 |
+
"xyz": [
|
| 492 |
+
0.497948916808324,
|
| 493 |
+
0.08851258599193934,
|
| 494 |
+
0.10819223924824718
|
| 495 |
+
]
|
| 496 |
+
}
|
| 497 |
+
},
|
| 498 |
+
"grasp_34": {
|
| 499 |
+
"confidence": 0.9002993702888489,
|
| 500 |
+
"position": [
|
| 501 |
+
0.03944941452937201,
|
| 502 |
+
-0.05191240576095879,
|
| 503 |
+
0.07736128530814312
|
| 504 |
+
],
|
| 505 |
+
"orientation": {
|
| 506 |
+
"w": 0.07914775951244116,
|
| 507 |
+
"xyz": [
|
| 508 |
+
0.41115454623856446,
|
| 509 |
+
-0.8522274503160118,
|
| 510 |
+
-0.313681278050493
|
| 511 |
+
]
|
| 512 |
+
}
|
| 513 |
+
},
|
| 514 |
+
"grasp_35": {
|
| 515 |
+
"confidence": 0.899290919303894,
|
| 516 |
+
"position": [
|
| 517 |
+
-0.00014933012425899506,
|
| 518 |
+
-0.0017596616526134312,
|
| 519 |
+
-0.1010829139559064
|
| 520 |
+
],
|
| 521 |
+
"orientation": {
|
| 522 |
+
"w": 0.9791845056312907,
|
| 523 |
+
"xyz": [
|
| 524 |
+
-0.0011533824661724096,
|
| 525 |
+
0.014165531149161747,
|
| 526 |
+
0.20247397701372422
|
| 527 |
+
]
|
| 528 |
+
}
|
| 529 |
+
},
|
| 530 |
+
"grasp_36": {
|
| 531 |
+
"confidence": 0.8990057110786438,
|
| 532 |
+
"position": [
|
| 533 |
+
0.05088125012116507,
|
| 534 |
+
-0.07433621329255402,
|
| 535 |
+
-0.05698314719484188
|
| 536 |
+
],
|
| 537 |
+
"orientation": {
|
| 538 |
+
"w": 0.22879883977439347,
|
| 539 |
+
"xyz": [
|
| 540 |
+
0.14909302649480805,
|
| 541 |
+
-0.4682242316525739,
|
| 542 |
+
-0.8403501825202795
|
| 543 |
+
]
|
| 544 |
+
}
|
| 545 |
+
},
|
| 546 |
+
"grasp_37": {
|
| 547 |
+
"confidence": 0.8987157940864563,
|
| 548 |
+
"position": [
|
| 549 |
+
-0.07517868065042421,
|
| 550 |
+
0.06687659281305969,
|
| 551 |
+
-0.0394032713084016
|
| 552 |
+
],
|
| 553 |
+
"orientation": {
|
| 554 |
+
"w": 0.7749766791239446,
|
| 555 |
+
"xyz": [
|
| 556 |
+
0.4973523963850664,
|
| 557 |
+
0.24904103015898726,
|
| 558 |
+
0.3000505056176462
|
| 559 |
+
]
|
| 560 |
+
}
|
| 561 |
+
},
|
| 562 |
+
"grasp_38": {
|
| 563 |
+
"confidence": 0.8984785079956055,
|
| 564 |
+
"position": [
|
| 565 |
+
0.07819030649261549,
|
| 566 |
+
-0.07394010317511857,
|
| 567 |
+
-0.024877081072190776
|
| 568 |
+
],
|
| 569 |
+
"orientation": {
|
| 570 |
+
"w": 0.29337775422184614,
|
| 571 |
+
"xyz": [
|
| 572 |
+
0.2540062242135372,
|
| 573 |
+
-0.569572698223795,
|
| 574 |
+
-0.7245669553785865
|
| 575 |
+
]
|
| 576 |
+
}
|
| 577 |
+
},
|
| 578 |
+
"grasp_39": {
|
| 579 |
+
"confidence": 0.8978229761123657,
|
| 580 |
+
"position": [
|
| 581 |
+
-0.025788912258576602,
|
| 582 |
+
0.04203702020458877,
|
| 583 |
+
0.08471572361304425
|
| 584 |
+
],
|
| 585 |
+
"orientation": {
|
| 586 |
+
"w": 0.24122275108240257,
|
| 587 |
+
"xyz": [
|
| 588 |
+
0.9199873267594807,
|
| 589 |
+
0.30182093237810426,
|
| 590 |
+
0.06587129678846122
|
| 591 |
+
]
|
| 592 |
+
}
|
| 593 |
+
}
|
| 594 |
+
}
|
| 595 |
+
},
|
| 596 |
+
{
|
| 597 |
+
"part_name": "bottom sheet of sticky notes",
|
| 598 |
+
"mask_color": "Purple",
|
| 599 |
+
"graspable": true,
|
| 600 |
+
"grasp_scenarios": [
|
| 601 |
+
{
|
| 602 |
+
"scenario": "support and lift the pad from below with a gripper or fingers when picking up the whole stack",
|
| 603 |
+
"confidence": 0.68
|
| 604 |
+
},
|
| 605 |
+
{
|
| 606 |
+
"scenario": "contact the underside to reposition the pad on a desk surface",
|
| 607 |
+
"confidence": 0.52
|
| 608 |
+
}
|
| 609 |
+
],
|
| 610 |
+
"functional_labels": [
|
| 611 |
+
"support the note stack",
|
| 612 |
+
"provide bottom contact surface",
|
| 613 |
+
"stabilize placement on a desk"
|
| 614 |
+
],
|
| 615 |
+
"semantic_description": "Underside base of the flower-shaped sticky note pad, yellow paper-like bottom surface with a matte finish and a recessed central area visible from below.",
|
| 616 |
+
"id": 5,
|
| 617 |
+
"grasp_group": {
|
| 618 |
+
"grasp_40": {
|
| 619 |
+
"confidence": 0.9695025086402893,
|
| 620 |
+
"position": [
|
| 621 |
+
0.0850456080515869,
|
| 622 |
+
0.07064219820313156,
|
| 623 |
+
-0.002580878703156486
|
| 624 |
+
],
|
| 625 |
+
"orientation": {
|
| 626 |
+
"w": 0.6770767210688228,
|
| 627 |
+
"xyz": [
|
| 628 |
+
0.2423604010180435,
|
| 629 |
+
-0.6549428667339323,
|
| 630 |
+
0.23211719264070863
|
| 631 |
+
]
|
| 632 |
+
}
|
| 633 |
+
},
|
| 634 |
+
"grasp_41": {
|
| 635 |
+
"confidence": 0.9670676589012146,
|
| 636 |
+
"position": [
|
| 637 |
+
-0.03202101186616346,
|
| 638 |
+
0.10811809706501663,
|
| 639 |
+
0.004613483411958441
|
| 640 |
+
],
|
| 641 |
+
"orientation": {
|
| 642 |
+
"w": 0.5604244799929461,
|
| 643 |
+
"xyz": [
|
| 644 |
+
0.4128550151877177,
|
| 645 |
+
0.5894624025439824,
|
| 646 |
+
-0.40988927120145663
|
| 647 |
+
]
|
| 648 |
+
}
|
| 649 |
+
},
|
| 650 |
+
"grasp_42": {
|
| 651 |
+
"confidence": 0.9666857719421387,
|
| 652 |
+
"position": [
|
| 653 |
+
-0.00610487925587222,
|
| 654 |
+
-0.11038303119130433,
|
| 655 |
+
-0.00307658631936647
|
| 656 |
+
],
|
| 657 |
+
"orientation": {
|
| 658 |
+
"w": 0.49326436247187017,
|
| 659 |
+
"xyz": [
|
| 660 |
+
-0.5067030178589085,
|
| 661 |
+
-0.4890834217409259,
|
| 662 |
+
-0.5106267981472201
|
| 663 |
+
]
|
| 664 |
+
}
|
| 665 |
+
},
|
| 666 |
+
"grasp_43": {
|
| 667 |
+
"confidence": 0.9664090275764465,
|
| 668 |
+
"position": [
|
| 669 |
+
0.0004766953061334789,
|
| 670 |
+
0.1147358815651387,
|
| 671 |
+
-0.009374549990752712
|
| 672 |
+
],
|
| 673 |
+
"orientation": {
|
| 674 |
+
"w": 0.515153012490716,
|
| 675 |
+
"xyz": [
|
| 676 |
+
0.4946708188894275,
|
| 677 |
+
0.47402334340300056,
|
| 678 |
+
-0.5149951694628259
|
| 679 |
+
]
|
| 680 |
+
}
|
| 681 |
+
},
|
| 682 |
+
"grasp_44": {
|
| 683 |
+
"confidence": 0.9658469557762146,
|
| 684 |
+
"position": [
|
| 685 |
+
-0.07588750653667375,
|
| 686 |
+
0.08095700549893081,
|
| 687 |
+
-0.005393787199864164
|
| 688 |
+
],
|
| 689 |
+
"orientation": {
|
| 690 |
+
"w": 0.6609852166209879,
|
| 691 |
+
"xyz": [
|
| 692 |
+
0.2525185231893584,
|
| 693 |
+
0.6524426555625389,
|
| 694 |
+
-0.2713881354393987
|
| 695 |
+
]
|
| 696 |
+
}
|
| 697 |
+
},
|
| 698 |
+
"grasp_45": {
|
| 699 |
+
"confidence": 0.9637060165405273,
|
| 700 |
+
"position": [
|
| 701 |
+
0.058859324373770505,
|
| 702 |
+
0.09442397463135421,
|
| 703 |
+
-0.0022766291222069412
|
| 704 |
+
],
|
| 705 |
+
"orientation": {
|
| 706 |
+
"w": 0.6326236051170822,
|
| 707 |
+
"xyz": [
|
| 708 |
+
0.348385904842176,
|
| 709 |
+
-0.6011064909235896,
|
| 710 |
+
0.3421777639261398
|
| 711 |
+
]
|
| 712 |
+
}
|
| 713 |
+
},
|
| 714 |
+
"grasp_47": {
|
| 715 |
+
"confidence": 0.9621726274490356,
|
| 716 |
+
"position": [
|
| 717 |
+
0.07269630051450804,
|
| 718 |
+
0.08467937516979873,
|
| 719 |
+
-0.005963590840110555
|
| 720 |
+
],
|
| 721 |
+
"orientation": {
|
| 722 |
+
"w": 0.6613406416587889,
|
| 723 |
+
"xyz": [
|
| 724 |
+
0.2922677125447613,
|
| 725 |
+
-0.6275324704073156,
|
| 726 |
+
0.2888098656186888
|
| 727 |
+
]
|
| 728 |
+
}
|
| 729 |
+
},
|
| 730 |
+
"grasp_48": {
|
| 731 |
+
"confidence": 0.9618178606033325,
|
| 732 |
+
"position": [
|
| 733 |
+
-0.012250295549165457,
|
| 734 |
+
0.1116833935957402,
|
| 735 |
+
-0.016050039237597957
|
| 736 |
+
],
|
| 737 |
+
"orientation": {
|
| 738 |
+
"w": 0.5912882506862975,
|
| 739 |
+
"xyz": [
|
| 740 |
+
0.4697337796469354,
|
| 741 |
+
0.4784998112197768,
|
| 742 |
+
-0.44806953871199523
|
| 743 |
+
]
|
| 744 |
+
}
|
| 745 |
+
},
|
| 746 |
+
"grasp_49": {
|
| 747 |
+
"confidence": 0.9612160921096802,
|
| 748 |
+
"position": [
|
| 749 |
+
-0.02376063511474058,
|
| 750 |
+
-0.10925643634982407,
|
| 751 |
+
-0.0076541285088751465
|
| 752 |
+
],
|
| 753 |
+
"orientation": {
|
| 754 |
+
"w": 0.5547175886791254,
|
| 755 |
+
"xyz": [
|
| 756 |
+
-0.422173788883564,
|
| 757 |
+
0.5591062296247533,
|
| 758 |
+
0.4488406318332887
|
| 759 |
+
]
|
| 760 |
+
}
|
| 761 |
+
},
|
| 762 |
+
"grasp_52": {
|
| 763 |
+
"confidence": 0.9604575037956238,
|
| 764 |
+
"position": [
|
| 765 |
+
0.0836706183035858,
|
| 766 |
+
0.07175329583697021,
|
| 767 |
+
-0.012071455275872722
|
| 768 |
+
],
|
| 769 |
+
"orientation": {
|
| 770 |
+
"w": 0.2580228629600262,
|
| 771 |
+
"xyz": [
|
| 772 |
+
0.6486544637632042,
|
| 773 |
+
0.23759009866920255,
|
| 774 |
+
-0.6754424726387439
|
| 775 |
+
]
|
| 776 |
+
}
|
| 777 |
+
},
|
| 778 |
+
"grasp_53": {
|
| 779 |
+
"confidence": 0.9604479670524597,
|
| 780 |
+
"position": [
|
| 781 |
+
0.08013345516519621,
|
| 782 |
+
0.07680417853407562,
|
| 783 |
+
0.0007937474001664668
|
| 784 |
+
],
|
| 785 |
+
"orientation": {
|
| 786 |
+
"w": 0.6722420527735432,
|
| 787 |
+
"xyz": [
|
| 788 |
+
0.2648215466155617,
|
| 789 |
+
-0.6466832933730341,
|
| 790 |
+
0.24446040375316555
|
| 791 |
+
]
|
| 792 |
+
}
|
| 793 |
+
},
|
| 794 |
+
"grasp_55": {
|
| 795 |
+
"confidence": 0.9596536755561829,
|
| 796 |
+
"position": [
|
| 797 |
+
-0.022525381005834788,
|
| 798 |
+
-0.1086503837723285,
|
| 799 |
+
0.0038697315321769565
|
| 800 |
+
],
|
| 801 |
+
"orientation": {
|
| 802 |
+
"w": 0.4507444872504857,
|
| 803 |
+
"xyz": [
|
| 804 |
+
-0.5615186156438047,
|
| 805 |
+
-0.44221988245751365,
|
| 806 |
+
-0.5347595974435847
|
| 807 |
+
]
|
| 808 |
+
}
|
| 809 |
+
},
|
| 810 |
+
"grasp_56": {
|
| 811 |
+
"confidence": 0.9589999914169312,
|
| 812 |
+
"position": [
|
| 813 |
+
-0.04270325758261606,
|
| 814 |
+
0.10332017648033798,
|
| 815 |
+
-0.005698324093827978
|
| 816 |
+
],
|
| 817 |
+
"orientation": {
|
| 818 |
+
"w": 0.5786714371041768,
|
| 819 |
+
"xyz": [
|
| 820 |
+
0.39394221091543274,
|
| 821 |
+
0.5798681189741857,
|
| 822 |
+
-0.41677555942759725
|
| 823 |
+
]
|
| 824 |
+
}
|
| 825 |
+
},
|
| 826 |
+
"grasp_57": {
|
| 827 |
+
"confidence": 0.9585455656051636,
|
| 828 |
+
"position": [
|
| 829 |
+
-0.029726011387538165,
|
| 830 |
+
-0.10685622435994446,
|
| 831 |
+
0.0024408612807746977
|
| 832 |
+
],
|
| 833 |
+
"orientation": {
|
| 834 |
+
"w": 0.42115945706130264,
|
| 835 |
+
"xyz": [
|
| 836 |
+
-0.5865643336844637,
|
| 837 |
+
-0.4100834441433864,
|
| 838 |
+
-0.5571342414684528
|
| 839 |
+
]
|
| 840 |
+
}
|
| 841 |
+
},
|
| 842 |
+
"grasp_59": {
|
| 843 |
+
"confidence": 0.9570260643959045,
|
| 844 |
+
"position": [
|
| 845 |
+
0.11217920697527006,
|
| 846 |
+
0.020310916705057025,
|
| 847 |
+
-0.002462439617374912
|
| 848 |
+
],
|
| 849 |
+
"orientation": {
|
| 850 |
+
"w": 0.06699041551990127,
|
| 851 |
+
"xyz": [
|
| 852 |
+
0.707382973948862,
|
| 853 |
+
0.06648669463330414,
|
| 854 |
+
-0.7005006294304614
|
| 855 |
+
]
|
| 856 |
+
}
|
| 857 |
+
}
|
| 858 |
+
}
|
| 859 |
+
}
|
| 860 |
+
],
|
| 861 |
+
"quality_check": {
|
| 862 |
+
"success": false,
|
| 863 |
+
"message": "Top part misidentified: center is a round stack/disc, not a pull tab; top sheet color and affordance are inaccurate."
|
| 864 |
+
}
|
| 865 |
+
}
|
dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d74e01cfc51a44ade09d8dbe4e27b650eca29f58016d091e8b564b4a26f52cb6
|
| 3 |
+
size 3765940
|
dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/sticky_notes_011.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|