Add asset desktop_supplies/office_stationery/f1853df5610251939b9a65bdc731fb97
Browse files
.gitattributes
CHANGED
|
@@ -8623,3 +8623,4 @@ dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/affo
|
|
| 8623 |
dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8624 |
dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8625 |
dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8623 |
dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8624 |
dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8625 |
dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8626 |
+
dataset/desktop_supplies/office_stationery/f1853df5610251939b9a65bdc731fb97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/f1853df5610251939b9a65bdc731fb97/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,638 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pen body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pen body at the center to pick up the pen",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the pen body to stabilize it while pressing the clip side against a surface or container edge",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "regrasp the pen body to orient the writing tip downward for use",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the ink mechanism",
|
| 24 |
+
"support writing use",
|
| 25 |
+
"provide overall structure",
|
| 26 |
+
"stabilize attached parts"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long dark gray to black plastic barrel with a mostly matte smooth hard surface, slightly tapered rounded ends, shallow grip rings near the ends, and the largest central part of the pen.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9936553239822388,
|
| 33 |
+
"position": [
|
| 34 |
+
5.601905286312103e-07,
|
| 35 |
+
-0.09486691060010344,
|
| 36 |
+
0.004664960375521332
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5227185060618764,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.47083046717135824,
|
| 42 |
+
-0.5570697030840852,
|
| 43 |
+
-0.44131324533651806
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9936304688453674,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.011781216599047184,
|
| 51 |
+
-0.0970356777543202,
|
| 52 |
+
0.010458348377142102
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.47781960993059513,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5146225182781824,
|
| 58 |
+
-0.54390687015074,
|
| 59 |
+
-0.45936630334583983
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_22": {
|
| 64 |
+
"confidence": 0.9934166669845581,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.0023196209222078323,
|
| 67 |
+
0.09940345434006304,
|
| 68 |
+
-0.01442866021534428
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5273279776256341,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.45957883739168587,
|
| 74 |
+
-0.4774722687370594,
|
| 75 |
+
0.5317261784246199
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_23": {
|
| 80 |
+
"confidence": 0.9933930039405823,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.011072582565248013,
|
| 83 |
+
0.09560760704334825,
|
| 84 |
+
-0.026718610839452595
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5562465646669051,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.42772796053814205,
|
| 90 |
+
-0.43903332099301084,
|
| 91 |
+
0.5611490836916659
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_24": {
|
| 96 |
+
"confidence": 0.9933479428291321,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.0167137929238379,
|
| 99 |
+
-0.09640133532229811,
|
| 100 |
+
0.006514598673675209
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.4576928222273527,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5384423395315212,
|
| 106 |
+
-0.5014589054377092,
|
| 107 |
+
-0.4991353460120789
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_25": {
|
| 112 |
+
"confidence": 0.9932084679603577,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.00105978362262249,
|
| 115 |
+
0.10050474700983614,
|
| 116 |
+
-0.00926603184780106
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.5256881972960049,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.48847275663103285,
|
| 122 |
+
0.4782353288076996,
|
| 123 |
+
-0.5062975958200355
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_26": {
|
| 128 |
+
"confidence": 0.9931612014770508,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.010084066074341536,
|
| 131 |
+
0.0998365863924846,
|
| 132 |
+
-0.014310494938399643
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.5280533950006017,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.47086849822215393,
|
| 138 |
+
0.47316481708800884,
|
| 139 |
+
-0.5249357344289137
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_27": {
|
| 144 |
+
"confidence": 0.9931262731552124,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.017764512915164232,
|
| 147 |
+
0.09854200331028551,
|
| 148 |
+
-0.013586359040345997
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.5049603441315358,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.47912872502588405,
|
| 154 |
+
-0.4648462820753275,
|
| 155 |
+
0.5471459126689849
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_28": {
|
| 160 |
+
"confidence": 0.9931079149246216,
|
| 161 |
+
"position": [
|
| 162 |
+
0.0022965813986957073,
|
| 163 |
+
0.1004380047088489,
|
| 164 |
+
-0.00980614119907841
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.5184363821559813,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.47216950383539735,
|
| 170 |
+
-0.4805676451553301,
|
| 171 |
+
0.5266254985610865
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_30": {
|
| 176 |
+
"confidence": 0.9930182695388794,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.014764755498617887,
|
| 179 |
+
0.09814882872160524,
|
| 180 |
+
-0.0152760818018578
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.5283502928338272,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.4683236084492439,
|
| 186 |
+
0.47044667677037544,
|
| 187 |
+
-0.5293381623756195
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_31": {
|
| 192 |
+
"confidence": 0.9929829835891724,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.012243234552443027,
|
| 195 |
+
0.09769926813896745,
|
| 196 |
+
0.008469974680338055
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.502275020172695,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.5074760232873039,
|
| 202 |
+
0.5335089545809582,
|
| 203 |
+
-0.45338293448359523
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_32": {
|
| 208 |
+
"confidence": 0.9928931593894958,
|
| 209 |
+
"position": [
|
| 210 |
+
0.004710169974714518,
|
| 211 |
+
0.09764592943247408,
|
| 212 |
+
-0.02308317826827988
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.5510663631728762,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.4288481733435501,
|
| 218 |
+
-0.4625145921528908,
|
| 219 |
+
0.5463472884942009
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_33": {
|
| 224 |
+
"confidence": 0.9928804039955139,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.038432551082223654,
|
| 227 |
+
-0.09641610237304121,
|
| 228 |
+
-0.0023628566996194422
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.4610362134045563,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.5429686372574022,
|
| 234 |
+
0.46544071086449135,
|
| 235 |
+
0.5253528467176939
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_34": {
|
| 240 |
+
"confidence": 0.9926255345344543,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.0487568243406713,
|
| 243 |
+
0.0931498542195186,
|
| 244 |
+
-0.005455122271087021
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.5853495300711911,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.3955650742761158,
|
| 250 |
+
0.5734681778284628,
|
| 251 |
+
-0.4147631235735283
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_36": {
|
| 256 |
+
"confidence": 0.9925078749656677,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.001816426869481802,
|
| 259 |
+
-0.09661156835500151,
|
| 260 |
+
0.005430494493339211
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.4680521533501824,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.5378841703042134,
|
| 266 |
+
0.4985828063585539,
|
| 267 |
+
0.4929736162149385
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_38": {
|
| 272 |
+
"confidence": 0.9924626350402832,
|
| 273 |
+
"position": [
|
| 274 |
+
0.02628175402060151,
|
| 275 |
+
0.09756777284201235,
|
| 276 |
+
0.005912869295570999
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.48600247757754794,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.5244982413319027,
|
| 282 |
+
0.5113176350550451,
|
| 283 |
+
-0.476715284745457
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"part_name": "pocket clip",
|
| 291 |
+
"mask_color": "Red",
|
| 292 |
+
"graspable": true,
|
| 293 |
+
"grasp_scenarios": [
|
| 294 |
+
{
|
| 295 |
+
"scenario": "pinch the clip to pull the pen from a pocket or holder",
|
| 296 |
+
"confidence": 0.58
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"scenario": "hold the clip lightly to rotate or reposition the pen",
|
| 300 |
+
"confidence": 0.34
|
| 301 |
+
}
|
| 302 |
+
],
|
| 303 |
+
"functional_labels": [
|
| 304 |
+
"clip to pocket",
|
| 305 |
+
"retain the pen on fabric or notebooks",
|
| 306 |
+
"provide a small pull point",
|
| 307 |
+
"indicate pen orientation"
|
| 308 |
+
],
|
| 309 |
+
"semantic_description": "Small raised dark gray plastic clip with a matte hard smooth finish, curved and narrow, mounted along the side near the upper half of the pen.",
|
| 310 |
+
"id": 0,
|
| 311 |
+
"grasp_group": {
|
| 312 |
+
"grasp_0": {
|
| 313 |
+
"confidence": 0.9868301749229431,
|
| 314 |
+
"position": [
|
| 315 |
+
-0.06428031390532851,
|
| 316 |
+
-0.09441702219191939,
|
| 317 |
+
0.016367007105145603
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.33595929888356024,
|
| 321 |
+
"xyz": [
|
| 322 |
+
-0.6168895635718424,
|
| 323 |
+
-0.4332365515428994,
|
| 324 |
+
-0.5646987747968154
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_1": {
|
| 329 |
+
"confidence": 0.9865595102310181,
|
| 330 |
+
"position": [
|
| 331 |
+
-0.06526227062568069,
|
| 332 |
+
-0.09494009020272642,
|
| 333 |
+
0.0048468937748111784
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.5844118744457497,
|
| 337 |
+
"xyz": [
|
| 338 |
+
-0.4023765061678045,
|
| 339 |
+
0.6023504685260942,
|
| 340 |
+
0.36569088224536256
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_2": {
|
| 345 |
+
"confidence": 0.9843870997428894,
|
| 346 |
+
"position": [
|
| 347 |
+
-0.06619286676868796,
|
| 348 |
+
-0.08830527367535979,
|
| 349 |
+
0.039205974026117474
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.24796567282484258,
|
| 353 |
+
"xyz": [
|
| 354 |
+
-0.6524066131829562,
|
| 355 |
+
-0.5135637431715481,
|
| 356 |
+
-0.49913016125585424
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_3": {
|
| 361 |
+
"confidence": 0.87457674741745,
|
| 362 |
+
"position": [
|
| 363 |
+
-0.028942888136953115,
|
| 364 |
+
-0.09846805187407881,
|
| 365 |
+
0.0491868462995626
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.370977676385644,
|
| 369 |
+
"xyz": [
|
| 370 |
+
-0.6210097700924165,
|
| 371 |
+
0.5895089660272389,
|
| 372 |
+
0.35944625195815844
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_4": {
|
| 377 |
+
"confidence": 0.8483923077583313,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.09934669872745872,
|
| 380 |
+
-0.060067457729019225,
|
| 381 |
+
0.03561376599827781
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.5752327069738723,
|
| 385 |
+
"xyz": [
|
| 386 |
+
-0.4051770930477111,
|
| 387 |
+
0.7078597082870541,
|
| 388 |
+
0.06223736402422558
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_5": {
|
| 393 |
+
"confidence": 0.5395126938819885,
|
| 394 |
+
"position": [
|
| 395 |
+
0.04564411053434014,
|
| 396 |
+
-0.06825334730092436,
|
| 397 |
+
0.007744343078229576
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.6417579335245684,
|
| 401 |
+
"xyz": [
|
| 402 |
+
-0.29668685754489027,
|
| 403 |
+
-0.679785306085507,
|
| 404 |
+
-0.1949758983788706
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_6": {
|
| 409 |
+
"confidence": 0.9918650984764099,
|
| 410 |
+
"position": [
|
| 411 |
+
0.016783195082098246,
|
| 412 |
+
-0.08738587948027998,
|
| 413 |
+
0.03297466231742874
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.5086261692252092,
|
| 417 |
+
"xyz": [
|
| 418 |
+
-0.46137271142877384,
|
| 419 |
+
-0.6750063330003554,
|
| 420 |
+
-0.26981677401074056
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_8": {
|
| 425 |
+
"confidence": 0.9892738461494446,
|
| 426 |
+
"position": [
|
| 427 |
+
-0.06551020732149482,
|
| 428 |
+
-0.09230525942984968,
|
| 429 |
+
0.007867501175496727
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.5905056512155501,
|
| 433 |
+
"xyz": [
|
| 434 |
+
-0.39744783345703244,
|
| 435 |
+
0.6114783003707844,
|
| 436 |
+
0.34559019624182996
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_9": {
|
| 441 |
+
"confidence": 0.9888206720352173,
|
| 442 |
+
"position": [
|
| 443 |
+
-0.07044285675510764,
|
| 444 |
+
-0.08962098660413176,
|
| 445 |
+
0.002064414380583912
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.32093711512864886,
|
| 449 |
+
"xyz": [
|
| 450 |
+
-0.6181795598479078,
|
| 451 |
+
-0.3752227994257211,
|
| 452 |
+
-0.611605469817163
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_10": {
|
| 457 |
+
"confidence": 0.9887847900390625,
|
| 458 |
+
"position": [
|
| 459 |
+
-0.026069217827171087,
|
| 460 |
+
-0.10119360836688429,
|
| 461 |
+
0.006617708189878613
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.4908309215675699,
|
| 465 |
+
"xyz": [
|
| 466 |
+
-0.5152420945154974,
|
| 467 |
+
0.5168712189694972,
|
| 468 |
+
0.4758726021462036
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"grasp_11": {
|
| 473 |
+
"confidence": 0.9887477159500122,
|
| 474 |
+
"position": [
|
| 475 |
+
-0.07358230790123343,
|
| 476 |
+
-0.09052764030639082,
|
| 477 |
+
0.008495061716530472
|
| 478 |
+
],
|
| 479 |
+
"orientation": {
|
| 480 |
+
"w": 0.5974255781922533,
|
| 481 |
+
"xyz": [
|
| 482 |
+
-0.3946912196090998,
|
| 483 |
+
0.6151723907515179,
|
| 484 |
+
0.3299461309701859
|
| 485 |
+
]
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"grasp_12": {
|
| 489 |
+
"confidence": 0.9882970452308655,
|
| 490 |
+
"position": [
|
| 491 |
+
-0.07015779754146934,
|
| 492 |
+
-0.09086501004640013,
|
| 493 |
+
0.0041195289813913405
|
| 494 |
+
],
|
| 495 |
+
"orientation": {
|
| 496 |
+
"w": 0.6042027413389524,
|
| 497 |
+
"xyz": [
|
| 498 |
+
-0.38300696055044875,
|
| 499 |
+
0.616623509185186,
|
| 500 |
+
0.3286642107813825
|
| 501 |
+
]
|
| 502 |
+
}
|
| 503 |
+
},
|
| 504 |
+
"grasp_13": {
|
| 505 |
+
"confidence": 0.9874984622001648,
|
| 506 |
+
"position": [
|
| 507 |
+
-0.025145636405795813,
|
| 508 |
+
-0.10116893204394728,
|
| 509 |
+
0.009387081547174603
|
| 510 |
+
],
|
| 511 |
+
"orientation": {
|
| 512 |
+
"w": 0.45643278623732225,
|
| 513 |
+
"xyz": [
|
| 514 |
+
-0.5469752570500015,
|
| 515 |
+
0.5007347022046533,
|
| 516 |
+
0.4916827613723474
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"grasp_14": {
|
| 521 |
+
"confidence": 0.9874377846717834,
|
| 522 |
+
"position": [
|
| 523 |
+
-0.07538300147280097,
|
| 524 |
+
-0.09317647072020918,
|
| 525 |
+
0.002602221502456814
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.33973459507842635,
|
| 529 |
+
"xyz": [
|
| 530 |
+
-0.6069561784290896,
|
| 531 |
+
-0.3863595184352556,
|
| 532 |
+
-0.6057317268297326
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_15": {
|
| 537 |
+
"confidence": 0.9870671629905701,
|
| 538 |
+
"position": [
|
| 539 |
+
-0.06751283770427108,
|
| 540 |
+
-0.09391474875155836,
|
| 541 |
+
0.006827769859228283
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.33162869099579556,
|
| 545 |
+
"xyz": [
|
| 546 |
+
-0.6121747246875319,
|
| 547 |
+
-0.39180417723377503,
|
| 548 |
+
-0.6014598943107713
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"grasp_16": {
|
| 553 |
+
"confidence": 0.9868862628936768,
|
| 554 |
+
"position": [
|
| 555 |
+
-0.07957039913162589,
|
| 556 |
+
-0.08973062189761549,
|
| 557 |
+
0.005133800732437521
|
| 558 |
+
],
|
| 559 |
+
"orientation": {
|
| 560 |
+
"w": 0.31167017330998736,
|
| 561 |
+
"xyz": [
|
| 562 |
+
-0.6229452223861134,
|
| 563 |
+
-0.3791936671766277,
|
| 564 |
+
-0.6091084597576853
|
| 565 |
+
]
|
| 566 |
+
}
|
| 567 |
+
},
|
| 568 |
+
"grasp_17": {
|
| 569 |
+
"confidence": 0.9865694046020508,
|
| 570 |
+
"position": [
|
| 571 |
+
-0.023277373518794775,
|
| 572 |
+
-0.1015505880350247,
|
| 573 |
+
0.008867965138051659
|
| 574 |
+
],
|
| 575 |
+
"orientation": {
|
| 576 |
+
"w": 0.4744917060235526,
|
| 577 |
+
"xyz": [
|
| 578 |
+
-0.5318995723048389,
|
| 579 |
+
0.5196610296678643,
|
| 580 |
+
0.4710550712404265
|
| 581 |
+
]
|
| 582 |
+
}
|
| 583 |
+
},
|
| 584 |
+
"grasp_18": {
|
| 585 |
+
"confidence": 0.986242413520813,
|
| 586 |
+
"position": [
|
| 587 |
+
-0.0334746683947742,
|
| 588 |
+
-0.10111829044762999,
|
| 589 |
+
0.010655639751348644
|
| 590 |
+
],
|
| 591 |
+
"orientation": {
|
| 592 |
+
"w": 0.46111765117146447,
|
| 593 |
+
"xyz": [
|
| 594 |
+
-0.5212709704384194,
|
| 595 |
+
-0.5331449085841279,
|
| 596 |
+
-0.4810442740612568
|
| 597 |
+
]
|
| 598 |
+
}
|
| 599 |
+
},
|
| 600 |
+
"grasp_19": {
|
| 601 |
+
"confidence": 0.9862099289894104,
|
| 602 |
+
"position": [
|
| 603 |
+
-0.08178825071081519,
|
| 604 |
+
-0.08629217895213515,
|
| 605 |
+
0.005960598180536181
|
| 606 |
+
],
|
| 607 |
+
"orientation": {
|
| 608 |
+
"w": 0.3040513905594852,
|
| 609 |
+
"xyz": [
|
| 610 |
+
-0.6273926187400632,
|
| 611 |
+
-0.3737779272639816,
|
| 612 |
+
-0.6117363116078456
|
| 613 |
+
]
|
| 614 |
+
}
|
| 615 |
+
}
|
| 616 |
+
}
|
| 617 |
+
},
|
| 618 |
+
{
|
| 619 |
+
"part_name": "tip cone",
|
| 620 |
+
"mask_color": "Pink",
|
| 621 |
+
"graspable": false,
|
| 622 |
+
"grasp_scenarios": [],
|
| 623 |
+
"functional_labels": [
|
| 624 |
+
"guide the writing tip",
|
| 625 |
+
"enable precise contact for writing",
|
| 626 |
+
"protect and house the tip assembly",
|
| 627 |
+
"indicate writing end"
|
| 628 |
+
],
|
| 629 |
+
"semantic_description": "Small tapered dark gray plastic nose section with a matte smooth hard surface at the writing end, slightly narrower than the barrel and shaped to focus the tip area.",
|
| 630 |
+
"id": 8,
|
| 631 |
+
"grasp_group": {}
|
| 632 |
+
}
|
| 633 |
+
],
|
| 634 |
+
"quality_check": {
|
| 635 |
+
"success": true,
|
| 636 |
+
"message": "YES"
|
| 637 |
+
}
|
| 638 |
+
}
|
dataset/desktop_supplies/office_stationery/f1853df5610251939b9a65bdc731fb97/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:541fe37db556dc25cacd5776b1f101c78209c964d47df2ee7c6054c2870fc08b
|
| 3 |
+
size 667400
|