Add asset bedroom_supplies/storage/145420d4481d557e810dd049f2647556
Browse files
.gitattributes
CHANGED
|
@@ -5963,3 +5963,4 @@ dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/affordance/mes
|
|
| 5963 |
dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5964 |
dataset/bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5965 |
dataset/bedroom_supplies/storage/1219d6489df755909cb8b83810467bdd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5963 |
dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5964 |
dataset/bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5965 |
dataset/bedroom_supplies/storage/1219d6489df755909cb8b83810467bdd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5966 |
+
dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1259 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edges to lift or remove the lid",
|
| 10 |
+
"confidence": 0.87
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while aligning it during closing",
|
| 14 |
+
"confidence": 0.7
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the container opening",
|
| 19 |
+
"protect contents",
|
| 20 |
+
"enable opening and closing",
|
| 21 |
+
"provide top access"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A large translucent milky-white plastic lid with a smooth slightly glossy finish, rounded-square shape, and broad flat upper surface covering the container.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_40": {
|
| 27 |
+
"confidence": 0.8238423466682434,
|
| 28 |
+
"position": [
|
| 29 |
+
0.006688753026537597,
|
| 30 |
+
0.11145132797537372,
|
| 31 |
+
0.08840036299079657
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.003672428502119506,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.0010862034974341895,
|
| 37 |
+
0.871637783224638,
|
| 38 |
+
-0.49013560193695205
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_41": {
|
| 43 |
+
"confidence": 0.8163730502128601,
|
| 44 |
+
"position": [
|
| 45 |
+
0.0031541865319013596,
|
| 46 |
+
0.11702943610725924,
|
| 47 |
+
0.08693745639175177
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.006050625282721978,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.009269640017911989,
|
| 53 |
+
0.8660961561610245,
|
| 54 |
+
-0.4997548518931303
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_42": {
|
| 59 |
+
"confidence": 0.7761507630348206,
|
| 60 |
+
"position": [
|
| 61 |
+
0.005187097587622702,
|
| 62 |
+
0.1123337225872092,
|
| 63 |
+
0.08844593074172735
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.004995042567246276,
|
| 67 |
+
"xyz": [
|
| 68 |
+
9.099962991438145e-05,
|
| 69 |
+
-0.8677674380728786,
|
| 70 |
+
0.49694538401040805
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_43": {
|
| 75 |
+
"confidence": 0.7698849439620972,
|
| 76 |
+
"position": [
|
| 77 |
+
0.000372943002730608,
|
| 78 |
+
-0.11424450558843091,
|
| 79 |
+
0.09092975314706564
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.03208296962232001,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.004634114897209506,
|
| 85 |
+
0.8740990341396926,
|
| 86 |
+
0.48466492193616545
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_44": {
|
| 91 |
+
"confidence": 0.7593048214912415,
|
| 92 |
+
"position": [
|
| 93 |
+
0.006317846826277673,
|
| 94 |
+
0.10561687516747043,
|
| 95 |
+
0.08675672765821218
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.00018756020286044573,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.012812490011184044,
|
| 101 |
+
0.8647141138642368,
|
| 102 |
+
-0.5021008924557597
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_45": {
|
| 107 |
+
"confidence": 0.7197787165641785,
|
| 108 |
+
"position": [
|
| 109 |
+
0.007644280209206045,
|
| 110 |
+
0.11754339950857684,
|
| 111 |
+
0.03732787352055311
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.014999498857909407,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.009033160713314316,
|
| 117 |
+
-0.7207518335404287,
|
| 118 |
+
0.6929720134966846
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_46": {
|
| 123 |
+
"confidence": 0.7194007635116577,
|
| 124 |
+
"position": [
|
| 125 |
+
0.004653558717109263,
|
| 126 |
+
0.127382755454164,
|
| 127 |
+
0.04237210284918547
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.6841608825149504,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.729203502132926,
|
| 133 |
+
-0.003958509890981787,
|
| 134 |
+
0.013056397392973127
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_47": {
|
| 139 |
+
"confidence": 0.7172285318374634,
|
| 140 |
+
"position": [
|
| 141 |
+
0.005917467991821468,
|
| 142 |
+
0.11985230463324115,
|
| 143 |
+
0.041836521588265896
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.017245228154932398,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.00696671814006881,
|
| 149 |
+
-0.7309367400565719,
|
| 150 |
+
0.682191724502513
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_48": {
|
| 155 |
+
"confidence": 0.7102274894714355,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.02407320321071893,
|
| 158 |
+
0.11486995982704684,
|
| 159 |
+
0.08611826505511999
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.06869915859520555,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.045546362639719486,
|
| 165 |
+
0.8571171310872354,
|
| 166 |
+
-0.5084841964657197
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_49": {
|
| 171 |
+
"confidence": 0.6800495982170105,
|
| 172 |
+
"position": [
|
| 173 |
+
0.002875075559131801,
|
| 174 |
+
0.1288519652443938,
|
| 175 |
+
0.03717251028865576
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.713566958809494,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.7005323734727462,
|
| 181 |
+
0.007251157310558809,
|
| 182 |
+
0.00489997241499952
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_50": {
|
| 187 |
+
"confidence": 0.6510672569274902,
|
| 188 |
+
"position": [
|
| 189 |
+
0.005120810470543802,
|
| 190 |
+
0.11511874961433932,
|
| 191 |
+
0.08330391999334097
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.5138909725476618,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.8578105546404511,
|
| 197 |
+
0.008202847303230398,
|
| 198 |
+
0.003135917342615519
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_51": {
|
| 203 |
+
"confidence": 0.5650797486305237,
|
| 204 |
+
"position": [
|
| 205 |
+
0.001420450811565388,
|
| 206 |
+
0.10103199648438022,
|
| 207 |
+
0.08554480876773596
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.5142864735260616,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.8574548468401354,
|
| 213 |
+
0.011188998887935342,
|
| 214 |
+
0.012466558561710184
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_53": {
|
| 219 |
+
"confidence": 0.42939493060112,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.11281021230388433,
|
| 222 |
+
0.008469751279335469,
|
| 223 |
+
0.08760622050613165
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.3381160040237877,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.6101560850142473,
|
| 229 |
+
0.6143558733154564,
|
| 230 |
+
-0.3687193792925396
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_54": {
|
| 235 |
+
"confidence": 0.41487810015678406,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.12328259192872792,
|
| 238 |
+
0.0059140894445590675,
|
| 239 |
+
0.04381206538528204
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.48438704106421016,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.5093629055116944,
|
| 245 |
+
0.5073821942479206,
|
| 246 |
+
-0.49847962234971
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_58": {
|
| 251 |
+
"confidence": 0.1373259723186493,
|
| 252 |
+
"position": [
|
| 253 |
+
0.006595726474188268,
|
| 254 |
+
-0.11906666291179135,
|
| 255 |
+
-0.0008855648338794708
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.35571838228809144,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.29461969358406853,
|
| 261 |
+
0.6073969298246551,
|
| 262 |
+
0.6463223950122383
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
}
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"part_name": "container body",
|
| 270 |
+
"mask_color": "Green",
|
| 271 |
+
"graspable": true,
|
| 272 |
+
"grasp_scenarios": [
|
| 273 |
+
{
|
| 274 |
+
"scenario": "grasp the side walls to pick up the container",
|
| 275 |
+
"confidence": 0.93
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"scenario": "hold the body while opening or closing the lid",
|
| 279 |
+
"confidence": 0.9
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"scenario": "stabilize the container during access",
|
| 283 |
+
"confidence": 0.77
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"contain stored items",
|
| 288 |
+
"support the overall structure",
|
| 289 |
+
"provide main grasp surface",
|
| 290 |
+
"interface with the lid"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "The main translucent milky-white plastic body has smooth slightly glossy vertical walls, a rounded-square box shape, and occupies most of the object's middle section.",
|
| 293 |
+
"id": 1,
|
| 294 |
+
"grasp_group": {
|
| 295 |
+
"grasp_0": {
|
| 296 |
+
"confidence": 0.8477593064308167,
|
| 297 |
+
"position": [
|
| 298 |
+
0.002368950517848134,
|
| 299 |
+
0.11948461848078296,
|
| 300 |
+
-0.00974908284842968
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.7017491794599094,
|
| 304 |
+
"xyz": [
|
| 305 |
+
0.7122397631324684,
|
| 306 |
+
-0.006074068103552155,
|
| 307 |
+
0.015023802349022676
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_1": {
|
| 312 |
+
"confidence": 0.8418969511985779,
|
| 313 |
+
"position": [
|
| 314 |
+
0.001481744162447285,
|
| 315 |
+
0.11571951973019168,
|
| 316 |
+
-0.02688071969896555
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.7265178747644958,
|
| 320 |
+
"xyz": [
|
| 321 |
+
0.6865219472585629,
|
| 322 |
+
-0.0036857663828007148,
|
| 323 |
+
0.0290827905497878
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_2": {
|
| 328 |
+
"confidence": 0.8411898016929626,
|
| 329 |
+
"position": [
|
| 330 |
+
-0.0006857382832095027,
|
| 331 |
+
0.11516495811520144,
|
| 332 |
+
-0.019489607773721218
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.7179919020739753,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.6949265477157837,
|
| 338 |
+
-0.02439960621842585,
|
| 339 |
+
0.03113488481436381
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_3": {
|
| 344 |
+
"confidence": 0.838567316532135,
|
| 345 |
+
"position": [
|
| 346 |
+
0.009315295959822834,
|
| 347 |
+
0.11683841067133471,
|
| 348 |
+
-0.013367178849875927
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.02052361304929994,
|
| 352 |
+
"xyz": [
|
| 353 |
+
-0.0024026486014090734,
|
| 354 |
+
-0.6947950688746837,
|
| 355 |
+
0.7189108573769933
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_4": {
|
| 360 |
+
"confidence": 0.8367774486541748,
|
| 361 |
+
"position": [
|
| 362 |
+
0.003201254759915173,
|
| 363 |
+
0.11723391729174182,
|
| 364 |
+
-0.018923833034932613
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.7510018399514538,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.6589599715641441,
|
| 370 |
+
-0.02066048799924125,
|
| 371 |
+
0.03662153057077923
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_5": {
|
| 376 |
+
"confidence": 0.8347675204277039,
|
| 377 |
+
"position": [
|
| 378 |
+
0.0034128454281017184,
|
| 379 |
+
-0.11840391141595319,
|
| 380 |
+
0.003258462413214147
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.003109405998245811,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.0066728760129536385,
|
| 386 |
+
0.702830131507317,
|
| 387 |
+
0.7113196261635559
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_6": {
|
| 392 |
+
"confidence": 0.834432065486908,
|
| 393 |
+
"position": [
|
| 394 |
+
0.0027490281499922276,
|
| 395 |
+
0.11624564992962405,
|
| 396 |
+
-0.009427580051124096
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.7052931986159962,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.7085249950487567,
|
| 402 |
+
-0.003000349638037858,
|
| 403 |
+
0.023341664020078517
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_7": {
|
| 408 |
+
"confidence": 0.8309864401817322,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.0010714576346799731,
|
| 411 |
+
0.11680571007309482,
|
| 412 |
+
-0.002795201726257801
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.6967779388026611,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.716933605428925,
|
| 418 |
+
1.4465513663353136e-05,
|
| 419 |
+
0.022510202028104238
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_8": {
|
| 424 |
+
"confidence": 0.8291031122207642,
|
| 425 |
+
"position": [
|
| 426 |
+
0.004124976112507284,
|
| 427 |
+
0.11986073123989627,
|
| 428 |
+
-0.014995544217526913
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.7050096006025737,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.7091340003005772,
|
| 434 |
+
-0.005137914508404506,
|
| 435 |
+
0.008002156609640505
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_9": {
|
| 440 |
+
"confidence": 0.825862467288971,
|
| 441 |
+
"position": [
|
| 442 |
+
0.0052101436303928494,
|
| 443 |
+
0.11622433381853625,
|
| 444 |
+
-0.026881027035415173
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.7215361264270541,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.6919377523204243,
|
| 450 |
+
-0.02411304848449447,
|
| 451 |
+
0.005130893410101227
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_10": {
|
| 456 |
+
"confidence": 0.8256487846374512,
|
| 457 |
+
"position": [
|
| 458 |
+
0.00289722578600049,
|
| 459 |
+
0.11680401879129931,
|
| 460 |
+
0.01959786843508482
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.6322283950152491,
|
| 464 |
+
"xyz": [
|
| 465 |
+
0.7745622474598947,
|
| 466 |
+
-0.004121257681140245,
|
| 467 |
+
0.01798879043861801
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_11": {
|
| 472 |
+
"confidence": 0.8211036324501038,
|
| 473 |
+
"position": [
|
| 474 |
+
0.004002147703431547,
|
| 475 |
+
0.119004450913053,
|
| 476 |
+
-0.0038653211668133736
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.7099354109438109,
|
| 480 |
+
"xyz": [
|
| 481 |
+
0.7040918654343425,
|
| 482 |
+
0.0009364026181848395,
|
| 483 |
+
0.015667816292218327
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_12": {
|
| 488 |
+
"confidence": 0.8204331994056702,
|
| 489 |
+
"position": [
|
| 490 |
+
0.003973802900873125,
|
| 491 |
+
0.1221916006761603,
|
| 492 |
+
-0.007197199389338493
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.6994753310972316,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.7143190890825238,
|
| 498 |
+
0.0015274452037824515,
|
| 499 |
+
0.021912714799425866
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_13": {
|
| 504 |
+
"confidence": 0.8198906779289246,
|
| 505 |
+
"position": [
|
| 506 |
+
0.0037189758149906993,
|
| 507 |
+
-0.00016553467139601707,
|
| 508 |
+
-0.11343541834503412
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.03765570423810212,
|
| 512 |
+
"xyz": [
|
| 513 |
+
0.009064334045246186,
|
| 514 |
+
0.00888487360880652,
|
| 515 |
+
0.999210160480569
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_14": {
|
| 520 |
+
"confidence": 0.8197699785232544,
|
| 521 |
+
"position": [
|
| 522 |
+
0.00531708390917629,
|
| 523 |
+
0.11734169739065692,
|
| 524 |
+
-0.012502972967922688
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.7183069222353919,
|
| 528 |
+
"xyz": [
|
| 529 |
+
0.6956276951433263,
|
| 530 |
+
-0.004162741572079631,
|
| 531 |
+
0.01095202268560895
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_15": {
|
| 536 |
+
"confidence": 0.8197319507598877,
|
| 537 |
+
"position": [
|
| 538 |
+
0.006691892514936626,
|
| 539 |
+
0.11797042953548953,
|
| 540 |
+
-0.00817737728357315
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.7071011768176235,
|
| 544 |
+
"xyz": [
|
| 545 |
+
0.7064892721163266,
|
| 546 |
+
-0.014435154784496196,
|
| 547 |
+
0.025931842086958316
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"grasp_16": {
|
| 552 |
+
"confidence": 0.8195568919181824,
|
| 553 |
+
"position": [
|
| 554 |
+
0.003135417588055134,
|
| 555 |
+
0.12184431421337649,
|
| 556 |
+
-0.013414819724857807
|
| 557 |
+
],
|
| 558 |
+
"orientation": {
|
| 559 |
+
"w": 0.699918511141308,
|
| 560 |
+
"xyz": [
|
| 561 |
+
0.7134073118812861,
|
| 562 |
+
-0.011389090605334995,
|
| 563 |
+
0.03216168110089493
|
| 564 |
+
]
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"grasp_17": {
|
| 568 |
+
"confidence": 0.819338321685791,
|
| 569 |
+
"position": [
|
| 570 |
+
0.005149614415131509,
|
| 571 |
+
0.116667702968698,
|
| 572 |
+
-0.014335946179926395
|
| 573 |
+
],
|
| 574 |
+
"orientation": {
|
| 575 |
+
"w": 0.028612718219637498,
|
| 576 |
+
"xyz": [
|
| 577 |
+
0.004909150491806434,
|
| 578 |
+
-0.7029409779284292,
|
| 579 |
+
0.7106554679635948
|
| 580 |
+
]
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"grasp_18": {
|
| 584 |
+
"confidence": 0.8183914422988892,
|
| 585 |
+
"position": [
|
| 586 |
+
0.0033066008472815156,
|
| 587 |
+
-0.12502119672717527,
|
| 588 |
+
-0.013421709649264812
|
| 589 |
+
],
|
| 590 |
+
"orientation": {
|
| 591 |
+
"w": 0.0005996983685855818,
|
| 592 |
+
"xyz": [
|
| 593 |
+
0.01084048028415488,
|
| 594 |
+
0.7118027812999542,
|
| 595 |
+
0.7022954683626582
|
| 596 |
+
]
|
| 597 |
+
}
|
| 598 |
+
},
|
| 599 |
+
"grasp_19": {
|
| 600 |
+
"confidence": 0.818347692489624,
|
| 601 |
+
"position": [
|
| 602 |
+
0.00640051846858114,
|
| 603 |
+
0.11874343472300097,
|
| 604 |
+
-0.013622074387967587
|
| 605 |
+
],
|
| 606 |
+
"orientation": {
|
| 607 |
+
"w": 0.7047796355572508,
|
| 608 |
+
"xyz": [
|
| 609 |
+
0.7092124918826599,
|
| 610 |
+
-0.011911614457548403,
|
| 611 |
+
0.012705121108913427
|
| 612 |
+
]
|
| 613 |
+
}
|
| 614 |
+
}
|
| 615 |
+
}
|
| 616 |
+
},
|
| 617 |
+
{
|
| 618 |
+
"part_name": "lower base band",
|
| 619 |
+
"mask_color": "Blue",
|
| 620 |
+
"graspable": true,
|
| 621 |
+
"grasp_scenarios": [
|
| 622 |
+
{
|
| 623 |
+
"scenario": "grasp around the lower side band to reposition the container",
|
| 624 |
+
"confidence": 0.58
|
| 625 |
+
},
|
| 626 |
+
{
|
| 627 |
+
"scenario": "use the lower band as a secondary support area while stabilizing the container",
|
| 628 |
+
"confidence": 0.52
|
| 629 |
+
}
|
| 630 |
+
],
|
| 631 |
+
"functional_labels": [
|
| 632 |
+
"form the lower perimeter",
|
| 633 |
+
"add rigidity near the bottom",
|
| 634 |
+
"provide a transition to the base",
|
| 635 |
+
"protect the lower edge"
|
| 636 |
+
],
|
| 637 |
+
"semantic_description": "A translucent milky-white plastic lower band wraps around the bottom perimeter, with a smooth glossy finish and slightly thicker appearance than the main side walls.",
|
| 638 |
+
"id": 2,
|
| 639 |
+
"grasp_group": {
|
| 640 |
+
"grasp_20": {
|
| 641 |
+
"confidence": 0.8213606476783752,
|
| 642 |
+
"position": [
|
| 643 |
+
0.0066814523888751864,
|
| 644 |
+
0.11702913063345477,
|
| 645 |
+
-0.02725269366055727
|
| 646 |
+
],
|
| 647 |
+
"orientation": {
|
| 648 |
+
"w": 0.7050751689885661,
|
| 649 |
+
"xyz": [
|
| 650 |
+
0.7083856273469388,
|
| 651 |
+
-0.0247651030904521,
|
| 652 |
+
0.021106840430259705
|
| 653 |
+
]
|
| 654 |
+
}
|
| 655 |
+
},
|
| 656 |
+
"grasp_21": {
|
| 657 |
+
"confidence": 0.8024378418922424,
|
| 658 |
+
"position": [
|
| 659 |
+
0.005025102407671511,
|
| 660 |
+
0.11675959097919986,
|
| 661 |
+
-0.027713068760931492
|
| 662 |
+
],
|
| 663 |
+
"orientation": {
|
| 664 |
+
"w": 0.010065341711091821,
|
| 665 |
+
"xyz": [
|
| 666 |
+
0.008231314067353925,
|
| 667 |
+
-0.7079718859638697,
|
| 668 |
+
0.7061209124857617
|
| 669 |
+
]
|
| 670 |
+
}
|
| 671 |
+
},
|
| 672 |
+
"grasp_22": {
|
| 673 |
+
"confidence": 0.7924565076828003,
|
| 674 |
+
"position": [
|
| 675 |
+
0.006751064560376108,
|
| 676 |
+
0.11761504429159686,
|
| 677 |
+
-0.03741943184286356
|
| 678 |
+
],
|
| 679 |
+
"orientation": {
|
| 680 |
+
"w": 0.0045154696774552935,
|
| 681 |
+
"xyz": [
|
| 682 |
+
0.014485870444552908,
|
| 683 |
+
-0.697108144204021,
|
| 684 |
+
0.7168054166756009
|
| 685 |
+
]
|
| 686 |
+
}
|
| 687 |
+
},
|
| 688 |
+
"grasp_23": {
|
| 689 |
+
"confidence": 0.771293044090271,
|
| 690 |
+
"position": [
|
| 691 |
+
0.003361797076649964,
|
| 692 |
+
-0.12226786446990445,
|
| 693 |
+
-0.02555414568632841
|
| 694 |
+
],
|
| 695 |
+
"orientation": {
|
| 696 |
+
"w": 0.700043296407325,
|
| 697 |
+
"xyz": [
|
| 698 |
+
-0.7140402023232354,
|
| 699 |
+
-0.005221043313092366,
|
| 700 |
+
-0.007662462272779906
|
| 701 |
+
]
|
| 702 |
+
}
|
| 703 |
+
},
|
| 704 |
+
"grasp_24": {
|
| 705 |
+
"confidence": 0.7677723169326782,
|
| 706 |
+
"position": [
|
| 707 |
+
0.004578304826281965,
|
| 708 |
+
0.12723206001101062,
|
| 709 |
+
-0.03798562381416559
|
| 710 |
+
],
|
| 711 |
+
"orientation": {
|
| 712 |
+
"w": 0.7347412583441444,
|
| 713 |
+
"xyz": [
|
| 714 |
+
0.6777261507456019,
|
| 715 |
+
-0.01858300629964138,
|
| 716 |
+
0.022298425040353644
|
| 717 |
+
]
|
| 718 |
+
}
|
| 719 |
+
},
|
| 720 |
+
"grasp_25": {
|
| 721 |
+
"confidence": 0.7655433416366577,
|
| 722 |
+
"position": [
|
| 723 |
+
0.005456087063066661,
|
| 724 |
+
0.1277506502228789,
|
| 725 |
+
-0.030719653703272343
|
| 726 |
+
],
|
| 727 |
+
"orientation": {
|
| 728 |
+
"w": 0.7179042545064145,
|
| 729 |
+
"xyz": [
|
| 730 |
+
0.6954600972904084,
|
| 731 |
+
-0.02207581536821568,
|
| 732 |
+
0.021480056197165892
|
| 733 |
+
]
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
"grasp_26": {
|
| 737 |
+
"confidence": 0.7605159282684326,
|
| 738 |
+
"position": [
|
| 739 |
+
0.0002694579306989908,
|
| 740 |
+
0.1243724228697829,
|
| 741 |
+
-0.030224849469959736
|
| 742 |
+
],
|
| 743 |
+
"orientation": {
|
| 744 |
+
"w": 0.001605823864181511,
|
| 745 |
+
"xyz": [
|
| 746 |
+
-0.004291757397099201,
|
| 747 |
+
0.7194299423860684,
|
| 748 |
+
-0.694549897521078
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
},
|
| 752 |
+
"grasp_27": {
|
| 753 |
+
"confidence": 0.7590605616569519,
|
| 754 |
+
"position": [
|
| 755 |
+
0.0019058234756812453,
|
| 756 |
+
-0.12040281278314069,
|
| 757 |
+
-0.029724632389843464
|
| 758 |
+
],
|
| 759 |
+
"orientation": {
|
| 760 |
+
"w": 0.6964416205778927,
|
| 761 |
+
"xyz": [
|
| 762 |
+
-0.7175767153355198,
|
| 763 |
+
0.0013251572525532218,
|
| 764 |
+
-0.007139376259944591
|
| 765 |
+
]
|
| 766 |
+
}
|
| 767 |
+
},
|
| 768 |
+
"grasp_28": {
|
| 769 |
+
"confidence": 0.7586672902107239,
|
| 770 |
+
"position": [
|
| 771 |
+
-8.529471233487129e-05,
|
| 772 |
+
-0.12518712860764936,
|
| 773 |
+
-0.02864921186119318
|
| 774 |
+
],
|
| 775 |
+
"orientation": {
|
| 776 |
+
"w": 0.7011212933003657,
|
| 777 |
+
"xyz": [
|
| 778 |
+
-0.7129389498912283,
|
| 779 |
+
-0.006498202032093503,
|
| 780 |
+
-0.010235193166975793
|
| 781 |
+
]
|
| 782 |
+
}
|
| 783 |
+
},
|
| 784 |
+
"grasp_29": {
|
| 785 |
+
"confidence": 0.7529171705245972,
|
| 786 |
+
"position": [
|
| 787 |
+
0.008515050983987749,
|
| 788 |
+
0.12738019245443866,
|
| 789 |
+
-0.03283654619008303
|
| 790 |
+
],
|
| 791 |
+
"orientation": {
|
| 792 |
+
"w": 0.7224584342702041,
|
| 793 |
+
"xyz": [
|
| 794 |
+
0.6910377175232876,
|
| 795 |
+
-0.021481106834571384,
|
| 796 |
+
0.007697126815384797
|
| 797 |
+
]
|
| 798 |
+
}
|
| 799 |
+
},
|
| 800 |
+
"grasp_31": {
|
| 801 |
+
"confidence": 0.7428016662597656,
|
| 802 |
+
"position": [
|
| 803 |
+
0.0049282662803307176,
|
| 804 |
+
0.11853210645494983,
|
| 805 |
+
-0.029158093966543674
|
| 806 |
+
],
|
| 807 |
+
"orientation": {
|
| 808 |
+
"w": 0.001980378372710216,
|
| 809 |
+
"xyz": [
|
| 810 |
+
-0.003286299385671304,
|
| 811 |
+
0.7117941377801935,
|
| 812 |
+
-0.7023776646218184
|
| 813 |
+
]
|
| 814 |
+
}
|
| 815 |
+
},
|
| 816 |
+
"grasp_33": {
|
| 817 |
+
"confidence": 0.7407255172729492,
|
| 818 |
+
"position": [
|
| 819 |
+
0.009775505284778774,
|
| 820 |
+
0.1265066863852553,
|
| 821 |
+
-0.027413574047386646
|
| 822 |
+
],
|
| 823 |
+
"orientation": {
|
| 824 |
+
"w": 0.0022984281988360326,
|
| 825 |
+
"xyz": [
|
| 826 |
+
0.006974553018559082,
|
| 827 |
+
-0.7035985570496367,
|
| 828 |
+
0.7105597394700013
|
| 829 |
+
]
|
| 830 |
+
}
|
| 831 |
+
},
|
| 832 |
+
"grasp_34": {
|
| 833 |
+
"confidence": 0.7406917214393616,
|
| 834 |
+
"position": [
|
| 835 |
+
0.013073115493170917,
|
| 836 |
+
-0.12856920046033338,
|
| 837 |
+
-0.029753034003078938
|
| 838 |
+
],
|
| 839 |
+
"orientation": {
|
| 840 |
+
"w": 0.7061715104583657,
|
| 841 |
+
"xyz": [
|
| 842 |
+
-0.707801985110227,
|
| 843 |
+
-0.018388107287367617,
|
| 844 |
+
-0.00015874936509779566
|
| 845 |
+
]
|
| 846 |
+
}
|
| 847 |
+
},
|
| 848 |
+
"grasp_36": {
|
| 849 |
+
"confidence": 0.7337176203727722,
|
| 850 |
+
"position": [
|
| 851 |
+
0.003909450606442988,
|
| 852 |
+
-0.12765473109902814,
|
| 853 |
+
-0.03528700862079859
|
| 854 |
+
],
|
| 855 |
+
"orientation": {
|
| 856 |
+
"w": 0.7165480607781475,
|
| 857 |
+
"xyz": [
|
| 858 |
+
-0.6975358128117072,
|
| 859 |
+
-0.0006382093944727885,
|
| 860 |
+
-0.0015030399050299738
|
| 861 |
+
]
|
| 862 |
+
}
|
| 863 |
+
},
|
| 864 |
+
"grasp_37": {
|
| 865 |
+
"confidence": 0.7278738617897034,
|
| 866 |
+
"position": [
|
| 867 |
+
0.00028061168268322945,
|
| 868 |
+
-0.12904307228745893,
|
| 869 |
+
-0.031070810742676258
|
| 870 |
+
],
|
| 871 |
+
"orientation": {
|
| 872 |
+
"w": 0.6987799875696528,
|
| 873 |
+
"xyz": [
|
| 874 |
+
-0.7152683698940905,
|
| 875 |
+
-0.006444451614000424,
|
| 876 |
+
-0.007493800411107795
|
| 877 |
+
]
|
| 878 |
+
}
|
| 879 |
+
},
|
| 880 |
+
"grasp_38": {
|
| 881 |
+
"confidence": 0.7235692739486694,
|
| 882 |
+
"position": [
|
| 883 |
+
0.005978287546895444,
|
| 884 |
+
-0.12691429239930585,
|
| 885 |
+
-0.03170348796993494
|
| 886 |
+
],
|
| 887 |
+
"orientation": {
|
| 888 |
+
"w": 0.7081168288054366,
|
| 889 |
+
"xyz": [
|
| 890 |
+
-0.7060865161505688,
|
| 891 |
+
-0.003452116772105218,
|
| 892 |
+
-0.0006865585742301454
|
| 893 |
+
]
|
| 894 |
+
}
|
| 895 |
+
}
|
| 896 |
+
}
|
| 897 |
+
},
|
| 898 |
+
{
|
| 899 |
+
"part_name": "bottom panel",
|
| 900 |
+
"mask_color": "Red",
|
| 901 |
+
"graspable": false,
|
| 902 |
+
"grasp_scenarios": [],
|
| 903 |
+
"functional_labels": [
|
| 904 |
+
"close the bottom",
|
| 905 |
+
"support contents from below",
|
| 906 |
+
"provide a resting surface"
|
| 907 |
+
],
|
| 908 |
+
"semantic_description": "The flat bottom panel is translucent milky-white plastic with a smooth glossy hard surface and rounded-square shape, forming the underside of the container.",
|
| 909 |
+
"id": 0,
|
| 910 |
+
"grasp_group": {}
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"part_name": "front pull tab",
|
| 914 |
+
"mask_color": "Orange",
|
| 915 |
+
"graspable": true,
|
| 916 |
+
"grasp_scenarios": [
|
| 917 |
+
{
|
| 918 |
+
"scenario": "pinch the small front tab to help lift the lid",
|
| 919 |
+
"confidence": 0.78
|
| 920 |
+
},
|
| 921 |
+
{
|
| 922 |
+
"scenario": "use the tab as a pull point during opening",
|
| 923 |
+
"confidence": 0.66
|
| 924 |
+
}
|
| 925 |
+
],
|
| 926 |
+
"functional_labels": [
|
| 927 |
+
"provide a pull point for opening",
|
| 928 |
+
"extend from the front lid edge",
|
| 929 |
+
"assist lid manipulation"
|
| 930 |
+
],
|
| 931 |
+
"semantic_description": "A small translucent milky-white plastic front tab with a smooth glossy finish protrudes slightly from the lid edge near the top front.",
|
| 932 |
+
"id": 4,
|
| 933 |
+
"grasp_group": {
|
| 934 |
+
"grasp_60": {
|
| 935 |
+
"confidence": 0.7113973498344421,
|
| 936 |
+
"position": [
|
| 937 |
+
-0.0034349357010796666,
|
| 938 |
+
0.03193628432927653,
|
| 939 |
+
0.12631443794816732
|
| 940 |
+
],
|
| 941 |
+
"orientation": {
|
| 942 |
+
"w": 0.18319974243986833,
|
| 943 |
+
"xyz": [
|
| 944 |
+
0.982426513717815,
|
| 945 |
+
0.03264488765907572,
|
| 946 |
+
0.01450209722599272
|
| 947 |
+
]
|
| 948 |
+
}
|
| 949 |
+
},
|
| 950 |
+
"grasp_61": {
|
| 951 |
+
"confidence": 0.7049108743667603,
|
| 952 |
+
"position": [
|
| 953 |
+
0.0007287115440703928,
|
| 954 |
+
-0.004492201202083379,
|
| 955 |
+
0.13147927727550268
|
| 956 |
+
],
|
| 957 |
+
"orientation": {
|
| 958 |
+
"w": 0.0061533820455344345,
|
| 959 |
+
"xyz": [
|
| 960 |
+
0.9990132908142616,
|
| 961 |
+
0.03144187839817323,
|
| 962 |
+
0.030756933342838907
|
| 963 |
+
]
|
| 964 |
+
}
|
| 965 |
+
},
|
| 966 |
+
"grasp_62": {
|
| 967 |
+
"confidence": 0.6434760093688965,
|
| 968 |
+
"position": [
|
| 969 |
+
0.001836092909798026,
|
| 970 |
+
-0.005857278418261558,
|
| 971 |
+
0.13365287985652685
|
| 972 |
+
],
|
| 973 |
+
"orientation": {
|
| 974 |
+
"w": 2.5792917679387378e-05,
|
| 975 |
+
"xyz": [
|
| 976 |
+
-0.004597902720517,
|
| 977 |
+
-0.9999836255172471,
|
| 978 |
+
-0.003406952109905679
|
| 979 |
+
]
|
| 980 |
+
}
|
| 981 |
+
},
|
| 982 |
+
"grasp_63": {
|
| 983 |
+
"confidence": 0.6417664885520935,
|
| 984 |
+
"position": [
|
| 985 |
+
0.0007040984346531332,
|
| 986 |
+
-0.04495469463290647,
|
| 987 |
+
0.12034559901803732
|
| 988 |
+
],
|
| 989 |
+
"orientation": {
|
| 990 |
+
"w": 0.24995925384290243,
|
| 991 |
+
"xyz": [
|
| 992 |
+
-0.9682521592503379,
|
| 993 |
+
-0.002567683203622634,
|
| 994 |
+
-0.0012387608016425084
|
| 995 |
+
]
|
| 996 |
+
}
|
| 997 |
+
},
|
| 998 |
+
"grasp_64": {
|
| 999 |
+
"confidence": 0.6361561417579651,
|
| 1000 |
+
"position": [
|
| 1001 |
+
0.005668723373673856,
|
| 1002 |
+
0.047269322152715176,
|
| 1003 |
+
0.12034349795430899
|
| 1004 |
+
],
|
| 1005 |
+
"orientation": {
|
| 1006 |
+
"w": 0.2565604567801724,
|
| 1007 |
+
"xyz": [
|
| 1008 |
+
0.9663941861355148,
|
| 1009 |
+
0.013013444362994453,
|
| 1010 |
+
-0.009468858750483259
|
| 1011 |
+
]
|
| 1012 |
+
}
|
| 1013 |
+
},
|
| 1014 |
+
"grasp_65": {
|
| 1015 |
+
"confidence": 0.7057934403419495,
|
| 1016 |
+
"position": [
|
| 1017 |
+
-0.002030569943599403,
|
| 1018 |
+
-0.00023504401906393468,
|
| 1019 |
+
0.1355089833959937
|
| 1020 |
+
],
|
| 1021 |
+
"orientation": {
|
| 1022 |
+
"w": 2.5912130195034328e-05,
|
| 1023 |
+
"xyz": [
|
| 1024 |
+
-0.004590405484485613,
|
| 1025 |
+
0.9999835163817741,
|
| 1026 |
+
0.003448836150338515
|
| 1027 |
+
]
|
| 1028 |
+
}
|
| 1029 |
+
},
|
| 1030 |
+
"grasp_66": {
|
| 1031 |
+
"confidence": 0.6881357431411743,
|
| 1032 |
+
"position": [
|
| 1033 |
+
0.0039442634442821145,
|
| 1034 |
+
0.009850997652392834,
|
| 1035 |
+
0.13073459174484015
|
| 1036 |
+
],
|
| 1037 |
+
"orientation": {
|
| 1038 |
+
"w": 0.023465462598699985,
|
| 1039 |
+
"xyz": [
|
| 1040 |
+
0.9993461066122443,
|
| 1041 |
+
0.026279731009940306,
|
| 1042 |
+
0.008130621256880471
|
| 1043 |
+
]
|
| 1044 |
+
}
|
| 1045 |
+
},
|
| 1046 |
+
"grasp_67": {
|
| 1047 |
+
"confidence": 0.6851795315742493,
|
| 1048 |
+
"position": [
|
| 1049 |
+
0.008965141954831779,
|
| 1050 |
+
-0.04869865981163457,
|
| 1051 |
+
0.11830027308315039
|
| 1052 |
+
],
|
| 1053 |
+
"orientation": {
|
| 1054 |
+
"w": 0.012421960900566463,
|
| 1055 |
+
"xyz": [
|
| 1056 |
+
0.025878555334555877,
|
| 1057 |
+
-0.9661777783696022,
|
| 1058 |
+
-0.2562742590389463
|
| 1059 |
+
]
|
| 1060 |
+
}
|
| 1061 |
+
},
|
| 1062 |
+
"grasp_68": {
|
| 1063 |
+
"confidence": 0.6841793060302734,
|
| 1064 |
+
"position": [
|
| 1065 |
+
0.0010817025613505393,
|
| 1066 |
+
0.01248439511982724,
|
| 1067 |
+
0.1310921600088477
|
| 1068 |
+
],
|
| 1069 |
+
"orientation": {
|
| 1070 |
+
"w": 0.03931290891517764,
|
| 1071 |
+
"xyz": [
|
| 1072 |
+
0.998881555797774,
|
| 1073 |
+
0.026103388831864312,
|
| 1074 |
+
0.002957324997000771
|
| 1075 |
+
]
|
| 1076 |
+
}
|
| 1077 |
+
},
|
| 1078 |
+
"grasp_69": {
|
| 1079 |
+
"confidence": 0.6560851335525513,
|
| 1080 |
+
"position": [
|
| 1081 |
+
0.007149605429731309,
|
| 1082 |
+
-0.007095292035955936,
|
| 1083 |
+
0.1313857724890113
|
| 1084 |
+
],
|
| 1085 |
+
"orientation": {
|
| 1086 |
+
"w": 0.014417224354433943,
|
| 1087 |
+
"xyz": [
|
| 1088 |
+
-0.9998320991723251,
|
| 1089 |
+
-0.0071124790875718436,
|
| 1090 |
+
0.008793733439494238
|
| 1091 |
+
]
|
| 1092 |
+
}
|
| 1093 |
+
},
|
| 1094 |
+
"grasp_70": {
|
| 1095 |
+
"confidence": 0.6510300636291504,
|
| 1096 |
+
"position": [
|
| 1097 |
+
0.0035506190033629537,
|
| 1098 |
+
0.004360599152278155,
|
| 1099 |
+
0.13392893876880407
|
| 1100 |
+
],
|
| 1101 |
+
"orientation": {
|
| 1102 |
+
"w": 0.00011066992509298836,
|
| 1103 |
+
"xyz": [
|
| 1104 |
+
-0.011479332551200847,
|
| 1105 |
+
-0.999929538309602,
|
| 1106 |
+
-0.0030217697286404315
|
| 1107 |
+
]
|
| 1108 |
+
}
|
| 1109 |
+
},
|
| 1110 |
+
"grasp_71": {
|
| 1111 |
+
"confidence": 0.6384092569351196,
|
| 1112 |
+
"position": [
|
| 1113 |
+
0.0006303307600319386,
|
| 1114 |
+
0.001729082956444472,
|
| 1115 |
+
0.13179446663707495
|
| 1116 |
+
],
|
| 1117 |
+
"orientation": {
|
| 1118 |
+
"w": 0.0021254561309848948,
|
| 1119 |
+
"xyz": [
|
| 1120 |
+
0.9999580894823198,
|
| 1121 |
+
0.007544640119532169,
|
| 1122 |
+
-0.004730763212328618
|
| 1123 |
+
]
|
| 1124 |
+
}
|
| 1125 |
+
},
|
| 1126 |
+
"grasp_72": {
|
| 1127 |
+
"confidence": 0.6359163522720337,
|
| 1128 |
+
"position": [
|
| 1129 |
+
-0.0013701390707865357,
|
| 1130 |
+
-0.0005934932523814496,
|
| 1131 |
+
0.13502351846545935
|
| 1132 |
+
],
|
| 1133 |
+
"orientation": {
|
| 1134 |
+
"w": 0.010550617335637816,
|
| 1135 |
+
"xyz": [
|
| 1136 |
+
-0.9998590012545704,
|
| 1137 |
+
-0.0023307091574317866,
|
| 1138 |
+
-0.012854177487235892
|
| 1139 |
+
]
|
| 1140 |
+
}
|
| 1141 |
+
},
|
| 1142 |
+
"grasp_73": {
|
| 1143 |
+
"confidence": 0.6344569325447083,
|
| 1144 |
+
"position": [
|
| 1145 |
+
0.006689857575111091,
|
| 1146 |
+
-0.0005000707096769474,
|
| 1147 |
+
0.13679844047874212
|
| 1148 |
+
],
|
| 1149 |
+
"orientation": {
|
| 1150 |
+
"w": 0.013116893011335468,
|
| 1151 |
+
"xyz": [
|
| 1152 |
+
0.02354112112278915,
|
| 1153 |
+
-0.9996064663800848,
|
| 1154 |
+
-0.007789422644312935
|
| 1155 |
+
]
|
| 1156 |
+
}
|
| 1157 |
+
},
|
| 1158 |
+
"grasp_74": {
|
| 1159 |
+
"confidence": 0.6228578090667725,
|
| 1160 |
+
"position": [
|
| 1161 |
+
0.0004456893657334149,
|
| 1162 |
+
0.003915995068382472,
|
| 1163 |
+
0.13199470844119787
|
| 1164 |
+
],
|
| 1165 |
+
"orientation": {
|
| 1166 |
+
"w": 8.933146854309504e-05,
|
| 1167 |
+
"xyz": [
|
| 1168 |
+
-0.008193568886797488,
|
| 1169 |
+
-0.9999431377128226,
|
| 1170 |
+
-0.006824865553350995
|
| 1171 |
+
]
|
| 1172 |
+
}
|
| 1173 |
+
},
|
| 1174 |
+
"grasp_75": {
|
| 1175 |
+
"confidence": 0.6202888488769531,
|
| 1176 |
+
"position": [
|
| 1177 |
+
0.005400508060120046,
|
| 1178 |
+
-0.007359767623711377,
|
| 1179 |
+
0.13559316005557775
|
| 1180 |
+
],
|
| 1181 |
+
"orientation": {
|
| 1182 |
+
"w": 0.024851819032540065,
|
| 1183 |
+
"xyz": [
|
| 1184 |
+
-0.999532688442121,
|
| 1185 |
+
-0.014102900338667866,
|
| 1186 |
+
0.010858177953853073
|
| 1187 |
+
]
|
| 1188 |
+
}
|
| 1189 |
+
},
|
| 1190 |
+
"grasp_76": {
|
| 1191 |
+
"confidence": 0.6131099462509155,
|
| 1192 |
+
"position": [
|
| 1193 |
+
0.00016245490405708551,
|
| 1194 |
+
-0.005718110885936767,
|
| 1195 |
+
0.13252037670463324
|
| 1196 |
+
],
|
| 1197 |
+
"orientation": {
|
| 1198 |
+
"w": 0.00010554391953214618,
|
| 1199 |
+
"xyz": [
|
| 1200 |
+
-0.0016712339416875893,
|
| 1201 |
+
-0.9999328358752786,
|
| 1202 |
+
-0.011468198464288424
|
| 1203 |
+
]
|
| 1204 |
+
}
|
| 1205 |
+
},
|
| 1206 |
+
"grasp_77": {
|
| 1207 |
+
"confidence": 0.5683760643005371,
|
| 1208 |
+
"position": [
|
| 1209 |
+
0.0026709837839007378,
|
| 1210 |
+
0.04365085455356166,
|
| 1211 |
+
0.12363808508962393
|
| 1212 |
+
],
|
| 1213 |
+
"orientation": {
|
| 1214 |
+
"w": 0.0040703146814776376,
|
| 1215 |
+
"xyz": [
|
| 1216 |
+
0.01040449458955766,
|
| 1217 |
+
-0.9693709746674083,
|
| 1218 |
+
0.24534688199177915
|
| 1219 |
+
]
|
| 1220 |
+
}
|
| 1221 |
+
},
|
| 1222 |
+
"grasp_78": {
|
| 1223 |
+
"confidence": 0.5195679664611816,
|
| 1224 |
+
"position": [
|
| 1225 |
+
0.010810433770529926,
|
| 1226 |
+
0.050762210215907544,
|
| 1227 |
+
0.11668634321540594
|
| 1228 |
+
],
|
| 1229 |
+
"orientation": {
|
| 1230 |
+
"w": 0.27137600667609696,
|
| 1231 |
+
"xyz": [
|
| 1232 |
+
0.9620744929886652,
|
| 1233 |
+
0.020999750590693256,
|
| 1234 |
+
-0.018076045371335732
|
| 1235 |
+
]
|
| 1236 |
+
}
|
| 1237 |
+
}
|
| 1238 |
+
}
|
| 1239 |
+
},
|
| 1240 |
+
{
|
| 1241 |
+
"part_name": "bottom edge rim",
|
| 1242 |
+
"mask_color": "Purple",
|
| 1243 |
+
"graspable": false,
|
| 1244 |
+
"grasp_scenarios": [],
|
| 1245 |
+
"functional_labels": [
|
| 1246 |
+
"form the edge transition around the bottom panel",
|
| 1247 |
+
"finish the underside perimeter",
|
| 1248 |
+
"protect the bottom edge seam"
|
| 1249 |
+
],
|
| 1250 |
+
"semantic_description": "A very thin translucent milky-white plastic rim outlines the perimeter of the bottom panel, appearing as a narrow smooth edge transition between the bottom panel and lower base band.",
|
| 1251 |
+
"id": 5,
|
| 1252 |
+
"grasp_group": {}
|
| 1253 |
+
}
|
| 1254 |
+
],
|
| 1255 |
+
"quality_check": {
|
| 1256 |
+
"success": true,
|
| 1257 |
+
"message": "YES"
|
| 1258 |
+
}
|
| 1259 |
+
}
|
dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c4a91cedc441ccc736e2c9281f2a076a6449283aa564611cb6eafcee74d2cd1e
|
| 3 |
+
size 3784492
|