Add asset livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc
Browse files
.gitattributes
CHANGED
|
@@ -8543,3 +8543,4 @@ dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/affordanc
|
|
| 8543 |
dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8544 |
dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8545 |
dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8543 |
dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8544 |
dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8545 |
dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8546 |
+
dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1431 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body from the side to pick up and carry the spray bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to stabilize it while aiming or setting it down",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"main structural housing",
|
| 20 |
+
"provide main grasp surface",
|
| 21 |
+
"support upright placement"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large black plastic bottle body with a matte slightly textured surface, rounded rectangular shape, flat sides, and white printed logo graphics on the front and side.",
|
| 24 |
+
"id": 4,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9506064653396606,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.0014512132329400629,
|
| 30 |
+
0.11923756799660623,
|
| 31 |
+
0.013719907030463219
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.0009717180152500707,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.038490569017165785,
|
| 37 |
+
0.7288742467284921,
|
| 38 |
+
-0.6835640893996745
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9450381994247437,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.0009666997648309916,
|
| 46 |
+
0.11428270838223398,
|
| 47 |
+
-0.008756473660469055
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.01321117860478215,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.012271057145094376,
|
| 53 |
+
0.7080692131495331,
|
| 54 |
+
-0.7059127958226965
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9444360136985779,
|
| 60 |
+
"position": [
|
| 61 |
+
0.0019206181459594518,
|
| 62 |
+
0.11686171195469797,
|
| 63 |
+
0.00839628092944622
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7131632176610907,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.7007856386965958,
|
| 69 |
+
0.007613806139931234,
|
| 70 |
+
0.015483653572314683
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.942015528678894,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.0004905450714431936,
|
| 78 |
+
0.11861260584555566,
|
| 79 |
+
0.005610339343547821
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.7029170600926452,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.7105727800921058,
|
| 85 |
+
0.0026975247403375757,
|
| 86 |
+
0.03141105192704606
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.9418603777885437,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.0008864235715009272,
|
| 94 |
+
0.11743674776516855,
|
| 95 |
+
0.005037318915128708
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.01430315261728358,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.00597552671138398,
|
| 101 |
+
0.7087788908021693,
|
| 102 |
+
-0.7052603752224953
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_5": {
|
| 107 |
+
"confidence": 0.941733181476593,
|
| 108 |
+
"position": [
|
| 109 |
+
0.0046912092075217515,
|
| 110 |
+
0.117404151475057,
|
| 111 |
+
0.007746508345007896
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.7118282770406041,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.7022110147491414,
|
| 117 |
+
-0.0008837479561196737,
|
| 118 |
+
0.014121393696658711
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_6": {
|
| 123 |
+
"confidence": 0.9413305521011353,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.004509390768362209,
|
| 126 |
+
0.11752040288411081,
|
| 127 |
+
0.017941626720130444
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.039043947117996705,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.0012555971761597407,
|
| 133 |
+
0.725316144324868,
|
| 134 |
+
-0.6873066887866621
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_7": {
|
| 139 |
+
"confidence": 0.9411526918411255,
|
| 140 |
+
"position": [
|
| 141 |
+
0.004477409675018862,
|
| 142 |
+
0.11754881194792688,
|
| 143 |
+
0.014665309339761734
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.7003752906681786,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.7136185801253039,
|
| 149 |
+
0.001877404427553242,
|
| 150 |
+
0.01481383387328154
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_8": {
|
| 155 |
+
"confidence": 0.9390844702720642,
|
| 156 |
+
"position": [
|
| 157 |
+
0.010456002812134102,
|
| 158 |
+
0.11517896107397974,
|
| 159 |
+
0.010751286521553993
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.7035806204932934,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.7100535305973675,
|
| 165 |
+
-0.027504579284967523,
|
| 166 |
+
0.006464694180090678
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_9": {
|
| 171 |
+
"confidence": 0.938727617263794,
|
| 172 |
+
"position": [
|
| 173 |
+
0.002350382535951212,
|
| 174 |
+
0.11526967934332788,
|
| 175 |
+
0.015467982739210129
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.7080695606102557,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.7059028851933787,
|
| 181 |
+
0.007888746676906977,
|
| 182 |
+
0.016624731237830172
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_10": {
|
| 187 |
+
"confidence": 0.9374139308929443,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.0065176696225535125,
|
| 190 |
+
0.11427415511570871,
|
| 191 |
+
0.023464547004550695
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.03665753941743021,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.02610101776049289,
|
| 197 |
+
0.7330848023886325,
|
| 198 |
+
-0.6786469142216337
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_11": {
|
| 203 |
+
"confidence": 0.9373313188552856,
|
| 204 |
+
"position": [
|
| 205 |
+
0.013367763283895329,
|
| 206 |
+
0.11913052550517023,
|
| 207 |
+
-0.011608250439167023
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.7191403997177134,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.6944141538796629,
|
| 213 |
+
-0.015971582069288837,
|
| 214 |
+
-0.019260761969432928
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_12": {
|
| 219 |
+
"confidence": 0.9367737174034119,
|
| 220 |
+
"position": [
|
| 221 |
+
0.002005193178774789,
|
| 222 |
+
0.11887687793932855,
|
| 223 |
+
-0.0074454061686992645
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.7132376446024264,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.7007173839137812,
|
| 229 |
+
0.0034949479559714947,
|
| 230 |
+
0.01658298953127623
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_13": {
|
| 235 |
+
"confidence": 0.9355872273445129,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.0031807748309802264,
|
| 238 |
+
0.12135044089518487,
|
| 239 |
+
-0.015019930899143219
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.023361302546526772,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.0031689962043846796,
|
| 245 |
+
0.7131628551831449,
|
| 246 |
+
-0.7006018476948307
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_14": {
|
| 251 |
+
"confidence": 0.9343629479408264,
|
| 252 |
+
"position": [
|
| 253 |
+
0.0029516683716792613,
|
| 254 |
+
0.11626141867600381,
|
| 255 |
+
0.018729587085545063
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.7110922141738583,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.7030159393603649,
|
| 261 |
+
0.0047457336078509105,
|
| 262 |
+
0.009691746958480303
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_15": {
|
| 267 |
+
"confidence": 0.9332903623580933,
|
| 268 |
+
"position": [
|
| 269 |
+
0.0021582078479696065,
|
| 270 |
+
-0.11535106250084937,
|
| 271 |
+
0.011898687109351158
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.012160793005837634,
|
| 275 |
+
"xyz": [
|
| 276 |
+
-0.0007607093883604097,
|
| 277 |
+
0.8218752005353032,
|
| 278 |
+
0.5695372605719059
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_16": {
|
| 283 |
+
"confidence": 0.9323639273643494,
|
| 284 |
+
"position": [
|
| 285 |
+
0.0008342308283317834,
|
| 286 |
+
0.116304095601663,
|
| 287 |
+
0.02069208351895213
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.7041087109033481,
|
| 291 |
+
"xyz": [
|
| 292 |
+
0.7096777800759262,
|
| 293 |
+
0.00503945441792697,
|
| 294 |
+
0.023727106770541614
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_17": {
|
| 299 |
+
"confidence": 0.9317954778671265,
|
| 300 |
+
"position": [
|
| 301 |
+
0.000529250391991809,
|
| 302 |
+
0.11759495339356363,
|
| 303 |
+
-0.01612786576151848
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.01443832083749867,
|
| 307 |
+
"xyz": [
|
| 308 |
+
0.02221329892728955,
|
| 309 |
+
0.6879131227175472,
|
| 310 |
+
-0.7253093407885718
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
"grasp_18": {
|
| 315 |
+
"confidence": 0.9315974116325378,
|
| 316 |
+
"position": [
|
| 317 |
+
0.017637654702411965,
|
| 318 |
+
0.1131857146974653,
|
| 319 |
+
0.0314408449921757
|
| 320 |
+
],
|
| 321 |
+
"orientation": {
|
| 322 |
+
"w": 0.6407557193845642,
|
| 323 |
+
"xyz": [
|
| 324 |
+
0.7650715236051194,
|
| 325 |
+
-0.03933659891313768,
|
| 326 |
+
-0.05050053297201612
|
| 327 |
+
]
|
| 328 |
+
}
|
| 329 |
+
},
|
| 330 |
+
"grasp_19": {
|
| 331 |
+
"confidence": 0.9301997423171997,
|
| 332 |
+
"position": [
|
| 333 |
+
-0.003730070748133585,
|
| 334 |
+
0.12350140861235559,
|
| 335 |
+
0.00966109149158001
|
| 336 |
+
],
|
| 337 |
+
"orientation": {
|
| 338 |
+
"w": 0.022392979116856223,
|
| 339 |
+
"xyz": [
|
| 340 |
+
-0.014307301232473384,
|
| 341 |
+
0.7279775916785077,
|
| 342 |
+
-0.6850857476489168
|
| 343 |
+
]
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"part_name": "spray head housing",
|
| 350 |
+
"mask_color": "Navy",
|
| 351 |
+
"graspable": true,
|
| 352 |
+
"grasp_scenarios": [
|
| 353 |
+
{
|
| 354 |
+
"scenario": "grasp the spray head housing lightly from above to reorient the bottle",
|
| 355 |
+
"confidence": 0.54
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"scenario": "hold the top assembly briefly during inspection or adjustment",
|
| 359 |
+
"confidence": 0.38
|
| 360 |
+
}
|
| 361 |
+
],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"house spray mechanism",
|
| 364 |
+
"support nozzle",
|
| 365 |
+
"mount trigger lever",
|
| 366 |
+
"direct spray assembly"
|
| 367 |
+
],
|
| 368 |
+
"semantic_description": "Black plastic upper spray head assembly with a matte finish and elongated angular form at the top of the bottle.",
|
| 369 |
+
"id": 13,
|
| 370 |
+
"grasp_group": {
|
| 371 |
+
"grasp_60": {
|
| 372 |
+
"confidence": 0.9471763968467712,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.018763667409075424,
|
| 375 |
+
0.12375827482901514,
|
| 376 |
+
0.11762000620365143
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.08355932123304669,
|
| 380 |
+
"xyz": [
|
| 381 |
+
-0.03467284601585572,
|
| 382 |
+
0.7322587907144084,
|
| 383 |
+
-0.674990886609372
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_61": {
|
| 388 |
+
"confidence": 0.9226329922676086,
|
| 389 |
+
"position": [
|
| 390 |
+
0.001238634722540155,
|
| 391 |
+
0.11710588238202035,
|
| 392 |
+
0.14088063687086105
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.5828404334204758,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.8123404009710158,
|
| 398 |
+
-0.01917682804657128,
|
| 399 |
+
-0.005687827929350232
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_62": {
|
| 404 |
+
"confidence": 0.9008111953735352,
|
| 405 |
+
"position": [
|
| 406 |
+
-0.01733387864078395,
|
| 407 |
+
0.11579533270560205,
|
| 408 |
+
0.1398223638534546
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.15456187341041083,
|
| 412 |
+
"xyz": [
|
| 413 |
+
0.06147649427097042,
|
| 414 |
+
0.8031137063306995,
|
| 415 |
+
-0.572136035085872
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_65": {
|
| 420 |
+
"confidence": 0.7276025414466858,
|
| 421 |
+
"position": [
|
| 422 |
+
0.004008118557976559,
|
| 423 |
+
0.11010758928023279,
|
| 424 |
+
0.14418978244066238
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.5580610154175094,
|
| 428 |
+
"xyz": [
|
| 429 |
+
0.8176568612142394,
|
| 430 |
+
0.1101681636329287,
|
| 431 |
+
-0.0887025146329296
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_68": {
|
| 436 |
+
"confidence": 0.6824824810028076,
|
| 437 |
+
"position": [
|
| 438 |
+
-0.008191344299120829,
|
| 439 |
+
0.1065394391771406,
|
| 440 |
+
0.14843591302633286
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.0820227506847466,
|
| 444 |
+
"xyz": [
|
| 445 |
+
0.037791150956016935,
|
| 446 |
+
0.8411935648251987,
|
| 447 |
+
-0.533139272400938
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_75": {
|
| 452 |
+
"confidence": 0.9243738055229187,
|
| 453 |
+
"position": [
|
| 454 |
+
0.026444982300745323,
|
| 455 |
+
0.11348323873244226,
|
| 456 |
+
0.08330180123448372
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.8123471418325108,
|
| 460 |
+
"xyz": [
|
| 461 |
+
0.5739674187004858,
|
| 462 |
+
-0.08146875820382715,
|
| 463 |
+
-0.06337479675374205
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_77": {
|
| 468 |
+
"confidence": 0.8159128427505493,
|
| 469 |
+
"position": [
|
| 470 |
+
-0.03838550715590827,
|
| 471 |
+
0.10011714301072061,
|
| 472 |
+
0.1456165537238121
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.2038389764068005,
|
| 476 |
+
"xyz": [
|
| 477 |
+
-0.07295394045544451,
|
| 478 |
+
0.8327440512680246,
|
| 479 |
+
-0.5095730951955459
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"grasp_79": {
|
| 484 |
+
"confidence": 0.5453572869300842,
|
| 485 |
+
"position": [
|
| 486 |
+
0.002165206504287198,
|
| 487 |
+
0.10834835818968713,
|
| 488 |
+
0.1451973244547844
|
| 489 |
+
],
|
| 490 |
+
"orientation": {
|
| 491 |
+
"w": 0.5493591157849498,
|
| 492 |
+
"xyz": [
|
| 493 |
+
0.8059398545993802,
|
| 494 |
+
-0.1970413950316905,
|
| 495 |
+
0.09919778886786511
|
| 496 |
+
]
|
| 497 |
+
}
|
| 498 |
+
}
|
| 499 |
+
}
|
| 500 |
+
},
|
| 501 |
+
{
|
| 502 |
+
"part_name": "neck collar",
|
| 503 |
+
"mask_color": "Magenta",
|
| 504 |
+
"graspable": true,
|
| 505 |
+
"grasp_scenarios": [
|
| 506 |
+
{
|
| 507 |
+
"scenario": "grasp the neck collar to steady the bottle while adjusting the head",
|
| 508 |
+
"confidence": 0.42
|
| 509 |
+
},
|
| 510 |
+
{
|
| 511 |
+
"scenario": "hold the collar briefly during close manipulation",
|
| 512 |
+
"confidence": 0.31
|
| 513 |
+
}
|
| 514 |
+
],
|
| 515 |
+
"functional_labels": [
|
| 516 |
+
"connect head to bottle",
|
| 517 |
+
"seal bottle opening",
|
| 518 |
+
"support spray assembly",
|
| 519 |
+
"transfer load between bottle and head"
|
| 520 |
+
],
|
| 521 |
+
"semantic_description": "Short black plastic collar around the bottle neck with a matte surface and rounded tapered form between the body and spray head.",
|
| 522 |
+
"id": 7,
|
| 523 |
+
"grasp_group": {
|
| 524 |
+
"grasp_40": {
|
| 525 |
+
"confidence": 0.3641277551651001,
|
| 526 |
+
"position": [
|
| 527 |
+
-0.03195778696681373,
|
| 528 |
+
0.09603304765187204,
|
| 529 |
+
0.08465540781617165
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.14536932259933463,
|
| 533 |
+
"xyz": [
|
| 534 |
+
-0.08999445684408011,
|
| 535 |
+
0.7058594747203666,
|
| 536 |
+
-0.6874090192395192
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_41": {
|
| 541 |
+
"confidence": 0.32763057947158813,
|
| 542 |
+
"position": [
|
| 543 |
+
0.06958709986065514,
|
| 544 |
+
0.07742657861672342,
|
| 545 |
+
0.06405332311987877
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.7058370183728858,
|
| 549 |
+
"xyz": [
|
| 550 |
+
0.6022136224036682,
|
| 551 |
+
-0.2013589212748742,
|
| 552 |
+
-0.31398637121529016
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_42": {
|
| 557 |
+
"confidence": 0.2673203945159912,
|
| 558 |
+
"position": [
|
| 559 |
+
-0.02652129574562423,
|
| 560 |
+
0.0892451663967222,
|
| 561 |
+
0.05882570147514343
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.8181110958122237,
|
| 565 |
+
"xyz": [
|
| 566 |
+
0.5463852286863506,
|
| 567 |
+
0.17847681779314728,
|
| 568 |
+
0.017419595079055196
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_43": {
|
| 573 |
+
"confidence": 0.22182120382785797,
|
| 574 |
+
"position": [
|
| 575 |
+
0.04997681037639268,
|
| 576 |
+
0.08051986596547067,
|
| 577 |
+
0.09256920963525772
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.6603713616592721,
|
| 581 |
+
"xyz": [
|
| 582 |
+
0.6893418452870517,
|
| 583 |
+
-0.21764931159416412,
|
| 584 |
+
-0.2033378031727203
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"grasp_48": {
|
| 589 |
+
"confidence": 0.730712890625,
|
| 590 |
+
"position": [
|
| 591 |
+
-0.0035739857412409037,
|
| 592 |
+
0.10766272596083581,
|
| 593 |
+
0.05740531347692013
|
| 594 |
+
],
|
| 595 |
+
"orientation": {
|
| 596 |
+
"w": 0.7834463919786742,
|
| 597 |
+
"xyz": [
|
| 598 |
+
0.6181100707857312,
|
| 599 |
+
0.06405029817804875,
|
| 600 |
+
-0.007017876613266433
|
| 601 |
+
]
|
| 602 |
+
}
|
| 603 |
+
},
|
| 604 |
+
"grasp_50": {
|
| 605 |
+
"confidence": 0.5427560806274414,
|
| 606 |
+
"position": [
|
| 607 |
+
-0.000537705265742261,
|
| 608 |
+
0.10417541465722024,
|
| 609 |
+
0.09041708707809448
|
| 610 |
+
],
|
| 611 |
+
"orientation": {
|
| 612 |
+
"w": 0.1141711047573588,
|
| 613 |
+
"xyz": [
|
| 614 |
+
0.09034323120032368,
|
| 615 |
+
0.6759873634420087,
|
| 616 |
+
-0.722387807124048
|
| 617 |
+
]
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"grasp_51": {
|
| 621 |
+
"confidence": 0.4246275722980499,
|
| 622 |
+
"position": [
|
| 623 |
+
-0.04258228137041442,
|
| 624 |
+
0.09344999841414392,
|
| 625 |
+
0.07036115601658821
|
| 626 |
+
],
|
| 627 |
+
"orientation": {
|
| 628 |
+
"w": 0.24281754349625834,
|
| 629 |
+
"xyz": [
|
| 630 |
+
-0.0987455957711776,
|
| 631 |
+
0.6076453880426437,
|
| 632 |
+
-0.749703961758735
|
| 633 |
+
]
|
| 634 |
+
}
|
| 635 |
+
},
|
| 636 |
+
"grasp_54": {
|
| 637 |
+
"confidence": 0.1809031367301941,
|
| 638 |
+
"position": [
|
| 639 |
+
-0.08802970914985053,
|
| 640 |
+
-0.014968416886404157,
|
| 641 |
+
0.12824367731809616
|
| 642 |
+
],
|
| 643 |
+
"orientation": {
|
| 644 |
+
"w": 0.42647610750459003,
|
| 645 |
+
"xyz": [
|
| 646 |
+
-0.5968886047761599,
|
| 647 |
+
0.607801555905793,
|
| 648 |
+
-0.30400557865703737
|
| 649 |
+
]
|
| 650 |
+
}
|
| 651 |
+
},
|
| 652 |
+
"grasp_55": {
|
| 653 |
+
"confidence": 0.1114908829331398,
|
| 654 |
+
"position": [
|
| 655 |
+
-0.0014780709461774677,
|
| 656 |
+
0.08916864148341119,
|
| 657 |
+
0.06042909994721413
|
| 658 |
+
],
|
| 659 |
+
"orientation": {
|
| 660 |
+
"w": 0.06655890133532431,
|
| 661 |
+
"xyz": [
|
| 662 |
+
-0.005880495185598711,
|
| 663 |
+
0.6012004399668411,
|
| 664 |
+
-0.7962997949347241
|
| 665 |
+
]
|
| 666 |
+
}
|
| 667 |
+
},
|
| 668 |
+
"grasp_56": {
|
| 669 |
+
"confidence": 0.6290108561515808,
|
| 670 |
+
"position": [
|
| 671 |
+
-0.021468665887368843,
|
| 672 |
+
0.10438422462902963,
|
| 673 |
+
0.08096632361412048
|
| 674 |
+
],
|
| 675 |
+
"orientation": {
|
| 676 |
+
"w": 0.13654365604751192,
|
| 677 |
+
"xyz": [
|
| 678 |
+
-0.013724397966678112,
|
| 679 |
+
0.7084914999744729,
|
| 680 |
+
-0.6922479796702573
|
| 681 |
+
]
|
| 682 |
+
}
|
| 683 |
+
},
|
| 684 |
+
"grasp_57": {
|
| 685 |
+
"confidence": 0.5090487003326416,
|
| 686 |
+
"position": [
|
| 687 |
+
-0.01815403110231273,
|
| 688 |
+
0.09656932554207742,
|
| 689 |
+
0.07416573911905289
|
| 690 |
+
],
|
| 691 |
+
"orientation": {
|
| 692 |
+
"w": 0.10160638841775592,
|
| 693 |
+
"xyz": [
|
| 694 |
+
-0.03081257304905906,
|
| 695 |
+
0.5894774633689649,
|
| 696 |
+
-0.8007765277247371
|
| 697 |
+
]
|
| 698 |
+
}
|
| 699 |
+
},
|
| 700 |
+
"grasp_58": {
|
| 701 |
+
"confidence": 0.33938491344451904,
|
| 702 |
+
"position": [
|
| 703 |
+
0.09654127390240319,
|
| 704 |
+
0.004936635261401534,
|
| 705 |
+
0.11407225579023361
|
| 706 |
+
],
|
| 707 |
+
"orientation": {
|
| 708 |
+
"w": 0.4368671897332996,
|
| 709 |
+
"xyz": [
|
| 710 |
+
-0.5098355941642758,
|
| 711 |
+
-0.5888722344107636,
|
| 712 |
+
0.44993801461730637
|
| 713 |
+
]
|
| 714 |
+
}
|
| 715 |
+
}
|
| 716 |
+
}
|
| 717 |
+
},
|
| 718 |
+
{
|
| 719 |
+
"part_name": "trigger lever",
|
| 720 |
+
"mask_color": "Cyan",
|
| 721 |
+
"graspable": true,
|
| 722 |
+
"grasp_scenarios": [
|
| 723 |
+
{
|
| 724 |
+
"scenario": "pull the trigger lever to actuate spraying",
|
| 725 |
+
"confidence": 0.9
|
| 726 |
+
},
|
| 727 |
+
{
|
| 728 |
+
"scenario": "pinch the trigger lever during functional testing",
|
| 729 |
+
"confidence": 0.63
|
| 730 |
+
}
|
| 731 |
+
],
|
| 732 |
+
"functional_labels": [
|
| 733 |
+
"actuate pump",
|
| 734 |
+
"enable spraying",
|
| 735 |
+
"provide finger pull surface",
|
| 736 |
+
"control liquid dispensing"
|
| 737 |
+
],
|
| 738 |
+
"semantic_description": "Black plastic trigger lever beneath the spray head, matte and curved, sized for finger pulling.",
|
| 739 |
+
"id": 6,
|
| 740 |
+
"grasp_group": {
|
| 741 |
+
"grasp_20": {
|
| 742 |
+
"confidence": 0.9453421831130981,
|
| 743 |
+
"position": [
|
| 744 |
+
-0.0024960098962765187,
|
| 745 |
+
-0.04412324749864638,
|
| 746 |
+
0.215320885181427
|
| 747 |
+
],
|
| 748 |
+
"orientation": {
|
| 749 |
+
"w": 0.12065169864818956,
|
| 750 |
+
"xyz": [
|
| 751 |
+
-0.9920403634496937,
|
| 752 |
+
-0.030125923339606786,
|
| 753 |
+
-0.019786703688147066
|
| 754 |
+
]
|
| 755 |
+
}
|
| 756 |
+
},
|
| 757 |
+
"grasp_21": {
|
| 758 |
+
"confidence": 0.94143146276474,
|
| 759 |
+
"position": [
|
| 760 |
+
-0.0020805828680749983,
|
| 761 |
+
-0.004753410816192627,
|
| 762 |
+
0.21543458104133606
|
| 763 |
+
],
|
| 764 |
+
"orientation": {
|
| 765 |
+
"w": 0.05651032973500281,
|
| 766 |
+
"xyz": [
|
| 767 |
+
0.9959494674790963,
|
| 768 |
+
0.06745591912830608,
|
| 769 |
+
0.018464556206449687
|
| 770 |
+
]
|
| 771 |
+
}
|
| 772 |
+
},
|
| 773 |
+
"grasp_22": {
|
| 774 |
+
"confidence": 0.9394217729568481,
|
| 775 |
+
"position": [
|
| 776 |
+
0.003377191285835579,
|
| 777 |
+
0.004610945703461766,
|
| 778 |
+
0.21231484413146973
|
| 779 |
+
],
|
| 780 |
+
"orientation": {
|
| 781 |
+
"w": 0.10344522412609297,
|
| 782 |
+
"xyz": [
|
| 783 |
+
0.991867473935951,
|
| 784 |
+
0.07132440872640444,
|
| 785 |
+
-0.020268904095857333
|
| 786 |
+
]
|
| 787 |
+
}
|
| 788 |
+
},
|
| 789 |
+
"grasp_23": {
|
| 790 |
+
"confidence": 0.9372772574424744,
|
| 791 |
+
"position": [
|
| 792 |
+
-0.013021252554608509,
|
| 793 |
+
-0.01030576298944652,
|
| 794 |
+
0.21438656747341156
|
| 795 |
+
],
|
| 796 |
+
"orientation": {
|
| 797 |
+
"w": 0.06689087266433054,
|
| 798 |
+
"xyz": [
|
| 799 |
+
0.9943967282526937,
|
| 800 |
+
0.030845320997722095,
|
| 801 |
+
0.07582429799932545
|
| 802 |
+
]
|
| 803 |
+
}
|
| 804 |
+
},
|
| 805 |
+
"grasp_24": {
|
| 806 |
+
"confidence": 0.935217559337616,
|
| 807 |
+
"position": [
|
| 808 |
+
0.016331161867128685,
|
| 809 |
+
0.025839645182713866,
|
| 810 |
+
0.20714209973812103
|
| 811 |
+
],
|
| 812 |
+
"orientation": {
|
| 813 |
+
"w": 0.18071528614796467,
|
| 814 |
+
"xyz": [
|
| 815 |
+
0.9803364538009124,
|
| 816 |
+
0.02019222466835982,
|
| 817 |
+
-0.0766465704676565
|
| 818 |
+
]
|
| 819 |
+
}
|
| 820 |
+
},
|
| 821 |
+
"grasp_25": {
|
| 822 |
+
"confidence": 0.9351392984390259,
|
| 823 |
+
"position": [
|
| 824 |
+
0.0004951880837325007,
|
| 825 |
+
0.010000461479648948,
|
| 826 |
+
0.21320314705371857
|
| 827 |
+
],
|
| 828 |
+
"orientation": {
|
| 829 |
+
"w": 0.14850999543048904,
|
| 830 |
+
"xyz": [
|
| 831 |
+
0.9874327596478979,
|
| 832 |
+
0.054048278809964434,
|
| 833 |
+
-0.0003316459754760204
|
| 834 |
+
]
|
| 835 |
+
}
|
| 836 |
+
},
|
| 837 |
+
"grasp_26": {
|
| 838 |
+
"confidence": 0.933569073677063,
|
| 839 |
+
"position": [
|
| 840 |
+
0.014976514066802338,
|
| 841 |
+
0.013485377421602607,
|
| 842 |
+
0.20977064967155457
|
| 843 |
+
],
|
| 844 |
+
"orientation": {
|
| 845 |
+
"w": 0.12469089231677445,
|
| 846 |
+
"xyz": [
|
| 847 |
+
0.9904110760854093,
|
| 848 |
+
-0.022119783038178353,
|
| 849 |
+
-0.05521591200851453
|
| 850 |
+
]
|
| 851 |
+
}
|
| 852 |
+
},
|
| 853 |
+
"grasp_27": {
|
| 854 |
+
"confidence": 0.9328009486198425,
|
| 855 |
+
"position": [
|
| 856 |
+
0.010760769742773846,
|
| 857 |
+
0.028342429315671325,
|
| 858 |
+
0.20691189169883728
|
| 859 |
+
],
|
| 860 |
+
"orientation": {
|
| 861 |
+
"w": 0.16728305869919133,
|
| 862 |
+
"xyz": [
|
| 863 |
+
0.9835009596272114,
|
| 864 |
+
0.04293686512409592,
|
| 865 |
+
-0.05383926353426793
|
| 866 |
+
]
|
| 867 |
+
}
|
| 868 |
+
},
|
| 869 |
+
"grasp_28": {
|
| 870 |
+
"confidence": 0.9327272176742554,
|
| 871 |
+
"position": [
|
| 872 |
+
-0.007168882031692192,
|
| 873 |
+
-0.029046682873740792,
|
| 874 |
+
0.21599891781806946
|
| 875 |
+
],
|
| 876 |
+
"orientation": {
|
| 877 |
+
"w": 0.0339761666279647,
|
| 878 |
+
"xyz": [
|
| 879 |
+
-0.06899451751132898,
|
| 880 |
+
0.995430219829897,
|
| 881 |
+
0.05660436470847871
|
| 882 |
+
]
|
| 883 |
+
}
|
| 884 |
+
},
|
| 885 |
+
"grasp_29": {
|
| 886 |
+
"confidence": 0.928488552570343,
|
| 887 |
+
"position": [
|
| 888 |
+
0.004465257778065279,
|
| 889 |
+
-0.018134681740775704,
|
| 890 |
+
0.21505987644195557
|
| 891 |
+
],
|
| 892 |
+
"orientation": {
|
| 893 |
+
"w": 0.02437453210374318,
|
| 894 |
+
"xyz": [
|
| 895 |
+
0.9973261120020165,
|
| 896 |
+
0.06826607144778385,
|
| 897 |
+
-0.009287195095987045
|
| 898 |
+
]
|
| 899 |
+
}
|
| 900 |
+
},
|
| 901 |
+
"grasp_30": {
|
| 902 |
+
"confidence": 0.9272862672805786,
|
| 903 |
+
"position": [
|
| 904 |
+
0.005102911061840132,
|
| 905 |
+
-0.1292715782765299,
|
| 906 |
+
0.13934429734945297
|
| 907 |
+
],
|
| 908 |
+
"orientation": {
|
| 909 |
+
"w": 0.6517145046811673,
|
| 910 |
+
"xyz": [
|
| 911 |
+
-0.7578758943424672,
|
| 912 |
+
0.004048683923171259,
|
| 913 |
+
0.02959630587212768
|
| 914 |
+
]
|
| 915 |
+
}
|
| 916 |
+
},
|
| 917 |
+
"grasp_31": {
|
| 918 |
+
"confidence": 0.9251500964164734,
|
| 919 |
+
"position": [
|
| 920 |
+
0.006246118369745091,
|
| 921 |
+
-0.06435009487904608,
|
| 922 |
+
0.20690475404262543
|
| 923 |
+
],
|
| 924 |
+
"orientation": {
|
| 925 |
+
"w": 0.23068905268092485,
|
| 926 |
+
"xyz": [
|
| 927 |
+
-0.9724090689348657,
|
| 928 |
+
0.015792766324408347,
|
| 929 |
+
0.030882878075527857
|
| 930 |
+
]
|
| 931 |
+
}
|
| 932 |
+
},
|
| 933 |
+
"grasp_32": {
|
| 934 |
+
"confidence": 0.924807071685791,
|
| 935 |
+
"position": [
|
| 936 |
+
0.002781341114314273,
|
| 937 |
+
-0.049501545960083604,
|
| 938 |
+
0.20884670317173004
|
| 939 |
+
],
|
| 940 |
+
"orientation": {
|
| 941 |
+
"w": 0.18422820852787236,
|
| 942 |
+
"xyz": [
|
| 943 |
+
-0.9826532795550853,
|
| 944 |
+
0.0031608101301367486,
|
| 945 |
+
0.021035889369530485
|
| 946 |
+
]
|
| 947 |
+
}
|
| 948 |
+
},
|
| 949 |
+
"grasp_33": {
|
| 950 |
+
"confidence": 0.920975923538208,
|
| 951 |
+
"position": [
|
| 952 |
+
0.0020851514127571136,
|
| 953 |
+
-0.00041487300768494606,
|
| 954 |
+
0.21502326428890228
|
| 955 |
+
],
|
| 956 |
+
"orientation": {
|
| 957 |
+
"w": 0.0015656185637278723,
|
| 958 |
+
"xyz": [
|
| 959 |
+
0.03767856085588684,
|
| 960 |
+
-0.9990031009709106,
|
| 961 |
+
0.023888891578434785
|
| 962 |
+
]
|
| 963 |
+
}
|
| 964 |
+
},
|
| 965 |
+
"grasp_34": {
|
| 966 |
+
"confidence": 0.9183363914489746,
|
| 967 |
+
"position": [
|
| 968 |
+
-0.003967425524024293,
|
| 969 |
+
-0.05146855139173567,
|
| 970 |
+
0.208628311753273
|
| 971 |
+
],
|
| 972 |
+
"orientation": {
|
| 973 |
+
"w": 0.19920335834054126,
|
| 974 |
+
"xyz": [
|
| 975 |
+
-0.9788173319406268,
|
| 976 |
+
0.04651170673477362,
|
| 977 |
+
-0.00844475311072127
|
| 978 |
+
]
|
| 979 |
+
}
|
| 980 |
+
},
|
| 981 |
+
"grasp_35": {
|
| 982 |
+
"confidence": 0.915537416934967,
|
| 983 |
+
"position": [
|
| 984 |
+
0.004057926620589569,
|
| 985 |
+
-0.1325338447932154,
|
| 986 |
+
0.12161196023225784
|
| 987 |
+
],
|
| 988 |
+
"orientation": {
|
| 989 |
+
"w": 0.7198830660378094,
|
| 990 |
+
"xyz": [
|
| 991 |
+
-0.6931660969614817,
|
| 992 |
+
-0.03061459292591351,
|
| 993 |
+
0.018758463560989275
|
| 994 |
+
]
|
| 995 |
+
}
|
| 996 |
+
},
|
| 997 |
+
"grasp_36": {
|
| 998 |
+
"confidence": 0.9151365160942078,
|
| 999 |
+
"position": [
|
| 1000 |
+
-0.008837569010211155,
|
| 1001 |
+
-0.03856232785619795,
|
| 1002 |
+
0.21373695135116577
|
| 1003 |
+
],
|
| 1004 |
+
"orientation": {
|
| 1005 |
+
"w": 0.05699805809603752,
|
| 1006 |
+
"xyz": [
|
| 1007 |
+
-0.08174306899015055,
|
| 1008 |
+
0.9911513944211381,
|
| 1009 |
+
0.08768241204703213
|
| 1010 |
+
]
|
| 1011 |
+
}
|
| 1012 |
+
},
|
| 1013 |
+
"grasp_37": {
|
| 1014 |
+
"confidence": 0.9140594601631165,
|
| 1015 |
+
"position": [
|
| 1016 |
+
0.015342346887337044,
|
| 1017 |
+
-0.027589749777689576,
|
| 1018 |
+
0.21819981932640076
|
| 1019 |
+
],
|
| 1020 |
+
"orientation": {
|
| 1021 |
+
"w": 0.073174054952095,
|
| 1022 |
+
"xyz": [
|
| 1023 |
+
0.04229834828433376,
|
| 1024 |
+
-0.995362425911256,
|
| 1025 |
+
-0.045935264213285656
|
| 1026 |
+
]
|
| 1027 |
+
}
|
| 1028 |
+
},
|
| 1029 |
+
"grasp_38": {
|
| 1030 |
+
"confidence": 0.9121637344360352,
|
| 1031 |
+
"position": [
|
| 1032 |
+
0.011862176965223625,
|
| 1033 |
+
-0.13184868940152228,
|
| 1034 |
+
0.12153468281030655
|
| 1035 |
+
],
|
| 1036 |
+
"orientation": {
|
| 1037 |
+
"w": 0.7153694309621424,
|
| 1038 |
+
"xyz": [
|
| 1039 |
+
-0.6961501445787748,
|
| 1040 |
+
-0.009303927353292996,
|
| 1041 |
+
0.059455785115121174
|
| 1042 |
+
]
|
| 1043 |
+
}
|
| 1044 |
+
},
|
| 1045 |
+
"grasp_39": {
|
| 1046 |
+
"confidence": 0.9117410182952881,
|
| 1047 |
+
"position": [
|
| 1048 |
+
-0.01851869231904857,
|
| 1049 |
+
0.011099448194727302,
|
| 1050 |
+
0.21181319653987885
|
| 1051 |
+
],
|
| 1052 |
+
"orientation": {
|
| 1053 |
+
"w": 0.09819069310394796,
|
| 1054 |
+
"xyz": [
|
| 1055 |
+
0.9882644225586782,
|
| 1056 |
+
0.017266105064307202,
|
| 1057 |
+
0.11573202023829487
|
| 1058 |
+
]
|
| 1059 |
+
}
|
| 1060 |
+
}
|
| 1061 |
+
}
|
| 1062 |
+
},
|
| 1063 |
+
{
|
| 1064 |
+
"part_name": "base underside",
|
| 1065 |
+
"mask_color": "Red",
|
| 1066 |
+
"graspable": false,
|
| 1067 |
+
"grasp_scenarios": [],
|
| 1068 |
+
"functional_labels": [
|
| 1069 |
+
"support standing",
|
| 1070 |
+
"form bottle bottom surface",
|
| 1071 |
+
"stabilize placement"
|
| 1072 |
+
],
|
| 1073 |
+
"semantic_description": "Flat black plastic underside area at the bottle base, recessed rectangular bottom region visible from below.",
|
| 1074 |
+
"id": 0,
|
| 1075 |
+
"grasp_group": {}
|
| 1076 |
+
},
|
| 1077 |
+
{
|
| 1078 |
+
"part_name": "label graphic",
|
| 1079 |
+
"mask_color": "Cyan",
|
| 1080 |
+
"graspable": false,
|
| 1081 |
+
"grasp_scenarios": [],
|
| 1082 |
+
"functional_labels": [
|
| 1083 |
+
"brand marking",
|
| 1084 |
+
"identify product",
|
| 1085 |
+
"provide visual contrast"
|
| 1086 |
+
],
|
| 1087 |
+
"semantic_description": "White printed logo graphic on the bottle side/front, flat and smooth with bold geometric strokes, serving as a visual marking rather than a structural part.",
|
| 1088 |
+
"id": 6,
|
| 1089 |
+
"grasp_group": {
|
| 1090 |
+
"grasp_20": {
|
| 1091 |
+
"confidence": 0.9453421831130981,
|
| 1092 |
+
"position": [
|
| 1093 |
+
-0.0024960098962765187,
|
| 1094 |
+
-0.04412324749864638,
|
| 1095 |
+
0.215320885181427
|
| 1096 |
+
],
|
| 1097 |
+
"orientation": {
|
| 1098 |
+
"w": 0.12065169864818956,
|
| 1099 |
+
"xyz": [
|
| 1100 |
+
-0.9920403634496937,
|
| 1101 |
+
-0.030125923339606786,
|
| 1102 |
+
-0.019786703688147066
|
| 1103 |
+
]
|
| 1104 |
+
}
|
| 1105 |
+
},
|
| 1106 |
+
"grasp_21": {
|
| 1107 |
+
"confidence": 0.94143146276474,
|
| 1108 |
+
"position": [
|
| 1109 |
+
-0.0020805828680749983,
|
| 1110 |
+
-0.004753410816192627,
|
| 1111 |
+
0.21543458104133606
|
| 1112 |
+
],
|
| 1113 |
+
"orientation": {
|
| 1114 |
+
"w": 0.05651032973500281,
|
| 1115 |
+
"xyz": [
|
| 1116 |
+
0.9959494674790963,
|
| 1117 |
+
0.06745591912830608,
|
| 1118 |
+
0.018464556206449687
|
| 1119 |
+
]
|
| 1120 |
+
}
|
| 1121 |
+
},
|
| 1122 |
+
"grasp_22": {
|
| 1123 |
+
"confidence": 0.9394217729568481,
|
| 1124 |
+
"position": [
|
| 1125 |
+
0.003377191285835579,
|
| 1126 |
+
0.004610945703461766,
|
| 1127 |
+
0.21231484413146973
|
| 1128 |
+
],
|
| 1129 |
+
"orientation": {
|
| 1130 |
+
"w": 0.10344522412609297,
|
| 1131 |
+
"xyz": [
|
| 1132 |
+
0.991867473935951,
|
| 1133 |
+
0.07132440872640444,
|
| 1134 |
+
-0.020268904095857333
|
| 1135 |
+
]
|
| 1136 |
+
}
|
| 1137 |
+
},
|
| 1138 |
+
"grasp_23": {
|
| 1139 |
+
"confidence": 0.9372772574424744,
|
| 1140 |
+
"position": [
|
| 1141 |
+
-0.013021252554608509,
|
| 1142 |
+
-0.01030576298944652,
|
| 1143 |
+
0.21438656747341156
|
| 1144 |
+
],
|
| 1145 |
+
"orientation": {
|
| 1146 |
+
"w": 0.06689087266433054,
|
| 1147 |
+
"xyz": [
|
| 1148 |
+
0.9943967282526937,
|
| 1149 |
+
0.030845320997722095,
|
| 1150 |
+
0.07582429799932545
|
| 1151 |
+
]
|
| 1152 |
+
}
|
| 1153 |
+
},
|
| 1154 |
+
"grasp_24": {
|
| 1155 |
+
"confidence": 0.935217559337616,
|
| 1156 |
+
"position": [
|
| 1157 |
+
0.016331161867128685,
|
| 1158 |
+
0.025839645182713866,
|
| 1159 |
+
0.20714209973812103
|
| 1160 |
+
],
|
| 1161 |
+
"orientation": {
|
| 1162 |
+
"w": 0.18071528614796467,
|
| 1163 |
+
"xyz": [
|
| 1164 |
+
0.9803364538009124,
|
| 1165 |
+
0.02019222466835982,
|
| 1166 |
+
-0.0766465704676565
|
| 1167 |
+
]
|
| 1168 |
+
}
|
| 1169 |
+
},
|
| 1170 |
+
"grasp_25": {
|
| 1171 |
+
"confidence": 0.9351392984390259,
|
| 1172 |
+
"position": [
|
| 1173 |
+
0.0004951880837325007,
|
| 1174 |
+
0.010000461479648948,
|
| 1175 |
+
0.21320314705371857
|
| 1176 |
+
],
|
| 1177 |
+
"orientation": {
|
| 1178 |
+
"w": 0.14850999543048904,
|
| 1179 |
+
"xyz": [
|
| 1180 |
+
0.9874327596478979,
|
| 1181 |
+
0.054048278809964434,
|
| 1182 |
+
-0.0003316459754760204
|
| 1183 |
+
]
|
| 1184 |
+
}
|
| 1185 |
+
},
|
| 1186 |
+
"grasp_26": {
|
| 1187 |
+
"confidence": 0.933569073677063,
|
| 1188 |
+
"position": [
|
| 1189 |
+
0.014976514066802338,
|
| 1190 |
+
0.013485377421602607,
|
| 1191 |
+
0.20977064967155457
|
| 1192 |
+
],
|
| 1193 |
+
"orientation": {
|
| 1194 |
+
"w": 0.12469089231677445,
|
| 1195 |
+
"xyz": [
|
| 1196 |
+
0.9904110760854093,
|
| 1197 |
+
-0.022119783038178353,
|
| 1198 |
+
-0.05521591200851453
|
| 1199 |
+
]
|
| 1200 |
+
}
|
| 1201 |
+
},
|
| 1202 |
+
"grasp_27": {
|
| 1203 |
+
"confidence": 0.9328009486198425,
|
| 1204 |
+
"position": [
|
| 1205 |
+
0.010760769742773846,
|
| 1206 |
+
0.028342429315671325,
|
| 1207 |
+
0.20691189169883728
|
| 1208 |
+
],
|
| 1209 |
+
"orientation": {
|
| 1210 |
+
"w": 0.16728305869919133,
|
| 1211 |
+
"xyz": [
|
| 1212 |
+
0.9835009596272114,
|
| 1213 |
+
0.04293686512409592,
|
| 1214 |
+
-0.05383926353426793
|
| 1215 |
+
]
|
| 1216 |
+
}
|
| 1217 |
+
},
|
| 1218 |
+
"grasp_28": {
|
| 1219 |
+
"confidence": 0.9327272176742554,
|
| 1220 |
+
"position": [
|
| 1221 |
+
-0.007168882031692192,
|
| 1222 |
+
-0.029046682873740792,
|
| 1223 |
+
0.21599891781806946
|
| 1224 |
+
],
|
| 1225 |
+
"orientation": {
|
| 1226 |
+
"w": 0.0339761666279647,
|
| 1227 |
+
"xyz": [
|
| 1228 |
+
-0.06899451751132898,
|
| 1229 |
+
0.995430219829897,
|
| 1230 |
+
0.05660436470847871
|
| 1231 |
+
]
|
| 1232 |
+
}
|
| 1233 |
+
},
|
| 1234 |
+
"grasp_29": {
|
| 1235 |
+
"confidence": 0.928488552570343,
|
| 1236 |
+
"position": [
|
| 1237 |
+
0.004465257778065279,
|
| 1238 |
+
-0.018134681740775704,
|
| 1239 |
+
0.21505987644195557
|
| 1240 |
+
],
|
| 1241 |
+
"orientation": {
|
| 1242 |
+
"w": 0.02437453210374318,
|
| 1243 |
+
"xyz": [
|
| 1244 |
+
0.9973261120020165,
|
| 1245 |
+
0.06826607144778385,
|
| 1246 |
+
-0.009287195095987045
|
| 1247 |
+
]
|
| 1248 |
+
}
|
| 1249 |
+
},
|
| 1250 |
+
"grasp_30": {
|
| 1251 |
+
"confidence": 0.9272862672805786,
|
| 1252 |
+
"position": [
|
| 1253 |
+
0.005102911061840132,
|
| 1254 |
+
-0.1292715782765299,
|
| 1255 |
+
0.13934429734945297
|
| 1256 |
+
],
|
| 1257 |
+
"orientation": {
|
| 1258 |
+
"w": 0.6517145046811673,
|
| 1259 |
+
"xyz": [
|
| 1260 |
+
-0.7578758943424672,
|
| 1261 |
+
0.004048683923171259,
|
| 1262 |
+
0.02959630587212768
|
| 1263 |
+
]
|
| 1264 |
+
}
|
| 1265 |
+
},
|
| 1266 |
+
"grasp_31": {
|
| 1267 |
+
"confidence": 0.9251500964164734,
|
| 1268 |
+
"position": [
|
| 1269 |
+
0.006246118369745091,
|
| 1270 |
+
-0.06435009487904608,
|
| 1271 |
+
0.20690475404262543
|
| 1272 |
+
],
|
| 1273 |
+
"orientation": {
|
| 1274 |
+
"w": 0.23068905268092485,
|
| 1275 |
+
"xyz": [
|
| 1276 |
+
-0.9724090689348657,
|
| 1277 |
+
0.015792766324408347,
|
| 1278 |
+
0.030882878075527857
|
| 1279 |
+
]
|
| 1280 |
+
}
|
| 1281 |
+
},
|
| 1282 |
+
"grasp_32": {
|
| 1283 |
+
"confidence": 0.924807071685791,
|
| 1284 |
+
"position": [
|
| 1285 |
+
0.002781341114314273,
|
| 1286 |
+
-0.049501545960083604,
|
| 1287 |
+
0.20884670317173004
|
| 1288 |
+
],
|
| 1289 |
+
"orientation": {
|
| 1290 |
+
"w": 0.18422820852787236,
|
| 1291 |
+
"xyz": [
|
| 1292 |
+
-0.9826532795550853,
|
| 1293 |
+
0.0031608101301367486,
|
| 1294 |
+
0.021035889369530485
|
| 1295 |
+
]
|
| 1296 |
+
}
|
| 1297 |
+
},
|
| 1298 |
+
"grasp_33": {
|
| 1299 |
+
"confidence": 0.920975923538208,
|
| 1300 |
+
"position": [
|
| 1301 |
+
0.0020851514127571136,
|
| 1302 |
+
-0.00041487300768494606,
|
| 1303 |
+
0.21502326428890228
|
| 1304 |
+
],
|
| 1305 |
+
"orientation": {
|
| 1306 |
+
"w": 0.0015656185637278723,
|
| 1307 |
+
"xyz": [
|
| 1308 |
+
0.03767856085588684,
|
| 1309 |
+
-0.9990031009709106,
|
| 1310 |
+
0.023888891578434785
|
| 1311 |
+
]
|
| 1312 |
+
}
|
| 1313 |
+
},
|
| 1314 |
+
"grasp_34": {
|
| 1315 |
+
"confidence": 0.9183363914489746,
|
| 1316 |
+
"position": [
|
| 1317 |
+
-0.003967425524024293,
|
| 1318 |
+
-0.05146855139173567,
|
| 1319 |
+
0.208628311753273
|
| 1320 |
+
],
|
| 1321 |
+
"orientation": {
|
| 1322 |
+
"w": 0.19920335834054126,
|
| 1323 |
+
"xyz": [
|
| 1324 |
+
-0.9788173319406268,
|
| 1325 |
+
0.04651170673477362,
|
| 1326 |
+
-0.00844475311072127
|
| 1327 |
+
]
|
| 1328 |
+
}
|
| 1329 |
+
},
|
| 1330 |
+
"grasp_35": {
|
| 1331 |
+
"confidence": 0.915537416934967,
|
| 1332 |
+
"position": [
|
| 1333 |
+
0.004057926620589569,
|
| 1334 |
+
-0.1325338447932154,
|
| 1335 |
+
0.12161196023225784
|
| 1336 |
+
],
|
| 1337 |
+
"orientation": {
|
| 1338 |
+
"w": 0.7198830660378094,
|
| 1339 |
+
"xyz": [
|
| 1340 |
+
-0.6931660969614817,
|
| 1341 |
+
-0.03061459292591351,
|
| 1342 |
+
0.018758463560989275
|
| 1343 |
+
]
|
| 1344 |
+
}
|
| 1345 |
+
},
|
| 1346 |
+
"grasp_36": {
|
| 1347 |
+
"confidence": 0.9151365160942078,
|
| 1348 |
+
"position": [
|
| 1349 |
+
-0.008837569010211155,
|
| 1350 |
+
-0.03856232785619795,
|
| 1351 |
+
0.21373695135116577
|
| 1352 |
+
],
|
| 1353 |
+
"orientation": {
|
| 1354 |
+
"w": 0.05699805809603752,
|
| 1355 |
+
"xyz": [
|
| 1356 |
+
-0.08174306899015055,
|
| 1357 |
+
0.9911513944211381,
|
| 1358 |
+
0.08768241204703213
|
| 1359 |
+
]
|
| 1360 |
+
}
|
| 1361 |
+
},
|
| 1362 |
+
"grasp_37": {
|
| 1363 |
+
"confidence": 0.9140594601631165,
|
| 1364 |
+
"position": [
|
| 1365 |
+
0.015342346887337044,
|
| 1366 |
+
-0.027589749777689576,
|
| 1367 |
+
0.21819981932640076
|
| 1368 |
+
],
|
| 1369 |
+
"orientation": {
|
| 1370 |
+
"w": 0.073174054952095,
|
| 1371 |
+
"xyz": [
|
| 1372 |
+
0.04229834828433376,
|
| 1373 |
+
-0.995362425911256,
|
| 1374 |
+
-0.045935264213285656
|
| 1375 |
+
]
|
| 1376 |
+
}
|
| 1377 |
+
},
|
| 1378 |
+
"grasp_38": {
|
| 1379 |
+
"confidence": 0.9121637344360352,
|
| 1380 |
+
"position": [
|
| 1381 |
+
0.011862176965223625,
|
| 1382 |
+
-0.13184868940152228,
|
| 1383 |
+
0.12153468281030655
|
| 1384 |
+
],
|
| 1385 |
+
"orientation": {
|
| 1386 |
+
"w": 0.7153694309621424,
|
| 1387 |
+
"xyz": [
|
| 1388 |
+
-0.6961501445787748,
|
| 1389 |
+
-0.009303927353292996,
|
| 1390 |
+
0.059455785115121174
|
| 1391 |
+
]
|
| 1392 |
+
}
|
| 1393 |
+
},
|
| 1394 |
+
"grasp_39": {
|
| 1395 |
+
"confidence": 0.9117410182952881,
|
| 1396 |
+
"position": [
|
| 1397 |
+
-0.01851869231904857,
|
| 1398 |
+
0.011099448194727302,
|
| 1399 |
+
0.21181319653987885
|
| 1400 |
+
],
|
| 1401 |
+
"orientation": {
|
| 1402 |
+
"w": 0.09819069310394796,
|
| 1403 |
+
"xyz": [
|
| 1404 |
+
0.9882644225586782,
|
| 1405 |
+
0.017266105064307202,
|
| 1406 |
+
0.11573202023829487
|
| 1407 |
+
]
|
| 1408 |
+
}
|
| 1409 |
+
}
|
| 1410 |
+
}
|
| 1411 |
+
},
|
| 1412 |
+
{
|
| 1413 |
+
"part_name": "pivot fastener",
|
| 1414 |
+
"mask_color": "Olive",
|
| 1415 |
+
"graspable": false,
|
| 1416 |
+
"grasp_scenarios": [],
|
| 1417 |
+
"functional_labels": [
|
| 1418 |
+
"join moving parts",
|
| 1419 |
+
"support trigger pivot",
|
| 1420 |
+
"retain spray head hardware"
|
| 1421 |
+
],
|
| 1422 |
+
"semantic_description": "Small circular light-colored fastener near the trigger pivot, with a smooth hard surface and very small size.",
|
| 1423 |
+
"id": 14,
|
| 1424 |
+
"grasp_group": {}
|
| 1425 |
+
}
|
| 1426 |
+
],
|
| 1427 |
+
"quality_check": {
|
| 1428 |
+
"success": false,
|
| 1429 |
+
"message": "Label graphic uses wrong mask color; same cyan mask is trigger. Pivot fastener color also mismatched and tiny segmented piece is unreliable."
|
| 1430 |
+
}
|
| 1431 |
+
}
|
dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:84236b36f89dfca5a1f27b393b3e41c73bdadaa54050ce8808655f0d103be15b
|
| 3 |
+
size 3795868
|