Add asset desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553
Browse files
.gitattributes
CHANGED
|
@@ -6293,4 +6293,4 @@ dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/affo
|
|
| 6293 |
dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6294 |
dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6295 |
dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6296 |
-
dataset/desktop_supplies/office_stationery/
|
|
|
|
| 6293 |
dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6294 |
dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6295 |
dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6296 |
+
dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1312 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glue stick cap",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap to pull it off and open the glue stick",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the cap to hold the glue stick during handoff or relocation",
|
| 14 |
+
"confidence": 0.58
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the glue",
|
| 19 |
+
"protect the adhesive tip",
|
| 20 |
+
"enable opening and closing",
|
| 21 |
+
"provide a pull-off grip"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A short pale yellow plastic cap with a matte to lightly glossy finish, hard smooth feel, and vertical ribbing around the side, positioned at the top and sized slightly wider than the body.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9774364829063416,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.08386975013127085,
|
| 30 |
+
-0.026102099538547918,
|
| 31 |
+
0.10026570875197649
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.3943495479996478,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.7001902697034345,
|
| 37 |
+
0.5221643600031938,
|
| 38 |
+
-0.2855983216819732
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.9771335124969482,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.08452535652031656,
|
| 46 |
+
-0.022290345252258703,
|
| 47 |
+
0.09794886130839586
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.3888488682895724,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.6934132030380127,
|
| 53 |
+
0.5292054487561474,
|
| 54 |
+
-0.2965067966999864
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_22": {
|
| 59 |
+
"confidence": 0.976398766040802,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.10011305891384836,
|
| 62 |
+
-0.009447449789149687,
|
| 63 |
+
0.04505921993404627
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4755310685645419,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.47485144153781483,
|
| 69 |
+
0.5329551654156215,
|
| 70 |
+
0.5141450213277687
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_23": {
|
| 75 |
+
"confidence": 0.9748315811157227,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.09728033326973673,
|
| 78 |
+
-0.03477197323809378,
|
| 79 |
+
0.05114492494612932
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5552215236460657,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.5928639688751521,
|
| 85 |
+
0.42463003715846226,
|
| 86 |
+
-0.39991337266031324
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_24": {
|
| 91 |
+
"confidence": 0.9747114181518555,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.10330218308081385,
|
| 94 |
+
-0.009918449417455122,
|
| 95 |
+
0.048217796720564365
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.47535843364147234,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.46643441011211517,
|
| 101 |
+
0.5367026198469064,
|
| 102 |
+
0.518096128608153
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_25": {
|
| 107 |
+
"confidence": 0.9745174050331116,
|
| 108 |
+
"position": [
|
| 109 |
+
0.09418821848521475,
|
| 110 |
+
0.0461202431761194,
|
| 111 |
+
0.03977053705602884
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.6041316241723084,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.6002063094401375,
|
| 117 |
+
-0.3647683447870709,
|
| 118 |
+
-0.3764590567704266
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_26": {
|
| 123 |
+
"confidence": 0.974209725856781,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.10194338344444986,
|
| 126 |
+
0.014165466680424288,
|
| 127 |
+
0.04286906588822603
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.5413271157491821,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.5208270836324436,
|
| 133 |
+
0.47931904520445556,
|
| 134 |
+
0.4538252478805954
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_27": {
|
| 139 |
+
"confidence": 0.9741339087486267,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.053591667194268666,
|
| 142 |
+
-0.010880827874643728,
|
| 143 |
+
0.13256264943629503
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.200025694561573,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.7401945046294865,
|
| 149 |
+
0.6207361788993208,
|
| 150 |
+
-0.16367166229051264
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_28": {
|
| 155 |
+
"confidence": 0.974125325679779,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.1014855452667689,
|
| 158 |
+
0.012874762556748465,
|
| 159 |
+
0.04346404690295458
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.5388032738489412,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.5204945351668038,
|
| 165 |
+
0.4829789511163295,
|
| 166 |
+
0.45332968547154046
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_29": {
|
| 171 |
+
"confidence": 0.972387969493866,
|
| 172 |
+
"position": [
|
| 173 |
+
0.08758308507094625,
|
| 174 |
+
0.05595363865722902,
|
| 175 |
+
0.03977841604501009
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.6263559955408783,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.6201674693418276,
|
| 181 |
+
-0.3279846103583325,
|
| 182 |
+
-0.33984786624052976
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_30": {
|
| 187 |
+
"confidence": 0.9720339179039001,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.10412635885586496,
|
| 190 |
+
0.012541326723294333,
|
| 191 |
+
0.04862597677856684
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.537663840965696,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.5123770806440183,
|
| 197 |
+
0.4881000471882463,
|
| 198 |
+
0.45841647579854655
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_31": {
|
| 203 |
+
"confidence": 0.971942126750946,
|
| 204 |
+
"position": [
|
| 205 |
+
0.09271386034379248,
|
| 206 |
+
0.04635068590869196,
|
| 207 |
+
0.04773580003529787
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.3604754337683644,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.38022099597559617,
|
| 213 |
+
-0.605952244945609,
|
| 214 |
+
0.5985911231501948
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_32": {
|
| 219 |
+
"confidence": 0.9714516997337341,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.04888408489932772,
|
| 222 |
+
-0.01756412160466425,
|
| 223 |
+
0.13348786998540163
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.14829039434458716,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.5704100537473482,
|
| 229 |
+
0.7789138130444218,
|
| 230 |
+
0.21432592325165406
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_33": {
|
| 235 |
+
"confidence": 0.9711955189704895,
|
| 236 |
+
"position": [
|
| 237 |
+
0.01782223909685854,
|
| 238 |
+
-0.10101578567991965,
|
| 239 |
+
0.046375696547329426
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.6847383785086361,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.7229031532167952,
|
| 245 |
+
-0.07259688646236506,
|
| 246 |
+
0.05721954336194089
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_34": {
|
| 251 |
+
"confidence": 0.9705159664154053,
|
| 252 |
+
"position": [
|
| 253 |
+
-0.07087805353512522,
|
| 254 |
+
0.07476427967776544,
|
| 255 |
+
0.04842435661703348
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.26688750037058645,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.2681704895061865,
|
| 261 |
+
0.6716147464835501,
|
| 262 |
+
-0.637015920530868
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_35": {
|
| 267 |
+
"confidence": 0.9704181551933289,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.08771595590224024,
|
| 270 |
+
-0.010113177791936323,
|
| 271 |
+
0.09642658103257418
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.3267638363073623,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.5652690239859998,
|
| 277 |
+
0.6636975250712206,
|
| 278 |
+
0.3649683835867807
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_36": {
|
| 283 |
+
"confidence": 0.9701668620109558,
|
| 284 |
+
"position": [
|
| 285 |
+
0.02429094492981676,
|
| 286 |
+
-0.08724997375975363,
|
| 287 |
+
0.10306364018470049
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.07567312118991794,
|
| 291 |
+
"xyz": [
|
| 292 |
+
0.11943834101405999,
|
| 293 |
+
-0.8612049958338807,
|
| 294 |
+
-0.4881946502942765
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_37": {
|
| 299 |
+
"confidence": 0.9700596332550049,
|
| 300 |
+
"position": [
|
| 301 |
+
-0.10379657380690333,
|
| 302 |
+
-0.00805209853569977,
|
| 303 |
+
0.04983822721987963
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.5116552079952311,
|
| 307 |
+
"xyz": [
|
| 308 |
+
-0.5216060361090292,
|
| 309 |
+
0.49319312206438826,
|
| 310 |
+
-0.47211930226836174
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
"grasp_38": {
|
| 315 |
+
"confidence": 0.9700474739074707,
|
| 316 |
+
"position": [
|
| 317 |
+
0.034161163042881526,
|
| 318 |
+
-0.09335099344025366,
|
| 319 |
+
0.0480387257412076
|
| 320 |
+
],
|
| 321 |
+
"orientation": {
|
| 322 |
+
"w": 0.6700251250154111,
|
| 323 |
+
"xyz": [
|
| 324 |
+
-0.7196823403701796,
|
| 325 |
+
-0.12455194365212585,
|
| 326 |
+
0.13270446164263244
|
| 327 |
+
]
|
| 328 |
+
}
|
| 329 |
+
},
|
| 330 |
+
"grasp_39": {
|
| 331 |
+
"confidence": 0.9700409770011902,
|
| 332 |
+
"position": [
|
| 333 |
+
-0.044969996888539754,
|
| 334 |
+
-0.01436687630484812,
|
| 335 |
+
0.13383998442441225
|
| 336 |
+
],
|
| 337 |
+
"orientation": {
|
| 338 |
+
"w": 0.14047881425995612,
|
| 339 |
+
"xyz": [
|
| 340 |
+
0.587649087565405,
|
| 341 |
+
0.768785139007342,
|
| 342 |
+
0.20953200869825583
|
| 343 |
+
]
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"part_name": "glue stick body",
|
| 350 |
+
"mask_color": "Red",
|
| 351 |
+
"graspable": true,
|
| 352 |
+
"grasp_scenarios": [
|
| 353 |
+
{
|
| 354 |
+
"scenario": "grasp the main body to pick up and move the glue stick",
|
| 355 |
+
"confidence": 0.93
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"scenario": "hold the body to stabilize the glue stick while removing the cap",
|
| 359 |
+
"confidence": 0.9
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "grasp the body during adhesive application",
|
| 363 |
+
"confidence": 0.87
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"main grasp surface",
|
| 368 |
+
"contain the glue mechanism",
|
| 369 |
+
"support adhesive application",
|
| 370 |
+
"stabilize the object during opening"
|
| 371 |
+
],
|
| 372 |
+
"semantic_description": "A tall cylindrical off-white plastic body with a smooth mostly matte surface, hard texture, printed green text and graphics, and a slightly tapered form making up most of the glue stick.",
|
| 373 |
+
"id": 0,
|
| 374 |
+
"grasp_group": {
|
| 375 |
+
"grasp_0": {
|
| 376 |
+
"confidence": 0.9902404546737671,
|
| 377 |
+
"position": [
|
| 378 |
+
-0.03406318881025072,
|
| 379 |
+
-0.09825568084488623,
|
| 380 |
+
-0.03638067748397589
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.10469486771631244,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.14380916014155468,
|
| 386 |
+
0.7035943233999785,
|
| 387 |
+
0.6879774256562282
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_1": {
|
| 392 |
+
"confidence": 0.9898265600204468,
|
| 393 |
+
"position": [
|
| 394 |
+
0.09836954392085318,
|
| 395 |
+
0.02916800233651884,
|
| 396 |
+
-0.04014605563133955
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.5749921146308098,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.5636731571722404,
|
| 402 |
+
-0.4217281945989556,
|
| 403 |
+
-0.41689563427334386
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_2": {
|
| 408 |
+
"confidence": 0.9894586801528931,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.10169707470049616,
|
| 411 |
+
-0.03323107396136038,
|
| 412 |
+
-0.03179710637778044
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.5520899740105857,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.5783144771928993,
|
| 418 |
+
0.4233801416682299,
|
| 419 |
+
-0.4260261514356645
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_3": {
|
| 424 |
+
"confidence": 0.9893033504486084,
|
| 425 |
+
"position": [
|
| 426 |
+
0.09160601116309408,
|
| 427 |
+
0.03919137830962427,
|
| 428 |
+
-0.04018018674105406
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.6113358871499484,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.5775310909190122,
|
| 434 |
+
-0.3802737561078965,
|
| 435 |
+
-0.38486119903164273
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_4": {
|
| 440 |
+
"confidence": 0.9892932176589966,
|
| 441 |
+
"position": [
|
| 442 |
+
0.09743697709927801,
|
| 443 |
+
-0.009606536448700354,
|
| 444 |
+
-0.03370772581547499
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.5220494536605612,
|
| 448 |
+
"xyz": [
|
| 449 |
+
-0.511566172750875,
|
| 450 |
+
-0.4675866493228126,
|
| 451 |
+
0.4971188431399445
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_5": {
|
| 456 |
+
"confidence": 0.9891441464424133,
|
| 457 |
+
"position": [
|
| 458 |
+
0.09866080201754812,
|
| 459 |
+
0.008393855794565752,
|
| 460 |
+
-0.027476913295686245
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.47205139300547766,
|
| 464 |
+
"xyz": [
|
| 465 |
+
-0.47217111456921185,
|
| 466 |
+
-0.5210247088489491,
|
| 467 |
+
0.5317472836761122
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_6": {
|
| 472 |
+
"confidence": 0.9890996813774109,
|
| 473 |
+
"position": [
|
| 474 |
+
0.09729033477196936,
|
| 475 |
+
0.027883457049028948,
|
| 476 |
+
-0.02420810889452696
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.5736397876150028,
|
| 480 |
+
"xyz": [
|
| 481 |
+
0.5601241583006125,
|
| 482 |
+
-0.4281316683029236,
|
| 483 |
+
-0.4170151027831008
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_7": {
|
| 488 |
+
"confidence": 0.9890717267990112,
|
| 489 |
+
"position": [
|
| 490 |
+
0.09766799725184683,
|
| 491 |
+
-0.010643616289598867,
|
| 492 |
+
-0.03166728373616934
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.510588322382357,
|
| 496 |
+
"xyz": [
|
| 497 |
+
-0.529739728577514,
|
| 498 |
+
-0.47921164096122826,
|
| 499 |
+
0.47857244820469913
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_8": {
|
| 504 |
+
"confidence": 0.9887963533401489,
|
| 505 |
+
"position": [
|
| 506 |
+
0.09903071589360479,
|
| 507 |
+
0.02083355005015619,
|
| 508 |
+
-0.03760962840169668
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.5547057102242045,
|
| 512 |
+
"xyz": [
|
| 513 |
+
0.5473923200313904,
|
| 514 |
+
-0.44365876780016433,
|
| 515 |
+
-0.4425269717987291
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_9": {
|
| 520 |
+
"confidence": 0.9886305332183838,
|
| 521 |
+
"position": [
|
| 522 |
+
0.10040353752265219,
|
| 523 |
+
0.007468871335731819,
|
| 524 |
+
-0.033094107173383236
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.46823680864087325,
|
| 528 |
+
"xyz": [
|
| 529 |
+
-0.4758232902240665,
|
| 530 |
+
-0.5236647602474714,
|
| 531 |
+
0.5292652514468648
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_10": {
|
| 536 |
+
"confidence": 0.9882445335388184,
|
| 537 |
+
"position": [
|
| 538 |
+
0.09589232272992376,
|
| 539 |
+
0.037061916693346575,
|
| 540 |
+
-0.02300663385540247
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.5882124846291985,
|
| 544 |
+
"xyz": [
|
| 545 |
+
0.581538983972136,
|
| 546 |
+
-0.40506858385470246,
|
| 547 |
+
-0.3895355252360771
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"grasp_11": {
|
| 552 |
+
"confidence": 0.9882434606552124,
|
| 553 |
+
"position": [
|
| 554 |
+
0.09723818070779089,
|
| 555 |
+
0.025608543335692957,
|
| 556 |
+
-0.05087937321513891
|
| 557 |
+
],
|
| 558 |
+
"orientation": {
|
| 559 |
+
"w": 0.5684793631647788,
|
| 560 |
+
"xyz": [
|
| 561 |
+
0.5574315714611628,
|
| 562 |
+
-0.42462204471275766,
|
| 563 |
+
-0.4310421973984266
|
| 564 |
+
]
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"grasp_12": {
|
| 568 |
+
"confidence": 0.9881924986839294,
|
| 569 |
+
"position": [
|
| 570 |
+
-0.08441525184025522,
|
| 571 |
+
-0.05799945999751799,
|
| 572 |
+
-0.03494489099830389
|
| 573 |
+
],
|
| 574 |
+
"orientation": {
|
| 575 |
+
"w": 0.6078699306862073,
|
| 576 |
+
"xyz": [
|
| 577 |
+
-0.6362792609759577,
|
| 578 |
+
0.33781955196918756,
|
| 579 |
+
-0.333947300822708
|
| 580 |
+
]
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"grasp_13": {
|
| 584 |
+
"confidence": 0.9880363941192627,
|
| 585 |
+
"position": [
|
| 586 |
+
-0.10240584098210093,
|
| 587 |
+
-0.010079865314764902,
|
| 588 |
+
-0.013686024583876133
|
| 589 |
+
],
|
| 590 |
+
"orientation": {
|
| 591 |
+
"w": 0.5115406957351671,
|
| 592 |
+
"xyz": [
|
| 593 |
+
-0.5279994036511068,
|
| 594 |
+
0.4809466919906177,
|
| 595 |
+
-0.4777374025697994
|
| 596 |
+
]
|
| 597 |
+
}
|
| 598 |
+
},
|
| 599 |
+
"grasp_14": {
|
| 600 |
+
"confidence": 0.988029420375824,
|
| 601 |
+
"position": [
|
| 602 |
+
-0.09854310982336756,
|
| 603 |
+
-0.031909724668366835,
|
| 604 |
+
-0.038851684890687466
|
| 605 |
+
],
|
| 606 |
+
"orientation": {
|
| 607 |
+
"w": 0.5596209821704428,
|
| 608 |
+
"xyz": [
|
| 609 |
+
-0.5624200754667251,
|
| 610 |
+
0.42070832377621015,
|
| 611 |
+
-0.43990058119080006
|
| 612 |
+
]
|
| 613 |
+
}
|
| 614 |
+
},
|
| 615 |
+
"grasp_15": {
|
| 616 |
+
"confidence": 0.9879044890403748,
|
| 617 |
+
"position": [
|
| 618 |
+
-0.02119318254699465,
|
| 619 |
+
-0.10307330076466314,
|
| 620 |
+
-0.035576882772147655
|
| 621 |
+
],
|
| 622 |
+
"orientation": {
|
| 623 |
+
"w": 0.06755990899237581,
|
| 624 |
+
"xyz": [
|
| 625 |
+
0.10314137641568326,
|
| 626 |
+
0.7102645612528974,
|
| 627 |
+
0.6930525003174363
|
| 628 |
+
]
|
| 629 |
+
}
|
| 630 |
+
},
|
| 631 |
+
"grasp_16": {
|
| 632 |
+
"confidence": 0.9878687262535095,
|
| 633 |
+
"position": [
|
| 634 |
+
0.09481671966204885,
|
| 635 |
+
-0.03247101788292639,
|
| 636 |
+
-0.022607083432376385
|
| 637 |
+
],
|
| 638 |
+
"orientation": {
|
| 639 |
+
"w": 0.551071786918439,
|
| 640 |
+
"xyz": [
|
| 641 |
+
-0.5834879878446055,
|
| 642 |
+
-0.4200529713227703,
|
| 643 |
+
0.42357662233235116
|
| 644 |
+
]
|
| 645 |
+
}
|
| 646 |
+
},
|
| 647 |
+
"grasp_17": {
|
| 648 |
+
"confidence": 0.9877932667732239,
|
| 649 |
+
"position": [
|
| 650 |
+
0.05479961774835829,
|
| 651 |
+
-0.08768106435309164,
|
| 652 |
+
-0.017965122126042843
|
| 653 |
+
],
|
| 654 |
+
"orientation": {
|
| 655 |
+
"w": 0.22003976391042374,
|
| 656 |
+
"xyz": [
|
| 657 |
+
0.17906277747908003,
|
| 658 |
+
-0.6872890396821526,
|
| 659 |
+
-0.6686948481575925
|
| 660 |
+
]
|
| 661 |
+
}
|
| 662 |
+
},
|
| 663 |
+
"grasp_18": {
|
| 664 |
+
"confidence": 0.9875398874282837,
|
| 665 |
+
"position": [
|
| 666 |
+
0.09836933530459646,
|
| 667 |
+
0.013982292293803766,
|
| 668 |
+
-0.03268814738839865
|
| 669 |
+
],
|
| 670 |
+
"orientation": {
|
| 671 |
+
"w": 0.5489953619273122,
|
| 672 |
+
"xyz": [
|
| 673 |
+
0.523038825986032,
|
| 674 |
+
-0.4437648964369051,
|
| 675 |
+
-0.4776056906945263
|
| 676 |
+
]
|
| 677 |
+
}
|
| 678 |
+
},
|
| 679 |
+
"grasp_19": {
|
| 680 |
+
"confidence": 0.9875165224075317,
|
| 681 |
+
"position": [
|
| 682 |
+
0.09845972574839834,
|
| 683 |
+
-0.015025662229163572,
|
| 684 |
+
-0.036453078500926495
|
| 685 |
+
],
|
| 686 |
+
"orientation": {
|
| 687 |
+
"w": 0.5461389301355516,
|
| 688 |
+
"xyz": [
|
| 689 |
+
-0.5182535696770414,
|
| 690 |
+
-0.44683349334884814,
|
| 691 |
+
0.48320320335141004
|
| 692 |
+
]
|
| 693 |
+
}
|
| 694 |
+
}
|
| 695 |
+
}
|
| 696 |
+
},
|
| 697 |
+
{
|
| 698 |
+
"part_name": "cap collar",
|
| 699 |
+
"mask_color": "Yellow",
|
| 700 |
+
"graspable": true,
|
| 701 |
+
"grasp_scenarios": [
|
| 702 |
+
{
|
| 703 |
+
"scenario": "pinch the collar area to help pull off the cap",
|
| 704 |
+
"confidence": 0.62
|
| 705 |
+
},
|
| 706 |
+
{
|
| 707 |
+
"scenario": "grasp near the collar to stabilize the upper section during manipulation",
|
| 708 |
+
"confidence": 0.49
|
| 709 |
+
}
|
| 710 |
+
],
|
| 711 |
+
"functional_labels": [
|
| 712 |
+
"join cap to body",
|
| 713 |
+
"provide cap seating surface",
|
| 714 |
+
"indicate opening boundary",
|
| 715 |
+
"help align cap placement"
|
| 716 |
+
],
|
| 717 |
+
"semantic_description": "A thin pale yellow plastic ring with a smooth slightly glossy finish and hard feel, encircling the upper body just below the cap as a narrow shoulder-like flange.",
|
| 718 |
+
"id": 3,
|
| 719 |
+
"grasp_group": {
|
| 720 |
+
"grasp_60": {
|
| 721 |
+
"confidence": 0.9785022735595703,
|
| 722 |
+
"position": [
|
| 723 |
+
-0.10203227632155176,
|
| 724 |
+
-0.016012553096516058,
|
| 725 |
+
0.03906699549406767
|
| 726 |
+
],
|
| 727 |
+
"orientation": {
|
| 728 |
+
"w": 0.46160288395704435,
|
| 729 |
+
"xyz": [
|
| 730 |
+
0.4565108214230796,
|
| 731 |
+
0.5408756577705222,
|
| 732 |
+
0.5347655283182243
|
| 733 |
+
]
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
"grasp_61": {
|
| 737 |
+
"confidence": 0.9770182371139526,
|
| 738 |
+
"position": [
|
| 739 |
+
0.03872605554352049,
|
| 740 |
+
0.0951823275827337,
|
| 741 |
+
0.026841563172638416
|
| 742 |
+
],
|
| 743 |
+
"orientation": {
|
| 744 |
+
"w": 0.13939385210830998,
|
| 745 |
+
"xyz": [
|
| 746 |
+
-0.13261528834155498,
|
| 747 |
+
-0.6730036595896502,
|
| 748 |
+
0.7141768782811658
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
},
|
| 752 |
+
"grasp_62": {
|
| 753 |
+
"confidence": 0.9765058159828186,
|
| 754 |
+
"position": [
|
| 755 |
+
0.09992536671052221,
|
| 756 |
+
0.028825439541833475,
|
| 757 |
+
0.031282479874789715
|
| 758 |
+
],
|
| 759 |
+
"orientation": {
|
| 760 |
+
"w": 0.5747721943785726,
|
| 761 |
+
"xyz": [
|
| 762 |
+
0.558345090534755,
|
| 763 |
+
-0.4181068363965741,
|
| 764 |
+
-0.42787189414990195
|
| 765 |
+
]
|
| 766 |
+
}
|
| 767 |
+
},
|
| 768 |
+
"grasp_63": {
|
| 769 |
+
"confidence": 0.97562575340271,
|
| 770 |
+
"position": [
|
| 771 |
+
0.10137185968051199,
|
| 772 |
+
0.008671149640576914,
|
| 773 |
+
0.036077539436519146
|
| 774 |
+
],
|
| 775 |
+
"orientation": {
|
| 776 |
+
"w": 0.524374039130569,
|
| 777 |
+
"xyz": [
|
| 778 |
+
0.5170158054358376,
|
| 779 |
+
-0.47452713925673784,
|
| 780 |
+
-0.4822349200589288
|
| 781 |
+
]
|
| 782 |
+
}
|
| 783 |
+
},
|
| 784 |
+
"grasp_64": {
|
| 785 |
+
"confidence": 0.9742796421051025,
|
| 786 |
+
"position": [
|
| 787 |
+
-0.10042457513918635,
|
| 788 |
+
-0.01166119982372038,
|
| 789 |
+
0.03896327409893274
|
| 790 |
+
],
|
| 791 |
+
"orientation": {
|
| 792 |
+
"w": 0.5086347458210436,
|
| 793 |
+
"xyz": [
|
| 794 |
+
-0.5388505449820334,
|
| 795 |
+
0.47818238748734765,
|
| 796 |
+
-0.4714577285537147
|
| 797 |
+
]
|
| 798 |
+
}
|
| 799 |
+
},
|
| 800 |
+
"grasp_65": {
|
| 801 |
+
"confidence": 0.9741277098655701,
|
| 802 |
+
"position": [
|
| 803 |
+
0.1039883620251203,
|
| 804 |
+
-0.0003039205039385706,
|
| 805 |
+
0.03240878041833639
|
| 806 |
+
],
|
| 807 |
+
"orientation": {
|
| 808 |
+
"w": 0.5049658002219112,
|
| 809 |
+
"xyz": [
|
| 810 |
+
0.49047987467261034,
|
| 811 |
+
-0.49999201607695654,
|
| 812 |
+
-0.5044274150030765
|
| 813 |
+
]
|
| 814 |
+
}
|
| 815 |
+
},
|
| 816 |
+
"grasp_66": {
|
| 817 |
+
"confidence": 0.973507821559906,
|
| 818 |
+
"position": [
|
| 819 |
+
-0.04983295731653925,
|
| 820 |
+
0.09019331450690515,
|
| 821 |
+
0.031923349015414715
|
| 822 |
+
],
|
| 823 |
+
"orientation": {
|
| 824 |
+
"w": 0.1678525795877141,
|
| 825 |
+
"xyz": [
|
| 826 |
+
-0.1915804994648615,
|
| 827 |
+
0.6732565472597595,
|
| 828 |
+
-0.6941527535942009
|
| 829 |
+
]
|
| 830 |
+
}
|
| 831 |
+
},
|
| 832 |
+
"grasp_67": {
|
| 833 |
+
"confidence": 0.9732983112335205,
|
| 834 |
+
"position": [
|
| 835 |
+
-0.10442383073677775,
|
| 836 |
+
0.010888099699513987,
|
| 837 |
+
0.02957486640661955
|
| 838 |
+
],
|
| 839 |
+
"orientation": {
|
| 840 |
+
"w": 0.5376757377328052,
|
| 841 |
+
"xyz": [
|
| 842 |
+
0.5140776178848788,
|
| 843 |
+
0.47520283492726945,
|
| 844 |
+
0.46990559639184803
|
| 845 |
+
]
|
| 846 |
+
}
|
| 847 |
+
},
|
| 848 |
+
"grasp_68": {
|
| 849 |
+
"confidence": 0.9724589586257935,
|
| 850 |
+
"position": [
|
| 851 |
+
0.043867332409718074,
|
| 852 |
+
-0.08960469995508902,
|
| 853 |
+
0.03926126379519701
|
| 854 |
+
],
|
| 855 |
+
"orientation": {
|
| 856 |
+
"w": 0.6740302070870412,
|
| 857 |
+
"xyz": [
|
| 858 |
+
-0.7029976891776571,
|
| 859 |
+
-0.14147776025153824,
|
| 860 |
+
0.17737410267365164
|
| 861 |
+
]
|
| 862 |
+
}
|
| 863 |
+
},
|
| 864 |
+
"grasp_69": {
|
| 865 |
+
"confidence": 0.972004771232605,
|
| 866 |
+
"position": [
|
| 867 |
+
-0.1011713915358996,
|
| 868 |
+
-0.004805031203432009,
|
| 869 |
+
0.044867721386253834
|
| 870 |
+
],
|
| 871 |
+
"orientation": {
|
| 872 |
+
"w": 0.48916073904460655,
|
| 873 |
+
"xyz": [
|
| 874 |
+
-0.531246006392381,
|
| 875 |
+
0.511817393055849,
|
| 876 |
+
-0.4653411740164357
|
| 877 |
+
]
|
| 878 |
+
}
|
| 879 |
+
},
|
| 880 |
+
"grasp_70": {
|
| 881 |
+
"confidence": 0.9715254306793213,
|
| 882 |
+
"position": [
|
| 883 |
+
-0.10391102217545267,
|
| 884 |
+
-0.013005862914724275,
|
| 885 |
+
0.03198585566133261
|
| 886 |
+
],
|
| 887 |
+
"orientation": {
|
| 888 |
+
"w": 0.52724759831937,
|
| 889 |
+
"xyz": [
|
| 890 |
+
-0.5272588355713779,
|
| 891 |
+
0.47310853363554106,
|
| 892 |
+
-0.4692295874937974
|
| 893 |
+
]
|
| 894 |
+
}
|
| 895 |
+
},
|
| 896 |
+
"grasp_71": {
|
| 897 |
+
"confidence": 0.9714662432670593,
|
| 898 |
+
"position": [
|
| 899 |
+
0.0381595059443498,
|
| 900 |
+
0.09440351094235666,
|
| 901 |
+
0.03176050912588835
|
| 902 |
+
],
|
| 903 |
+
"orientation": {
|
| 904 |
+
"w": 0.14207379758213434,
|
| 905 |
+
"xyz": [
|
| 906 |
+
-0.11591530543196421,
|
| 907 |
+
-0.6888664567473965,
|
| 908 |
+
0.7013142539372007
|
| 909 |
+
]
|
| 910 |
+
}
|
| 911 |
+
},
|
| 912 |
+
"grasp_72": {
|
| 913 |
+
"confidence": 0.9714210033416748,
|
| 914 |
+
"position": [
|
| 915 |
+
0.036263582776882686,
|
| 916 |
+
0.09754787202109583,
|
| 917 |
+
0.029831106774508953
|
| 918 |
+
],
|
| 919 |
+
"orientation": {
|
| 920 |
+
"w": 0.7187637122348243,
|
| 921 |
+
"xyz": [
|
| 922 |
+
0.6742002564801236,
|
| 923 |
+
-0.11666545637897718,
|
| 924 |
+
-0.1233771106179555
|
| 925 |
+
]
|
| 926 |
+
}
|
| 927 |
+
},
|
| 928 |
+
"grasp_73": {
|
| 929 |
+
"confidence": 0.9713290929794312,
|
| 930 |
+
"position": [
|
| 931 |
+
0.04429386697302107,
|
| 932 |
+
0.09115483428467996,
|
| 933 |
+
0.031314228661358356
|
| 934 |
+
],
|
| 935 |
+
"orientation": {
|
| 936 |
+
"w": 0.15364492702754692,
|
| 937 |
+
"xyz": [
|
| 938 |
+
-0.16946837953378582,
|
| 939 |
+
-0.6645160357902031,
|
| 940 |
+
0.7114015342368653
|
| 941 |
+
]
|
| 942 |
+
}
|
| 943 |
+
},
|
| 944 |
+
"grasp_74": {
|
| 945 |
+
"confidence": 0.9711430072784424,
|
| 946 |
+
"position": [
|
| 947 |
+
0.040985112558701076,
|
| 948 |
+
0.09516931141843088,
|
| 949 |
+
0.024993612430989742
|
| 950 |
+
],
|
| 951 |
+
"orientation": {
|
| 952 |
+
"w": 0.7158105324056745,
|
| 953 |
+
"xyz": [
|
| 954 |
+
0.6702603568583968,
|
| 955 |
+
-0.13538756670773233,
|
| 956 |
+
-0.1415504945315214
|
| 957 |
+
]
|
| 958 |
+
}
|
| 959 |
+
},
|
| 960 |
+
"grasp_75": {
|
| 961 |
+
"confidence": 0.9710878133773804,
|
| 962 |
+
"position": [
|
| 963 |
+
0.10354865111003164,
|
| 964 |
+
0.0069639743596781045,
|
| 965 |
+
0.0367059325799346
|
| 966 |
+
],
|
| 967 |
+
"orientation": {
|
| 968 |
+
"w": 0.4742455151578768,
|
| 969 |
+
"xyz": [
|
| 970 |
+
-0.4974862421683168,
|
| 971 |
+
-0.5139056777820232,
|
| 972 |
+
0.5133221060399467
|
| 973 |
+
]
|
| 974 |
+
}
|
| 975 |
+
},
|
| 976 |
+
"grasp_76": {
|
| 977 |
+
"confidence": 0.9706540703773499,
|
| 978 |
+
"position": [
|
| 979 |
+
-0.10149088733305689,
|
| 980 |
+
-0.0028776521503459662,
|
| 981 |
+
0.031387477181851864
|
| 982 |
+
],
|
| 983 |
+
"orientation": {
|
| 984 |
+
"w": 0.5015088982985156,
|
| 985 |
+
"xyz": [
|
| 986 |
+
-0.49933537662514504,
|
| 987 |
+
0.5011488924287998,
|
| 988 |
+
-0.49799878935136127
|
| 989 |
+
]
|
| 990 |
+
}
|
| 991 |
+
},
|
| 992 |
+
"grasp_77": {
|
| 993 |
+
"confidence": 0.969835638999939,
|
| 994 |
+
"position": [
|
| 995 |
+
0.059286845396854915,
|
| 996 |
+
0.08493189330329187,
|
| 997 |
+
0.029102026484906673
|
| 998 |
+
],
|
| 999 |
+
"orientation": {
|
| 1000 |
+
"w": 0.2213322187126865,
|
| 1001 |
+
"xyz": [
|
| 1002 |
+
-0.20889886134162253,
|
| 1003 |
+
-0.6505191816489364,
|
| 1004 |
+
0.6958434515009041
|
| 1005 |
+
]
|
| 1006 |
+
}
|
| 1007 |
+
},
|
| 1008 |
+
"grasp_78": {
|
| 1009 |
+
"confidence": 0.9696404933929443,
|
| 1010 |
+
"position": [
|
| 1011 |
+
0.049270757954218425,
|
| 1012 |
+
0.08894447798957117,
|
| 1013 |
+
0.027771460823714733
|
| 1014 |
+
],
|
| 1015 |
+
"orientation": {
|
| 1016 |
+
"w": 0.17966052656225426,
|
| 1017 |
+
"xyz": [
|
| 1018 |
+
-0.17466666818179077,
|
| 1019 |
+
-0.6722518372006443,
|
| 1020 |
+
0.6966283927618833
|
| 1021 |
+
]
|
| 1022 |
+
}
|
| 1023 |
+
},
|
| 1024 |
+
"grasp_79": {
|
| 1025 |
+
"confidence": 0.9693998098373413,
|
| 1026 |
+
"position": [
|
| 1027 |
+
0.10137770838628057,
|
| 1028 |
+
0.021701743855373934,
|
| 1029 |
+
0.039251082576811314
|
| 1030 |
+
],
|
| 1031 |
+
"orientation": {
|
| 1032 |
+
"w": 0.44109160251834884,
|
| 1033 |
+
"xyz": [
|
| 1034 |
+
-0.4557139358817866,
|
| 1035 |
+
-0.5482179512614683,
|
| 1036 |
+
0.5451789474526731
|
| 1037 |
+
]
|
| 1038 |
+
}
|
| 1039 |
+
}
|
| 1040 |
+
}
|
| 1041 |
+
},
|
| 1042 |
+
{
|
| 1043 |
+
"part_name": "base of glue stick",
|
| 1044 |
+
"mask_color": "Blue",
|
| 1045 |
+
"graspable": true,
|
| 1046 |
+
"grasp_scenarios": [
|
| 1047 |
+
{
|
| 1048 |
+
"scenario": "grasp the bottom end to lift or reorient the glue stick",
|
| 1049 |
+
"confidence": 0.55
|
| 1050 |
+
},
|
| 1051 |
+
{
|
| 1052 |
+
"scenario": "hold the base while twisting or stabilizing the container",
|
| 1053 |
+
"confidence": 0.44
|
| 1054 |
+
}
|
| 1055 |
+
],
|
| 1056 |
+
"functional_labels": [
|
| 1057 |
+
"support standing upright",
|
| 1058 |
+
"close the bottom end",
|
| 1059 |
+
"provide end contact surface",
|
| 1060 |
+
"stabilize placement on a table"
|
| 1061 |
+
],
|
| 1062 |
+
"semantic_description": "A circular pale yellow plastic bottom piece with a smooth slightly glossy finish and hard texture, forming the flat base at the lower end of the cylindrical glue stick.",
|
| 1063 |
+
"id": 2,
|
| 1064 |
+
"grasp_group": {
|
| 1065 |
+
"grasp_40": {
|
| 1066 |
+
"confidence": 0.9738193154335022,
|
| 1067 |
+
"position": [
|
| 1068 |
+
0.10041046656260733,
|
| 1069 |
+
0.003715303522767499,
|
| 1070 |
+
-0.054582822136580944
|
| 1071 |
+
],
|
| 1072 |
+
"orientation": {
|
| 1073 |
+
"w": 0.5295611307599911,
|
| 1074 |
+
"xyz": [
|
| 1075 |
+
0.4993906269713192,
|
| 1076 |
+
-0.4879531802993987,
|
| 1077 |
+
-0.48174236300858464
|
| 1078 |
+
]
|
| 1079 |
+
}
|
| 1080 |
+
},
|
| 1081 |
+
"grasp_41": {
|
| 1082 |
+
"confidence": 0.9691641330718994,
|
| 1083 |
+
"position": [
|
| 1084 |
+
0.09618503368983511,
|
| 1085 |
+
0.022309189691441134,
|
| 1086 |
+
-0.058312016539275646
|
| 1087 |
+
],
|
| 1088 |
+
"orientation": {
|
| 1089 |
+
"w": 0.4492208146523665,
|
| 1090 |
+
"xyz": [
|
| 1091 |
+
-0.4194476577721402,
|
| 1092 |
+
-0.5388017823186282,
|
| 1093 |
+
0.5761570631718401
|
| 1094 |
+
]
|
| 1095 |
+
}
|
| 1096 |
+
},
|
| 1097 |
+
"grasp_42": {
|
| 1098 |
+
"confidence": 0.968318521976471,
|
| 1099 |
+
"position": [
|
| 1100 |
+
0.09600283719191793,
|
| 1101 |
+
0.02874865013291128,
|
| 1102 |
+
-0.05752878915518522
|
| 1103 |
+
],
|
| 1104 |
+
"orientation": {
|
| 1105 |
+
"w": 0.4228980534271006,
|
| 1106 |
+
"xyz": [
|
| 1107 |
+
-0.4065809595944982,
|
| 1108 |
+
-0.5508354121803783,
|
| 1109 |
+
0.5936577367396626
|
| 1110 |
+
]
|
| 1111 |
+
}
|
| 1112 |
+
},
|
| 1113 |
+
"grasp_43": {
|
| 1114 |
+
"confidence": 0.965851902961731,
|
| 1115 |
+
"position": [
|
| 1116 |
+
-0.08919078343024012,
|
| 1117 |
+
-0.021753637091023847,
|
| 1118 |
+
-0.10156404506415129
|
| 1119 |
+
],
|
| 1120 |
+
"orientation": {
|
| 1121 |
+
"w": 0.6594184823379953,
|
| 1122 |
+
"xyz": [
|
| 1123 |
+
-0.4022159597207292,
|
| 1124 |
+
0.31378057603451603,
|
| 1125 |
+
-0.5522058828013651
|
| 1126 |
+
]
|
| 1127 |
+
}
|
| 1128 |
+
},
|
| 1129 |
+
"grasp_44": {
|
| 1130 |
+
"confidence": 0.9624857306480408,
|
| 1131 |
+
"position": [
|
| 1132 |
+
-0.10086320572008844,
|
| 1133 |
+
0.02156740429927595,
|
| 1134 |
+
-0.06090130191296339
|
| 1135 |
+
],
|
| 1136 |
+
"orientation": {
|
| 1137 |
+
"w": 0.5828000844161602,
|
| 1138 |
+
"xyz": [
|
| 1139 |
+
0.5340218482988794,
|
| 1140 |
+
0.40809211078040786,
|
| 1141 |
+
0.45675546659318295
|
| 1142 |
+
]
|
| 1143 |
+
}
|
| 1144 |
+
},
|
| 1145 |
+
"grasp_46": {
|
| 1146 |
+
"confidence": 0.9555495381355286,
|
| 1147 |
+
"position": [
|
| 1148 |
+
-0.03063250936975237,
|
| 1149 |
+
-0.08650431965361349,
|
| 1150 |
+
-0.1003280682489276
|
| 1151 |
+
],
|
| 1152 |
+
"orientation": {
|
| 1153 |
+
"w": 0.84416678853525,
|
| 1154 |
+
"xyz": [
|
| 1155 |
+
-0.503883664730725,
|
| 1156 |
+
0.09383472522251468,
|
| 1157 |
+
-0.1570946526589376
|
| 1158 |
+
]
|
| 1159 |
+
}
|
| 1160 |
+
},
|
| 1161 |
+
"grasp_47": {
|
| 1162 |
+
"confidence": 0.9542891383171082,
|
| 1163 |
+
"position": [
|
| 1164 |
+
0.10283718026767019,
|
| 1165 |
+
-0.008715239324374124,
|
| 1166 |
+
-0.057750592939555645
|
| 1167 |
+
],
|
| 1168 |
+
"orientation": {
|
| 1169 |
+
"w": 0.5207861163908601,
|
| 1170 |
+
"xyz": [
|
| 1171 |
+
-0.5052800789178084,
|
| 1172 |
+
-0.47436450131571006,
|
| 1173 |
+
0.4984497795313351
|
| 1174 |
+
]
|
| 1175 |
+
}
|
| 1176 |
+
},
|
| 1177 |
+
"grasp_48": {
|
| 1178 |
+
"confidence": 0.953929603099823,
|
| 1179 |
+
"position": [
|
| 1180 |
+
0.10170883453974966,
|
| 1181 |
+
-0.005081086390418932,
|
| 1182 |
+
-0.06710272561758757
|
| 1183 |
+
],
|
| 1184 |
+
"orientation": {
|
| 1185 |
+
"w": 0.5204931178439657,
|
| 1186 |
+
"xyz": [
|
| 1187 |
+
-0.4698438384611175,
|
| 1188 |
+
-0.4645613227368448,
|
| 1189 |
+
0.5408479075989701
|
| 1190 |
+
]
|
| 1191 |
+
}
|
| 1192 |
+
},
|
| 1193 |
+
"grasp_49": {
|
| 1194 |
+
"confidence": 0.9482797384262085,
|
| 1195 |
+
"position": [
|
| 1196 |
+
0.005738429274060763,
|
| 1197 |
+
-0.10589526777039282,
|
| 1198 |
+
-0.052216592244803905
|
| 1199 |
+
],
|
| 1200 |
+
"orientation": {
|
| 1201 |
+
"w": 0.7114607038857335,
|
| 1202 |
+
"xyz": [
|
| 1203 |
+
-0.7013893820418887,
|
| 1204 |
+
-0.028548065537561396,
|
| 1205 |
+
0.0325823501205373
|
| 1206 |
+
]
|
| 1207 |
+
}
|
| 1208 |
+
},
|
| 1209 |
+
"grasp_50": {
|
| 1210 |
+
"confidence": 0.947797417640686,
|
| 1211 |
+
"position": [
|
| 1212 |
+
0.09800118721614126,
|
| 1213 |
+
-0.021402839542133734,
|
| 1214 |
+
-0.05970375519245863
|
| 1215 |
+
],
|
| 1216 |
+
"orientation": {
|
| 1217 |
+
"w": 0.480179788932556,
|
| 1218 |
+
"xyz": [
|
| 1219 |
+
0.4211681886852475,
|
| 1220 |
+
-0.5374675918551685,
|
| 1221 |
+
-0.5506117641729789
|
| 1222 |
+
]
|
| 1223 |
+
}
|
| 1224 |
+
},
|
| 1225 |
+
"grasp_52": {
|
| 1226 |
+
"confidence": 0.9293797612190247,
|
| 1227 |
+
"position": [
|
| 1228 |
+
-0.022987474207184277,
|
| 1229 |
+
0.07389539296855219,
|
| 1230 |
+
-0.10425251256674528
|
| 1231 |
+
],
|
| 1232 |
+
"orientation": {
|
| 1233 |
+
"w": 0.862221165123549,
|
| 1234 |
+
"xyz": [
|
| 1235 |
+
0.4901953954268442,
|
| 1236 |
+
0.07669957805273542,
|
| 1237 |
+
0.10198191722968131
|
| 1238 |
+
]
|
| 1239 |
+
}
|
| 1240 |
+
},
|
| 1241 |
+
"grasp_53": {
|
| 1242 |
+
"confidence": 0.9261050820350647,
|
| 1243 |
+
"position": [
|
| 1244 |
+
-0.025431775007746182,
|
| 1245 |
+
0.09440930749406107,
|
| 1246 |
+
-0.0602436913177371
|
| 1247 |
+
],
|
| 1248 |
+
"orientation": {
|
| 1249 |
+
"w": 0.07974048798430565,
|
| 1250 |
+
"xyz": [
|
| 1251 |
+
-0.09811283383873344,
|
| 1252 |
+
0.6733672865785973,
|
| 1253 |
+
-0.7284173417608446
|
| 1254 |
+
]
|
| 1255 |
+
}
|
| 1256 |
+
},
|
| 1257 |
+
"grasp_55": {
|
| 1258 |
+
"confidence": 0.853876531124115,
|
| 1259 |
+
"position": [
|
| 1260 |
+
0.08151677764544729,
|
| 1261 |
+
-0.05848655287991278,
|
| 1262 |
+
-0.0658959848806262
|
| 1263 |
+
],
|
| 1264 |
+
"orientation": {
|
| 1265 |
+
"w": 0.36082249658047777,
|
| 1266 |
+
"xyz": [
|
| 1267 |
+
0.29368964386230617,
|
| 1268 |
+
-0.6070183209654825,
|
| 1269 |
+
-0.6442687925561112
|
| 1270 |
+
]
|
| 1271 |
+
}
|
| 1272 |
+
},
|
| 1273 |
+
"grasp_57": {
|
| 1274 |
+
"confidence": 0.9729315638542175,
|
| 1275 |
+
"position": [
|
| 1276 |
+
-0.0870647602569079,
|
| 1277 |
+
-0.0026605848397593945,
|
| 1278 |
+
-0.10226158332079649
|
| 1279 |
+
],
|
| 1280 |
+
"orientation": {
|
| 1281 |
+
"w": 0.6250988152744495,
|
| 1282 |
+
"xyz": [
|
| 1283 |
+
0.35174028572311256,
|
| 1284 |
+
0.357872269748831,
|
| 1285 |
+
0.5978776472546227
|
| 1286 |
+
]
|
| 1287 |
+
}
|
| 1288 |
+
},
|
| 1289 |
+
"grasp_59": {
|
| 1290 |
+
"confidence": 0.9454673528671265,
|
| 1291 |
+
"position": [
|
| 1292 |
+
-0.09694643550028559,
|
| 1293 |
+
0.03244612555135973,
|
| 1294 |
+
-0.060426811687648296
|
| 1295 |
+
],
|
| 1296 |
+
"orientation": {
|
| 1297 |
+
"w": 0.39427998181334056,
|
| 1298 |
+
"xyz": [
|
| 1299 |
+
-0.3983414404103925,
|
| 1300 |
+
0.5449478387530121,
|
| 1301 |
+
-0.6236178684350429
|
| 1302 |
+
]
|
| 1303 |
+
}
|
| 1304 |
+
}
|
| 1305 |
+
}
|
| 1306 |
+
}
|
| 1307 |
+
],
|
| 1308 |
+
"quality_check": {
|
| 1309 |
+
"success": true,
|
| 1310 |
+
"message": "YES"
|
| 1311 |
+
}
|
| 1312 |
+
}
|
dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9ab5248860a56750774236d701aaac2b2e824f17bacf684df7fa481f0e7f24cc
|
| 3 |
+
size 3785524
|