Add asset livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc
Browse files
.gitattributes
CHANGED
|
@@ -7742,4 +7742,4 @@ dataset/livingroom_supplies/ornaments/9b29e9dfe396551899f43c09ed9b0e58/affordanc
|
|
| 7742 |
dataset/livingroom_supplies/ornaments/a7235f3257bb504487f4b901a96d2444/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7743 |
dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7744 |
dataset/livingroom_supplies/ornaments/aa70004706f6572b98b705705eddbec3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7745 |
-
dataset/livingroom_supplies/ornaments/
|
|
|
|
| 7742 |
dataset/livingroom_supplies/ornaments/a7235f3257bb504487f4b901a96d2444/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7743 |
dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7744 |
dataset/livingroom_supplies/ornaments/aa70004706f6572b98b705705eddbec3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7745 |
+
dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,980 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glass stopper",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the stopper to remove it from the bottle neck",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the stopper to align and reinsert it into the neck opening",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"seal the bottle opening",
|
| 19 |
+
"provide a handhold for opening",
|
| 20 |
+
"cover the neck"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Faceted clear glass stopper with a glossy reflective finish, smooth hard surface, and polygonal jewel-like shape at the top of the bottle.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.9801256060600281,
|
| 27 |
+
"position": [
|
| 28 |
+
-0.08998156152665615,
|
| 29 |
+
-0.03578502789605409,
|
| 30 |
+
0.07261406164616346
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.5434107836450923,
|
| 34 |
+
"xyz": [
|
| 35 |
+
-0.6168656171938864,
|
| 36 |
+
0.43198546421305384,
|
| 37 |
+
-0.37090442064076934
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_1": {
|
| 42 |
+
"confidence": 0.9757524132728577,
|
| 43 |
+
"position": [
|
| 44 |
+
0.04956947825849056,
|
| 45 |
+
-0.08228980854619294,
|
| 46 |
+
0.05651904549449682
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.6783014533386998,
|
| 50 |
+
"xyz": [
|
| 51 |
+
-0.6835214053616889,
|
| 52 |
+
-0.2039254325023523,
|
| 53 |
+
0.17640874351833488
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_2": {
|
| 58 |
+
"confidence": 0.9753243923187256,
|
| 59 |
+
"position": [
|
| 60 |
+
0.09392252750694752,
|
| 61 |
+
0.030528011615388095,
|
| 62 |
+
0.06913843285292387
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.5406918799438548,
|
| 66 |
+
"xyz": [
|
| 67 |
+
0.6074622744840883,
|
| 68 |
+
-0.4319796125645128,
|
| 69 |
+
-0.38991728657500146
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_3": {
|
| 74 |
+
"confidence": 0.9741929769515991,
|
| 75 |
+
"position": [
|
| 76 |
+
-0.09508674405515194,
|
| 77 |
+
-0.01530757371801883,
|
| 78 |
+
0.06099859904497862
|
| 79 |
+
],
|
| 80 |
+
"orientation": {
|
| 81 |
+
"w": 0.5349012932518249,
|
| 82 |
+
"xyz": [
|
| 83 |
+
-0.5408063303806847,
|
| 84 |
+
0.46821912614286143,
|
| 85 |
+
-0.4496442698530893
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_4": {
|
| 90 |
+
"confidence": 0.9741567373275757,
|
| 91 |
+
"position": [
|
| 92 |
+
0.02915938012301922,
|
| 93 |
+
-0.08385022834409028,
|
| 94 |
+
0.11282059084624052
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
+
"w": 0.08566412862390241,
|
| 98 |
+
"xyz": [
|
| 99 |
+
0.14419928162085452,
|
| 100 |
+
-0.8518933693876556,
|
| 101 |
+
-0.49613094182935635
|
| 102 |
+
]
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"grasp_5": {
|
| 106 |
+
"confidence": 0.9737246632575989,
|
| 107 |
+
"position": [
|
| 108 |
+
0.08456228859722614,
|
| 109 |
+
-0.04725699231494218,
|
| 110 |
+
0.06635574158281088
|
| 111 |
+
],
|
| 112 |
+
"orientation": {
|
| 113 |
+
"w": 0.5773626494280172,
|
| 114 |
+
"xyz": [
|
| 115 |
+
-0.6513339256611652,
|
| 116 |
+
-0.3662617804925882,
|
| 117 |
+
0.32904224117683584
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"grasp_6": {
|
| 122 |
+
"confidence": 0.9736565351486206,
|
| 123 |
+
"position": [
|
| 124 |
+
0.08722212351858616,
|
| 125 |
+
0.05108091502916068,
|
| 126 |
+
0.060369580052793026
|
| 127 |
+
],
|
| 128 |
+
"orientation": {
|
| 129 |
+
"w": 0.34918949725960097,
|
| 130 |
+
"xyz": [
|
| 131 |
+
-0.35187744126790804,
|
| 132 |
+
-0.613429150482175,
|
| 133 |
+
0.614779341446225
|
| 134 |
+
]
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"grasp_7": {
|
| 138 |
+
"confidence": 0.9735689759254456,
|
| 139 |
+
"position": [
|
| 140 |
+
0.07239063270390034,
|
| 141 |
+
-0.06820542470086366,
|
| 142 |
+
0.061179730109870434
|
| 143 |
+
],
|
| 144 |
+
"orientation": {
|
| 145 |
+
"w": 0.2742565312187717,
|
| 146 |
+
"xyz": [
|
| 147 |
+
0.2818353778038238,
|
| 148 |
+
-0.6595371216457729,
|
| 149 |
+
-0.6405957852446673
|
| 150 |
+
]
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
"grasp_8": {
|
| 154 |
+
"confidence": 0.9732730388641357,
|
| 155 |
+
"position": [
|
| 156 |
+
0.09436369128525257,
|
| 157 |
+
-0.03373276547063142,
|
| 158 |
+
0.058491564355790615
|
| 159 |
+
],
|
| 160 |
+
"orientation": {
|
| 161 |
+
"w": 0.5663836176345408,
|
| 162 |
+
"xyz": [
|
| 163 |
+
-0.5975118289180876,
|
| 164 |
+
-0.39535454046072005,
|
| 165 |
+
0.40728859462948963
|
| 166 |
+
]
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"grasp_9": {
|
| 170 |
+
"confidence": 0.9731715321540833,
|
| 171 |
+
"position": [
|
| 172 |
+
0.09178747422993183,
|
| 173 |
+
-0.04542763635981828,
|
| 174 |
+
0.05763381626456976
|
| 175 |
+
],
|
| 176 |
+
"orientation": {
|
| 177 |
+
"w": 0.5934312445286619,
|
| 178 |
+
"xyz": [
|
| 179 |
+
-0.6106875507937655,
|
| 180 |
+
-0.3703703472399319,
|
| 181 |
+
0.3711143748334843
|
| 182 |
+
]
|
| 183 |
+
}
|
| 184 |
+
},
|
| 185 |
+
"grasp_10": {
|
| 186 |
+
"confidence": 0.972567081451416,
|
| 187 |
+
"position": [
|
| 188 |
+
0.044599464163184166,
|
| 189 |
+
-0.08952844992745668,
|
| 190 |
+
0.05065306182950735
|
| 191 |
+
],
|
| 192 |
+
"orientation": {
|
| 193 |
+
"w": 0.7014706397124375,
|
| 194 |
+
"xyz": [
|
| 195 |
+
-0.674562937921197,
|
| 196 |
+
-0.15568052213592143,
|
| 197 |
+
0.1693143804643719
|
| 198 |
+
]
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
"grasp_11": {
|
| 202 |
+
"confidence": 0.9723043441772461,
|
| 203 |
+
"position": [
|
| 204 |
+
0.09432088769972324,
|
| 205 |
+
-0.031089448486454785,
|
| 206 |
+
0.054599772207438946
|
| 207 |
+
],
|
| 208 |
+
"orientation": {
|
| 209 |
+
"w": 0.5800593852356996,
|
| 210 |
+
"xyz": [
|
| 211 |
+
-0.5751144150065567,
|
| 212 |
+
-0.4123507199945188,
|
| 213 |
+
0.4034121998299635
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
},
|
| 217 |
+
"grasp_12": {
|
| 218 |
+
"confidence": 0.9722971320152283,
|
| 219 |
+
"position": [
|
| 220 |
+
-0.09126735292375088,
|
| 221 |
+
-0.033044607494957745,
|
| 222 |
+
0.05022194515913725
|
| 223 |
+
],
|
| 224 |
+
"orientation": {
|
| 225 |
+
"w": 0.585553072923674,
|
| 226 |
+
"xyz": [
|
| 227 |
+
-0.5715659744895953,
|
| 228 |
+
0.4025692318901498,
|
| 229 |
+
-0.4103388223538892
|
| 230 |
+
]
|
| 231 |
+
}
|
| 232 |
+
},
|
| 233 |
+
"grasp_13": {
|
| 234 |
+
"confidence": 0.9720168113708496,
|
| 235 |
+
"position": [
|
| 236 |
+
-0.09298907034099102,
|
| 237 |
+
-0.033433635835535824,
|
| 238 |
+
0.05877992045134306
|
| 239 |
+
],
|
| 240 |
+
"orientation": {
|
| 241 |
+
"w": 0.5915946062254187,
|
| 242 |
+
"xyz": [
|
| 243 |
+
-0.5557132333783249,
|
| 244 |
+
0.4296737315883937,
|
| 245 |
+
-0.39570078154598537
|
| 246 |
+
]
|
| 247 |
+
}
|
| 248 |
+
},
|
| 249 |
+
"grasp_14": {
|
| 250 |
+
"confidence": 0.9716355800628662,
|
| 251 |
+
"position": [
|
| 252 |
+
-0.08368699066340923,
|
| 253 |
+
-0.03300197154749185,
|
| 254 |
+
0.10546669643372297
|
| 255 |
+
],
|
| 256 |
+
"orientation": {
|
| 257 |
+
"w": 0.42424004232142215,
|
| 258 |
+
"xyz": [
|
| 259 |
+
-0.6958481786411926,
|
| 260 |
+
0.5079636596855893,
|
| 261 |
+
-0.27890611182201613
|
| 262 |
+
]
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
"grasp_15": {
|
| 266 |
+
"confidence": 0.9706446528434753,
|
| 267 |
+
"position": [
|
| 268 |
+
0.08552497066557407,
|
| 269 |
+
-0.050874577020294964,
|
| 270 |
+
0.05507179629057646
|
| 271 |
+
],
|
| 272 |
+
"orientation": {
|
| 273 |
+
"w": 0.3474203002857718,
|
| 274 |
+
"xyz": [
|
| 275 |
+
0.34275970311120857,
|
| 276 |
+
-0.6222151328118094,
|
| 277 |
+
-0.6120974182043596
|
| 278 |
+
]
|
| 279 |
+
}
|
| 280 |
+
},
|
| 281 |
+
"grasp_16": {
|
| 282 |
+
"confidence": 0.9703574180603027,
|
| 283 |
+
"position": [
|
| 284 |
+
0.0011358140036463737,
|
| 285 |
+
-0.09656375751364976,
|
| 286 |
+
0.06689695548266172
|
| 287 |
+
],
|
| 288 |
+
"orientation": {
|
| 289 |
+
"w": 0.6635069512536417,
|
| 290 |
+
"xyz": [
|
| 291 |
+
-0.7481618989967727,
|
| 292 |
+
0.003466037781729936,
|
| 293 |
+
-0.0005339566797904435
|
| 294 |
+
]
|
| 295 |
+
}
|
| 296 |
+
},
|
| 297 |
+
"grasp_17": {
|
| 298 |
+
"confidence": 0.9703547358512878,
|
| 299 |
+
"position": [
|
| 300 |
+
-0.09688430838286877,
|
| 301 |
+
-0.020460461382754147,
|
| 302 |
+
0.05217822175472975
|
| 303 |
+
],
|
| 304 |
+
"orientation": {
|
| 305 |
+
"w": 0.5509524860660127,
|
| 306 |
+
"xyz": [
|
| 307 |
+
-0.5428549443815305,
|
| 308 |
+
0.4429428647837541,
|
| 309 |
+
-0.45338889046310626
|
| 310 |
+
]
|
| 311 |
+
}
|
| 312 |
+
},
|
| 313 |
+
"grasp_18": {
|
| 314 |
+
"confidence": 0.9703370928764343,
|
| 315 |
+
"position": [
|
| 316 |
+
0.08384826220571995,
|
| 317 |
+
0.030596575583331287,
|
| 318 |
+
0.10983657371252775
|
| 319 |
+
],
|
| 320 |
+
"orientation": {
|
| 321 |
+
"w": 0.28308673341231744,
|
| 322 |
+
"xyz": [
|
| 323 |
+
-0.5174307151785861,
|
| 324 |
+
-0.6926808453451805,
|
| 325 |
+
0.4151151681733717
|
| 326 |
+
]
|
| 327 |
+
}
|
| 328 |
+
},
|
| 329 |
+
"grasp_19": {
|
| 330 |
+
"confidence": 0.9703280329704285,
|
| 331 |
+
"position": [
|
| 332 |
+
0.10110935010015965,
|
| 333 |
+
-0.016369954799301922,
|
| 334 |
+
0.06417422275990248
|
| 335 |
+
],
|
| 336 |
+
"orientation": {
|
| 337 |
+
"w": 0.5350472807415031,
|
| 338 |
+
"xyz": [
|
| 339 |
+
-0.5477456209085969,
|
| 340 |
+
-0.45194658973162793,
|
| 341 |
+
0.45764989039278703
|
| 342 |
+
]
|
| 343 |
+
}
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
{
|
| 348 |
+
"part_name": "neck collar",
|
| 349 |
+
"mask_color": "Yellow",
|
| 350 |
+
"graspable": false,
|
| 351 |
+
"grasp_scenarios": [],
|
| 352 |
+
"functional_labels": [
|
| 353 |
+
"form the bottle mouth rim",
|
| 354 |
+
"support the sealing interface",
|
| 355 |
+
"transition between stopper and body"
|
| 356 |
+
],
|
| 357 |
+
"semantic_description": "Thin clear glass collar below the stopper, with a glossy reflective finish, smooth surface, and narrow ring-like shape around the bottle opening.",
|
| 358 |
+
"id": 3,
|
| 359 |
+
"grasp_group": {}
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"part_name": "bottle neck",
|
| 363 |
+
"mask_color": "Orange",
|
| 364 |
+
"graspable": true,
|
| 365 |
+
"grasp_scenarios": [
|
| 366 |
+
{
|
| 367 |
+
"scenario": "pinch the neck lightly while pulling the stopper free",
|
| 368 |
+
"confidence": 0.52
|
| 369 |
+
},
|
| 370 |
+
{
|
| 371 |
+
"scenario": "grasp the neck to steady the bottle during stopper insertion",
|
| 372 |
+
"confidence": 0.48
|
| 373 |
+
}
|
| 374 |
+
],
|
| 375 |
+
"functional_labels": [
|
| 376 |
+
"support the stopper",
|
| 377 |
+
"form the opening passage",
|
| 378 |
+
"connect the top assembly to the body",
|
| 379 |
+
"guide stopper insertion"
|
| 380 |
+
],
|
| 381 |
+
"semantic_description": "Short clear glass neck with a glossy reflective finish, smooth hard surface, and narrow cylindrical shape between the collar and main bottle body.",
|
| 382 |
+
"id": 4,
|
| 383 |
+
"grasp_group": {
|
| 384 |
+
"grasp_40": {
|
| 385 |
+
"confidence": 0.9778649806976318,
|
| 386 |
+
"position": [
|
| 387 |
+
0.044635167345404625,
|
| 388 |
+
-0.0873112838016823,
|
| 389 |
+
0.04559701215475798
|
| 390 |
+
],
|
| 391 |
+
"orientation": {
|
| 392 |
+
"w": 0.16156717637044027,
|
| 393 |
+
"xyz": [
|
| 394 |
+
0.1692149928211361,
|
| 395 |
+
-0.6967472713728884,
|
| 396 |
+
-0.678089650089618
|
| 397 |
+
]
|
| 398 |
+
}
|
| 399 |
+
},
|
| 400 |
+
"grasp_41": {
|
| 401 |
+
"confidence": 0.9751773476600647,
|
| 402 |
+
"position": [
|
| 403 |
+
-0.013018044643104076,
|
| 404 |
+
-0.09973345801699907,
|
| 405 |
+
0.04481309559196234
|
| 406 |
+
],
|
| 407 |
+
"orientation": {
|
| 408 |
+
"w": 0.7097646718094359,
|
| 409 |
+
"xyz": [
|
| 410 |
+
-0.7003782300788398,
|
| 411 |
+
0.05315112915295439,
|
| 412 |
+
-0.05366006851133753
|
| 413 |
+
]
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"grasp_42": {
|
| 417 |
+
"confidence": 0.9677355885505676,
|
| 418 |
+
"position": [
|
| 419 |
+
-0.09227356873452663,
|
| 420 |
+
-0.03668377280700952,
|
| 421 |
+
0.033997771330177784
|
| 422 |
+
],
|
| 423 |
+
"orientation": {
|
| 424 |
+
"w": 0.5947541672938216,
|
| 425 |
+
"xyz": [
|
| 426 |
+
-0.570871599267682,
|
| 427 |
+
0.3870055735732342,
|
| 428 |
+
-0.41303726667147683
|
| 429 |
+
]
|
| 430 |
+
}
|
| 431 |
+
},
|
| 432 |
+
"grasp_43": {
|
| 433 |
+
"confidence": 0.9663000106811523,
|
| 434 |
+
"position": [
|
| 435 |
+
-0.09623736701905727,
|
| 436 |
+
-0.02608752914238721,
|
| 437 |
+
0.037808808498084545
|
| 438 |
+
],
|
| 439 |
+
"orientation": {
|
| 440 |
+
"w": 0.5562178587078305,
|
| 441 |
+
"xyz": [
|
| 442 |
+
-0.5610441509378022,
|
| 443 |
+
0.4295095816305359,
|
| 444 |
+
-0.4374616253347465
|
| 445 |
+
]
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"grasp_44": {
|
| 449 |
+
"confidence": 0.9661928415298462,
|
| 450 |
+
"position": [
|
| 451 |
+
-0.019067663699388504,
|
| 452 |
+
-0.09580518410075456,
|
| 453 |
+
0.0400374298915267
|
| 454 |
+
],
|
| 455 |
+
"orientation": {
|
| 456 |
+
"w": 0.7157100580918284,
|
| 457 |
+
"xyz": [
|
| 458 |
+
-0.6908027035071214,
|
| 459 |
+
0.07722934606515386,
|
| 460 |
+
-0.06772271169845762
|
| 461 |
+
]
|
| 462 |
+
}
|
| 463 |
+
},
|
| 464 |
+
"grasp_45": {
|
| 465 |
+
"confidence": 0.9641940593719482,
|
| 466 |
+
"position": [
|
| 467 |
+
0.09250018931925297,
|
| 468 |
+
0.0369638156844303,
|
| 469 |
+
0.0381690813228488
|
| 470 |
+
],
|
| 471 |
+
"orientation": {
|
| 472 |
+
"w": 0.39248909087967665,
|
| 473 |
+
"xyz": [
|
| 474 |
+
-0.3956833952553809,
|
| 475 |
+
-0.5854803129692329,
|
| 476 |
+
0.5887272436239613
|
| 477 |
+
]
|
| 478 |
+
}
|
| 479 |
+
},
|
| 480 |
+
"grasp_46": {
|
| 481 |
+
"confidence": 0.9631632566452026,
|
| 482 |
+
"position": [
|
| 483 |
+
0.05473957024514675,
|
| 484 |
+
-0.07602955505717546,
|
| 485 |
+
0.0644008768722415
|
| 486 |
+
],
|
| 487 |
+
"orientation": {
|
| 488 |
+
"w": 0.17000849605730514,
|
| 489 |
+
"xyz": [
|
| 490 |
+
0.26634057590276133,
|
| 491 |
+
-0.7342102555236021,
|
| 492 |
+
-0.6009118983512347
|
| 493 |
+
]
|
| 494 |
+
}
|
| 495 |
+
},
|
| 496 |
+
"grasp_47": {
|
| 497 |
+
"confidence": 0.9621912837028503,
|
| 498 |
+
"position": [
|
| 499 |
+
0.09381929226219654,
|
| 500 |
+
0.03520137339364737,
|
| 501 |
+
0.03643305879086256
|
| 502 |
+
],
|
| 503 |
+
"orientation": {
|
| 504 |
+
"w": 0.400351005621781,
|
| 505 |
+
"xyz": [
|
| 506 |
+
-0.3995003622694323,
|
| 507 |
+
-0.5805341802250326,
|
| 508 |
+
0.58574618943248
|
| 509 |
+
]
|
| 510 |
+
}
|
| 511 |
+
},
|
| 512 |
+
"grasp_48": {
|
| 513 |
+
"confidence": 0.9614357948303223,
|
| 514 |
+
"position": [
|
| 515 |
+
-0.09718048386275768,
|
| 516 |
+
-0.022753381286747754,
|
| 517 |
+
0.03426206577569246
|
| 518 |
+
],
|
| 519 |
+
"orientation": {
|
| 520 |
+
"w": 0.5589801038772942,
|
| 521 |
+
"xyz": [
|
| 522 |
+
-0.5360520468998264,
|
| 523 |
+
0.44369044016820924,
|
| 524 |
+
-0.45091932736042356
|
| 525 |
+
]
|
| 526 |
+
}
|
| 527 |
+
},
|
| 528 |
+
"grasp_49": {
|
| 529 |
+
"confidence": 0.960889995098114,
|
| 530 |
+
"position": [
|
| 531 |
+
0.08188126422464848,
|
| 532 |
+
0.056090629543177783,
|
| 533 |
+
0.04487476032227278
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.33657408486430473,
|
| 537 |
+
"xyz": [
|
| 538 |
+
-0.31601786008731025,
|
| 539 |
+
-0.6293762862957966,
|
| 540 |
+
0.6250888638842518
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"grasp_50": {
|
| 545 |
+
"confidence": 0.9604529738426208,
|
| 546 |
+
"position": [
|
| 547 |
+
-0.049509817734360695,
|
| 548 |
+
0.08366228535305709,
|
| 549 |
+
0.05618061404675245
|
| 550 |
+
],
|
| 551 |
+
"orientation": {
|
| 552 |
+
"w": 0.20057566365190457,
|
| 553 |
+
"xyz": [
|
| 554 |
+
-0.1880803141736807,
|
| 555 |
+
0.7310866816865195,
|
| 556 |
+
-0.6244257060944258
|
| 557 |
+
]
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"grasp_51": {
|
| 561 |
+
"confidence": 0.9595947265625,
|
| 562 |
+
"position": [
|
| 563 |
+
-0.0740636195987463,
|
| 564 |
+
-0.06676039949525148,
|
| 565 |
+
0.03980393987149
|
| 566 |
+
],
|
| 567 |
+
"orientation": {
|
| 568 |
+
"w": 0.6539652888747428,
|
| 569 |
+
"xyz": [
|
| 570 |
+
-0.6266691862473683,
|
| 571 |
+
0.30575940064900187,
|
| 572 |
+
-0.2934728622373764
|
| 573 |
+
]
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"grasp_52": {
|
| 577 |
+
"confidence": 0.9595075249671936,
|
| 578 |
+
"position": [
|
| 579 |
+
-0.042638277634978294,
|
| 580 |
+
-0.08977814123500139,
|
| 581 |
+
0.04274409916251898
|
| 582 |
+
],
|
| 583 |
+
"orientation": {
|
| 584 |
+
"w": 0.18648582985223422,
|
| 585 |
+
"xyz": [
|
| 586 |
+
0.160196412958902,
|
| 587 |
+
0.6868441109784832,
|
| 588 |
+
0.683962946184661
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"grasp_53": {
|
| 593 |
+
"confidence": 0.9587693810462952,
|
| 594 |
+
"position": [
|
| 595 |
+
-0.03304745443165302,
|
| 596 |
+
0.09103044017683715,
|
| 597 |
+
0.04237209167331457
|
| 598 |
+
],
|
| 599 |
+
"orientation": {
|
| 600 |
+
"w": 0.1180389738129383,
|
| 601 |
+
"xyz": [
|
| 602 |
+
-0.13817067215319484,
|
| 603 |
+
0.6895351004961843,
|
| 604 |
+
-0.7010827420509217
|
| 605 |
+
]
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"grasp_54": {
|
| 609 |
+
"confidence": 0.95866858959198,
|
| 610 |
+
"position": [
|
| 611 |
+
-0.06642556749284267,
|
| 612 |
+
0.07283890887629241,
|
| 613 |
+
0.038418023847043514
|
| 614 |
+
],
|
| 615 |
+
"orientation": {
|
| 616 |
+
"w": 0.6677203137327903,
|
| 617 |
+
"xyz": [
|
| 618 |
+
0.6444073407809076,
|
| 619 |
+
0.26743811429776565,
|
| 620 |
+
0.25954887169301766
|
| 621 |
+
]
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
"grasp_55": {
|
| 625 |
+
"confidence": 0.9581122398376465,
|
| 626 |
+
"position": [
|
| 627 |
+
-0.08943906985223293,
|
| 628 |
+
-0.04238128021825105,
|
| 629 |
+
0.03940315078943968
|
| 630 |
+
],
|
| 631 |
+
"orientation": {
|
| 632 |
+
"w": 0.40240761420150645,
|
| 633 |
+
"xyz": [
|
| 634 |
+
0.37606155114763207,
|
| 635 |
+
0.5925962350863029,
|
| 636 |
+
0.5877716596967124
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
"grasp_56": {
|
| 641 |
+
"confidence": 0.9578736424446106,
|
| 642 |
+
"position": [
|
| 643 |
+
-0.02782902866601944,
|
| 644 |
+
-0.0973261158214882,
|
| 645 |
+
0.04605913441628218
|
| 646 |
+
],
|
| 647 |
+
"orientation": {
|
| 648 |
+
"w": 0.6976189475166805,
|
| 649 |
+
"xyz": [
|
| 650 |
+
-0.6989637189035481,
|
| 651 |
+
0.12909948690276862,
|
| 652 |
+
-0.09006023652912865
|
| 653 |
+
]
|
| 654 |
+
}
|
| 655 |
+
},
|
| 656 |
+
"grasp_57": {
|
| 657 |
+
"confidence": 0.9564959406852722,
|
| 658 |
+
"position": [
|
| 659 |
+
-0.0627449732273817,
|
| 660 |
+
0.07883420481812209,
|
| 661 |
+
0.03948769252747297
|
| 662 |
+
],
|
| 663 |
+
"orientation": {
|
| 664 |
+
"w": 0.23977692290749478,
|
| 665 |
+
"xyz": [
|
| 666 |
+
-0.24289183142795076,
|
| 667 |
+
0.6690447761376004,
|
| 668 |
+
-0.660219412763346
|
| 669 |
+
]
|
| 670 |
+
}
|
| 671 |
+
},
|
| 672 |
+
"grasp_58": {
|
| 673 |
+
"confidence": 0.9553597569465637,
|
| 674 |
+
"position": [
|
| 675 |
+
-0.06935359351336956,
|
| 676 |
+
0.07292213931214064,
|
| 677 |
+
0.0427871635183692
|
| 678 |
+
],
|
| 679 |
+
"orientation": {
|
| 680 |
+
"w": 0.6688644152749933,
|
| 681 |
+
"xyz": [
|
| 682 |
+
0.6385502038409058,
|
| 683 |
+
0.2779399502530424,
|
| 684 |
+
0.26004502534544904
|
| 685 |
+
]
|
| 686 |
+
}
|
| 687 |
+
},
|
| 688 |
+
"grasp_59": {
|
| 689 |
+
"confidence": 0.9547600746154785,
|
| 690 |
+
"position": [
|
| 691 |
+
-0.0337779987603426,
|
| 692 |
+
0.0942646925104782,
|
| 693 |
+
0.04456763993948698
|
| 694 |
+
],
|
| 695 |
+
"orientation": {
|
| 696 |
+
"w": 0.700327690149952,
|
| 697 |
+
"xyz": [
|
| 698 |
+
0.6894995467483467,
|
| 699 |
+
0.1364225405585171,
|
| 700 |
+
0.12458086478515472
|
| 701 |
+
]
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
}
|
| 705 |
+
},
|
| 706 |
+
{
|
| 707 |
+
"part_name": "bottle body",
|
| 708 |
+
"mask_color": "Blue",
|
| 709 |
+
"graspable": true,
|
| 710 |
+
"grasp_scenarios": [
|
| 711 |
+
{
|
| 712 |
+
"scenario": "grasp the bottle body from the sides to pick up and move the bottle",
|
| 713 |
+
"confidence": 0.96
|
| 714 |
+
},
|
| 715 |
+
{
|
| 716 |
+
"scenario": "hold the body steady while removing or inserting the stopper",
|
| 717 |
+
"confidence": 0.93
|
| 718 |
+
},
|
| 719 |
+
{
|
| 720 |
+
"scenario": "grasp the lower body to place the bottle on a surface",
|
| 721 |
+
"confidence": 0.86
|
| 722 |
+
}
|
| 723 |
+
],
|
| 724 |
+
"functional_labels": [
|
| 725 |
+
"contain liquid",
|
| 726 |
+
"provide main structural support",
|
| 727 |
+
"provide main grasp surface",
|
| 728 |
+
"support upright placement"
|
| 729 |
+
],
|
| 730 |
+
"semantic_description": "Tall faceted clear glass body with a glossy reflective finish, smooth hard surface, and tapered polygonal shape forming most of the bottle below the neck.",
|
| 731 |
+
"id": 2,
|
| 732 |
+
"grasp_group": {
|
| 733 |
+
"grasp_22": {
|
| 734 |
+
"confidence": 0.9836630821228027,
|
| 735 |
+
"position": [
|
| 736 |
+
0.044496214017271996,
|
| 737 |
+
-0.09456559375394136,
|
| 738 |
+
-0.013773039914667606
|
| 739 |
+
],
|
| 740 |
+
"orientation": {
|
| 741 |
+
"w": 0.14821033786793042,
|
| 742 |
+
"xyz": [
|
| 743 |
+
0.15407936757947796,
|
| 744 |
+
-0.6948327304819213,
|
| 745 |
+
-0.6866591009273962
|
| 746 |
+
]
|
| 747 |
+
}
|
| 748 |
+
},
|
| 749 |
+
"grasp_23": {
|
| 750 |
+
"confidence": 0.9830235838890076,
|
| 751 |
+
"position": [
|
| 752 |
+
0.012992428615689278,
|
| 753 |
+
-0.10345617041457444,
|
| 754 |
+
-0.009217331185936928
|
| 755 |
+
],
|
| 756 |
+
"orientation": {
|
| 757 |
+
"w": 0.7041140854263361,
|
| 758 |
+
"xyz": [
|
| 759 |
+
-0.7071157945732764,
|
| 760 |
+
-0.03708696125739053,
|
| 761 |
+
0.05324626816905315
|
| 762 |
+
]
|
| 763 |
+
}
|
| 764 |
+
},
|
| 765 |
+
"grasp_24": {
|
| 766 |
+
"confidence": 0.9828168153762817,
|
| 767 |
+
"position": [
|
| 768 |
+
0.04779620282351971,
|
| 769 |
+
-0.09342771873343736,
|
| 770 |
+
-0.024010772816836834
|
| 771 |
+
],
|
| 772 |
+
"orientation": {
|
| 773 |
+
"w": 0.6789118210532232,
|
| 774 |
+
"xyz": [
|
| 775 |
+
-0.6963546987118319,
|
| 776 |
+
-0.16151844685633288,
|
| 777 |
+
0.1675728621861783
|
| 778 |
+
]
|
| 779 |
+
}
|
| 780 |
+
},
|
| 781 |
+
"grasp_25": {
|
| 782 |
+
"confidence": 0.9823693633079529,
|
| 783 |
+
"position": [
|
| 784 |
+
-0.023155834525823593,
|
| 785 |
+
-0.1014198298798874,
|
| 786 |
+
-0.01839206274598837
|
| 787 |
+
],
|
| 788 |
+
"orientation": {
|
| 789 |
+
"w": 0.7046391248423077,
|
| 790 |
+
"xyz": [
|
| 791 |
+
-0.6996306861492098,
|
| 792 |
+
0.08494424589203586,
|
| 793 |
+
-0.08237160815284587
|
| 794 |
+
]
|
| 795 |
+
}
|
| 796 |
+
},
|
| 797 |
+
"grasp_26": {
|
| 798 |
+
"confidence": 0.9821546077728271,
|
| 799 |
+
"position": [
|
| 800 |
+
0.038280850276350975,
|
| 801 |
+
-0.09598573402035981,
|
| 802 |
+
-0.011388507671654224
|
| 803 |
+
],
|
| 804 |
+
"orientation": {
|
| 805 |
+
"w": 0.12435402273061077,
|
| 806 |
+
"xyz": [
|
| 807 |
+
0.13741692371980627,
|
| 808 |
+
-0.6952643502673733,
|
| 809 |
+
-0.6944495297380417
|
| 810 |
+
]
|
| 811 |
+
}
|
| 812 |
+
},
|
| 813 |
+
"grasp_27": {
|
| 814 |
+
"confidence": 0.981797456741333,
|
| 815 |
+
"position": [
|
| 816 |
+
0.02173720858991146,
|
| 817 |
+
-0.10126444057095796,
|
| 818 |
+
-0.0056012216955423355
|
| 819 |
+
],
|
| 820 |
+
"orientation": {
|
| 821 |
+
"w": 0.7002051713162941,
|
| 822 |
+
"xyz": [
|
| 823 |
+
-0.7055937602262179,
|
| 824 |
+
-0.08385700299762955,
|
| 825 |
+
0.06941301491795955
|
| 826 |
+
]
|
| 827 |
+
}
|
| 828 |
+
},
|
| 829 |
+
"grasp_28": {
|
| 830 |
+
"confidence": 0.9817624092102051,
|
| 831 |
+
"position": [
|
| 832 |
+
0.09800459630787373,
|
| 833 |
+
0.033118690247647464,
|
| 834 |
+
-0.01843330543488264
|
| 835 |
+
],
|
| 836 |
+
"orientation": {
|
| 837 |
+
"w": 0.5772122654687538,
|
| 838 |
+
"xyz": [
|
| 839 |
+
0.5791433742050818,
|
| 840 |
+
-0.41684956051717537,
|
| 841 |
+
-0.3970584297095566
|
| 842 |
+
]
|
| 843 |
+
}
|
| 844 |
+
},
|
| 845 |
+
"grasp_29": {
|
| 846 |
+
"confidence": 0.9816862344741821,
|
| 847 |
+
"position": [
|
| 848 |
+
0.00996130146086216,
|
| 849 |
+
-0.10462390736211091,
|
| 850 |
+
-0.015818537212908268
|
| 851 |
+
],
|
| 852 |
+
"orientation": {
|
| 853 |
+
"w": 0.6978331178020507,
|
| 854 |
+
"xyz": [
|
| 855 |
+
-0.7147635179077175,
|
| 856 |
+
-0.02405924975819107,
|
| 857 |
+
0.039537395816187045
|
| 858 |
+
]
|
| 859 |
+
}
|
| 860 |
+
},
|
| 861 |
+
"grasp_30": {
|
| 862 |
+
"confidence": 0.9816562533378601,
|
| 863 |
+
"position": [
|
| 864 |
+
-0.09934140555560589,
|
| 865 |
+
-0.028005565633066,
|
| 866 |
+
-0.007572423666715622
|
| 867 |
+
],
|
| 868 |
+
"orientation": {
|
| 869 |
+
"w": 0.5502129429880523,
|
| 870 |
+
"xyz": [
|
| 871 |
+
-0.562440645244849,
|
| 872 |
+
0.4406137436798143,
|
| 873 |
+
-0.43218718956656055
|
| 874 |
+
]
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"grasp_32": {
|
| 878 |
+
"confidence": 0.9808648228645325,
|
| 879 |
+
"position": [
|
| 880 |
+
0.05780966766178608,
|
| 881 |
+
-0.08622191951144487,
|
| 882 |
+
-0.01628184597939253
|
| 883 |
+
],
|
| 884 |
+
"orientation": {
|
| 885 |
+
"w": 0.21870143332662415,
|
| 886 |
+
"xyz": [
|
| 887 |
+
0.19911685713717228,
|
| 888 |
+
-0.6750212980520384,
|
| 889 |
+
-0.6759204150200204
|
| 890 |
+
]
|
| 891 |
+
}
|
| 892 |
+
},
|
| 893 |
+
"grasp_33": {
|
| 894 |
+
"confidence": 0.9807065725326538,
|
| 895 |
+
"position": [
|
| 896 |
+
0.09785358794033527,
|
| 897 |
+
0.026754152844659984,
|
| 898 |
+
-0.01941272895783186
|
| 899 |
+
],
|
| 900 |
+
"orientation": {
|
| 901 |
+
"w": 0.5635008836309232,
|
| 902 |
+
"xyz": [
|
| 903 |
+
0.5655799159837185,
|
| 904 |
+
-0.4232398266357734,
|
| 905 |
+
-0.4283154934535284
|
| 906 |
+
]
|
| 907 |
+
}
|
| 908 |
+
},
|
| 909 |
+
"grasp_34": {
|
| 910 |
+
"confidence": 0.9806853532791138,
|
| 911 |
+
"position": [
|
| 912 |
+
-0.0017584156012162566,
|
| 913 |
+
-0.10585678473580629,
|
| 914 |
+
-0.013796298764646053
|
| 915 |
+
],
|
| 916 |
+
"orientation": {
|
| 917 |
+
"w": 0.7040266054261528,
|
| 918 |
+
"xyz": [
|
| 919 |
+
-0.7098786220914434,
|
| 920 |
+
0.01955413223672564,
|
| 921 |
+
0.006042901798861286
|
| 922 |
+
]
|
| 923 |
+
}
|
| 924 |
+
},
|
| 925 |
+
"grasp_36": {
|
| 926 |
+
"confidence": 0.9806197881698608,
|
| 927 |
+
"position": [
|
| 928 |
+
0.07894503511488438,
|
| 929 |
+
-0.06359654024709016,
|
| 930 |
+
-0.015379059128463268
|
| 931 |
+
],
|
| 932 |
+
"orientation": {
|
| 933 |
+
"w": 0.6322654628237558,
|
| 934 |
+
"xyz": [
|
| 935 |
+
-0.644273576682171,
|
| 936 |
+
-0.3016948208892104,
|
| 937 |
+
0.3068096770932293
|
| 938 |
+
]
|
| 939 |
+
}
|
| 940 |
+
},
|
| 941 |
+
"grasp_37": {
|
| 942 |
+
"confidence": 0.9805856347084045,
|
| 943 |
+
"position": [
|
| 944 |
+
0.09689848311245441,
|
| 945 |
+
0.025061082909815013,
|
| 946 |
+
-0.014218642376363277
|
| 947 |
+
],
|
| 948 |
+
"orientation": {
|
| 949 |
+
"w": 0.5547539011387282,
|
| 950 |
+
"xyz": [
|
| 951 |
+
0.5639058781412813,
|
| 952 |
+
-0.4350326932226567,
|
| 953 |
+
-0.43012187295755355
|
| 954 |
+
]
|
| 955 |
+
}
|
| 956 |
+
},
|
| 957 |
+
"grasp_38": {
|
| 958 |
+
"confidence": 0.9805313944816589,
|
| 959 |
+
"position": [
|
| 960 |
+
0.07156584598124027,
|
| 961 |
+
-0.07301671907771379,
|
| 962 |
+
-0.026704500429332256
|
| 963 |
+
],
|
| 964 |
+
"orientation": {
|
| 965 |
+
"w": 0.27964923762145333,
|
| 966 |
+
"xyz": [
|
| 967 |
+
0.25883146259438705,
|
| 968 |
+
-0.6524398522402826,
|
| 969 |
+
-0.6550761918110505
|
| 970 |
+
]
|
| 971 |
+
}
|
| 972 |
+
}
|
| 973 |
+
}
|
| 974 |
+
}
|
| 975 |
+
],
|
| 976 |
+
"quality_check": {
|
| 977 |
+
"success": true,
|
| 978 |
+
"message": "YES"
|
| 979 |
+
}
|
| 980 |
+
}
|
dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:58727a25088d05feb9373ad8b61cdf2d1c1763badbcb23daf466f649220c12bc
|
| 3 |
+
size 3781388
|