Add asset bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/affordance_annot.json +888 -0
- dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5671,4 +5671,4 @@ dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/afforda
|
|
| 5671 |
dataset/bathroom_supplies/bath_products/b15fd38ad9025295a4ff0293feb4e2a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5672 |
dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5673 |
dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5674 |
-
dataset/bathroom_supplies/bath_products/
|
|
|
|
| 5671 |
dataset/bathroom_supplies/bath_products/b15fd38ad9025295a4ff0293feb4e2a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5672 |
dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5673 |
dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5674 |
+
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,888 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pump nozzle",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the pump nozzle/head to rotate it for opening, closing, or alignment",
|
| 10 |
+
"confidence": 0.62
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly grasp the nozzle area to reposition the dispenser head during maintenance",
|
| 14 |
+
"confidence": 0.34
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense liquid",
|
| 19 |
+
"direct outlet flow",
|
| 20 |
+
"rotate for pump lock/unlock",
|
| 21 |
+
"indicate dispensing direction"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small pump head with a white top and gold-toned spout, smooth glossy plastic surface, mounted at the very top as the dispensing outlet piece.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_21": {
|
| 27 |
+
"confidence": 0.8978580832481384,
|
| 28 |
+
"position": [
|
| 29 |
+
0.018706984352320433,
|
| 30 |
+
0.08585085658705793,
|
| 31 |
+
0.11746354959905148
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.060466051014537274,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.027369573993894617,
|
| 37 |
+
-0.8745479324918869,
|
| 38 |
+
0.480375558150356
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_22": {
|
| 43 |
+
"confidence": 0.6946782469749451,
|
| 44 |
+
"position": [
|
| 45 |
+
0.08121309010311961,
|
| 46 |
+
0.008653949334984645,
|
| 47 |
+
0.11972191743552685
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.34124721778238787,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6624780936479749,
|
| 53 |
+
-0.5799562969408516,
|
| 54 |
+
-0.3291258200612333
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_23": {
|
| 59 |
+
"confidence": 0.5163412094116211,
|
| 60 |
+
"position": [
|
| 61 |
+
0.08209001598879695,
|
| 62 |
+
-0.021583978697890416,
|
| 63 |
+
0.11600996367633343
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.2647375671884623,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.6175733561187992,
|
| 69 |
+
-0.6103642311163994,
|
| 70 |
+
-0.4194909721376419
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_24": {
|
| 75 |
+
"confidence": 0.9433926939964294,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.012835636269301176,
|
| 78 |
+
-0.09028193415724672,
|
| 79 |
+
0.11406674049794674
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.4932834499477549,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.8648762308093704,
|
| 85 |
+
0.09000660560091667,
|
| 86 |
+
-0.02365067307325679
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_26": {
|
| 91 |
+
"confidence": 0.5916041135787964,
|
| 92 |
+
"position": [
|
| 93 |
+
0.08326495764777064,
|
| 94 |
+
-0.013922570884460583,
|
| 95 |
+
0.11564125679433346
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.309786772564967,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.5822009242449974,
|
| 101 |
+
-0.6442542314092707,
|
| 102 |
+
-0.387312179854058
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_28": {
|
| 107 |
+
"confidence": 0.8985440731048584,
|
| 108 |
+
"position": [
|
| 109 |
+
0.009200444910675287,
|
| 110 |
+
-0.04843296916806139,
|
| 111 |
+
0.15393578074872494
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.2294724303715007,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.9612700756280095,
|
| 117 |
+
0.14129441697146944,
|
| 118 |
+
0.05777657946097551
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_29": {
|
| 123 |
+
"confidence": 0.8861793875694275,
|
| 124 |
+
"position": [
|
| 125 |
+
0.03635853482410312,
|
| 126 |
+
0.07558143822825514,
|
| 127 |
+
0.11252311430871487
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.15064471071525418,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.09745058227664376,
|
| 133 |
+
-0.8546698302001214,
|
| 134 |
+
0.48718480732998665
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_30": {
|
| 139 |
+
"confidence": 0.9357817769050598,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.003271081019192934,
|
| 142 |
+
-0.018198224395746365,
|
| 143 |
+
0.1582083310931921
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.040378280743289884,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.9884361645616597,
|
| 149 |
+
-0.14563135539483762,
|
| 150 |
+
-0.012451961962440857
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_31": {
|
| 155 |
+
"confidence": 0.9022946357727051,
|
| 156 |
+
"position": [
|
| 157 |
+
0.011403923388570547,
|
| 158 |
+
-0.05741494955145754,
|
| 159 |
+
0.14837508462369442
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.25985064846034434,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.9629873864649602,
|
| 165 |
+
-0.06482889850883944,
|
| 166 |
+
0.030498326548422154
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_32": {
|
| 171 |
+
"confidence": 0.8865846991539001,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.0008135433308780193,
|
| 174 |
+
-0.050600726768607274,
|
| 175 |
+
0.1570346411317587
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.013085186793484483,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.042390867205242724,
|
| 181 |
+
-0.9722922262160552,
|
| 182 |
+
-0.22952041108361948
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_35": {
|
| 187 |
+
"confidence": 0.8591862916946411,
|
| 188 |
+
"position": [
|
| 189 |
+
0.020379362162202597,
|
| 190 |
+
-0.060281579062575474,
|
| 191 |
+
0.14522000215947628
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.07882783876097124,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.09708434772846007,
|
| 197 |
+
-0.9519487391931621,
|
| 198 |
+
-0.2795610831481443
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_38": {
|
| 203 |
+
"confidence": 0.7111093401908875,
|
| 204 |
+
"position": [
|
| 205 |
+
0.009116835426539183,
|
| 206 |
+
0.044991254195338115,
|
| 207 |
+
0.15663751028478146
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.2524892291758368,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.9674020461268419,
|
| 213 |
+
-0.006320603687517579,
|
| 214 |
+
-0.018507303121115107
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_39": {
|
| 219 |
+
"confidence": 0.7070004343986511,
|
| 220 |
+
"position": [
|
| 221 |
+
0.05524331284686923,
|
| 222 |
+
0.09620573310530744,
|
| 223 |
+
0.06770403124392033
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.1815299575128975,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.19206139852644422,
|
| 229 |
+
-0.6873256708950328,
|
| 230 |
+
0.6765668598520955
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
+
"part_name": "pump collar",
|
| 238 |
+
"mask_color": "Green",
|
| 239 |
+
"graspable": true,
|
| 240 |
+
"grasp_scenarios": [
|
| 241 |
+
{
|
| 242 |
+
"scenario": "grasp the collar to stabilize the top while turning or opening the dispenser assembly",
|
| 243 |
+
"confidence": 0.58
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"scenario": "hold the collar during bottle repositioning when avoiding the decorated body surface",
|
| 247 |
+
"confidence": 0.27
|
| 248 |
+
}
|
| 249 |
+
],
|
| 250 |
+
"functional_labels": [
|
| 251 |
+
"connect pump to bottle",
|
| 252 |
+
"support dispenser head",
|
| 253 |
+
"provide threaded closure",
|
| 254 |
+
"seal bottle opening"
|
| 255 |
+
],
|
| 256 |
+
"semantic_description": "Short cylindrical gold plastic neck collar with a glossy hard finish and fine ribbed texture, sitting between the bottle body and pump head at the top.",
|
| 257 |
+
"id": 1,
|
| 258 |
+
"grasp_group": {
|
| 259 |
+
"grasp_1": {
|
| 260 |
+
"confidence": 0.9761978983879089,
|
| 261 |
+
"position": [
|
| 262 |
+
0.03588353795930743,
|
| 263 |
+
0.09366511492407881,
|
| 264 |
+
0.05817186273634434
|
| 265 |
+
],
|
| 266 |
+
"orientation": {
|
| 267 |
+
"w": 0.14408467477937825,
|
| 268 |
+
"xyz": [
|
| 269 |
+
-0.12349347443590454,
|
| 270 |
+
-0.7256132733911558,
|
| 271 |
+
0.6614184346871816
|
| 272 |
+
]
|
| 273 |
+
}
|
| 274 |
+
},
|
| 275 |
+
"grasp_2": {
|
| 276 |
+
"confidence": 0.9684377908706665,
|
| 277 |
+
"position": [
|
| 278 |
+
0.0769949140958488,
|
| 279 |
+
0.06151294647133909,
|
| 280 |
+
0.0450040977448225
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.30917613865795773,
|
| 284 |
+
"xyz": [
|
| 285 |
+
-0.30225285983559436,
|
| 286 |
+
-0.6395692420446999,
|
| 287 |
+
0.6356134899733706
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"grasp_4": {
|
| 292 |
+
"confidence": 0.9660189151763916,
|
| 293 |
+
"position": [
|
| 294 |
+
-0.010849402751773596,
|
| 295 |
+
0.098380326613551,
|
| 296 |
+
0.05167302303016186
|
| 297 |
+
],
|
| 298 |
+
"orientation": {
|
| 299 |
+
"w": 0.05595960990971342,
|
| 300 |
+
"xyz": [
|
| 301 |
+
-0.04573997796114773,
|
| 302 |
+
0.7439626365158949,
|
| 303 |
+
-0.6643011154161833
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
},
|
| 307 |
+
"grasp_5": {
|
| 308 |
+
"confidence": 0.9660016894340515,
|
| 309 |
+
"position": [
|
| 310 |
+
-0.0013180695241317153,
|
| 311 |
+
0.09999108253396116,
|
| 312 |
+
0.04265814460813999
|
| 313 |
+
],
|
| 314 |
+
"orientation": {
|
| 315 |
+
"w": 0.7041591997847155,
|
| 316 |
+
"xyz": [
|
| 317 |
+
0.7098556404102982,
|
| 318 |
+
0.016206371619950644,
|
| 319 |
+
0.0014644641171775144
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
},
|
| 323 |
+
"grasp_6": {
|
| 324 |
+
"confidence": 0.9657683372497559,
|
| 325 |
+
"position": [
|
| 326 |
+
-0.03043737867847085,
|
| 327 |
+
0.09427787302411161,
|
| 328 |
+
0.050259845331311226
|
| 329 |
+
],
|
| 330 |
+
"orientation": {
|
| 331 |
+
"w": 0.6705327425504832,
|
| 332 |
+
"xyz": [
|
| 333 |
+
0.7230293304804621,
|
| 334 |
+
0.0823930401974945,
|
| 335 |
+
0.1443115219229422
|
| 336 |
+
]
|
| 337 |
+
}
|
| 338 |
+
},
|
| 339 |
+
"grasp_7": {
|
| 340 |
+
"confidence": 0.9650027751922607,
|
| 341 |
+
"position": [
|
| 342 |
+
-0.08564110519364476,
|
| 343 |
+
-0.04840789423906244,
|
| 344 |
+
0.04496234469115734
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
+
"w": 0.612215412719088,
|
| 348 |
+
"xyz": [
|
| 349 |
+
-0.5918144036845053,
|
| 350 |
+
0.3884029430170792,
|
| 351 |
+
-0.35226574326269866
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
},
|
| 355 |
+
"grasp_8": {
|
| 356 |
+
"confidence": 0.9645981192588806,
|
| 357 |
+
"position": [
|
| 358 |
+
0.0944960224442184,
|
| 359 |
+
0.03095541274524294,
|
| 360 |
+
0.0396854504942894
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.5686736070163583,
|
| 364 |
+
"xyz": [
|
| 365 |
+
0.5790852931187721,
|
| 366 |
+
-0.3968219833836705,
|
| 367 |
+
-0.42872236410059184
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_9": {
|
| 372 |
+
"confidence": 0.9629424810409546,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.05626776488497853,
|
| 375 |
+
-0.08274772824370302,
|
| 376 |
+
0.044217148795723915
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.6735923734846749,
|
| 380 |
+
"xyz": [
|
| 381 |
+
-0.672149359967733,
|
| 382 |
+
0.19869645807598224,
|
| 383 |
+
-0.23453841865738864
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_10": {
|
| 388 |
+
"confidence": 0.9626787900924683,
|
| 389 |
+
"position": [
|
| 390 |
+
0.024809406604617834,
|
| 391 |
+
0.08510918854153715,
|
| 392 |
+
0.09454149566590786
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.5030699995127665,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.85512687090537,
|
| 398 |
+
-0.09992731119150766,
|
| 399 |
+
-0.07545291726535186
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_11": {
|
| 404 |
+
"confidence": 0.9622963666915894,
|
| 405 |
+
"position": [
|
| 406 |
+
0.016111533623188734,
|
| 407 |
+
0.08736194609082304,
|
| 408 |
+
0.09245558641850948
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.5162545611386865,
|
| 412 |
+
"xyz": [
|
| 413 |
+
0.8538337221756245,
|
| 414 |
+
-0.01686086933452846,
|
| 415 |
+
-0.06453614541096223
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_12": {
|
| 420 |
+
"confidence": 0.960727870464325,
|
| 421 |
+
"position": [
|
| 422 |
+
0.0037202597595751286,
|
| 423 |
+
0.10032213418162428,
|
| 424 |
+
0.04786449857056141
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.03096117040379339,
|
| 428 |
+
"xyz": [
|
| 429 |
+
0.0013662578458342827,
|
| 430 |
+
-0.7218230559037129,
|
| 431 |
+
0.6913834068247163
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_14": {
|
| 436 |
+
"confidence": 0.9573967456817627,
|
| 437 |
+
"position": [
|
| 438 |
+
0.0015385954175144434,
|
| 439 |
+
0.05319574786699377,
|
| 440 |
+
0.13901633583009243
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.27023752915010346,
|
| 444 |
+
"xyz": [
|
| 445 |
+
0.9615303745529744,
|
| 446 |
+
0.049215176853486975,
|
| 447 |
+
-0.002980439253470144
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_15": {
|
| 452 |
+
"confidence": 0.9573429226875305,
|
| 453 |
+
"position": [
|
| 454 |
+
-0.05104393558576703,
|
| 455 |
+
-0.08545665504061617,
|
| 456 |
+
0.05620458908379078
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.6398009174421622,
|
| 460 |
+
"xyz": [
|
| 461 |
+
-0.71025609743497,
|
| 462 |
+
0.23054262974539153,
|
| 463 |
+
-0.18177226952066625
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_16": {
|
| 468 |
+
"confidence": 0.9569820761680603,
|
| 469 |
+
"position": [
|
| 470 |
+
0.012767502572387457,
|
| 471 |
+
0.08462747125304304,
|
| 472 |
+
0.09725241176784039
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.509523910292651,
|
| 476 |
+
"xyz": [
|
| 477 |
+
0.8584886064725417,
|
| 478 |
+
-0.0490219809347584,
|
| 479 |
+
-0.03129764818883581
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"grasp_17": {
|
| 484 |
+
"confidence": 0.9569061994552612,
|
| 485 |
+
"position": [
|
| 486 |
+
0.058524377178400755,
|
| 487 |
+
0.08011396913207136,
|
| 488 |
+
0.04596131853759289
|
| 489 |
+
],
|
| 490 |
+
"orientation": {
|
| 491 |
+
"w": 0.6677371339080352,
|
| 492 |
+
"xyz": [
|
| 493 |
+
0.6711952226527438,
|
| 494 |
+
-0.21460178068322544,
|
| 495 |
+
-0.23993784365123563
|
| 496 |
+
]
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"grasp_18": {
|
| 500 |
+
"confidence": 0.956764817237854,
|
| 501 |
+
"position": [
|
| 502 |
+
0.011331962887197733,
|
| 503 |
+
0.08428778438246809,
|
| 504 |
+
0.09929180704057217
|
| 505 |
+
],
|
| 506 |
+
"orientation": {
|
| 507 |
+
"w": 0.5059249905938419,
|
| 508 |
+
"xyz": [
|
| 509 |
+
0.861714319721644,
|
| 510 |
+
-0.004094930175759348,
|
| 511 |
+
-0.03836100397722165
|
| 512 |
+
]
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"grasp_19": {
|
| 516 |
+
"confidence": 0.9557124376296997,
|
| 517 |
+
"position": [
|
| 518 |
+
0.09188228426501155,
|
| 519 |
+
0.03769473670399748,
|
| 520 |
+
0.05172027088701725
|
| 521 |
+
],
|
| 522 |
+
"orientation": {
|
| 523 |
+
"w": 0.3937830176375814,
|
| 524 |
+
"xyz": [
|
| 525 |
+
-0.39142808392570677,
|
| 526 |
+
-0.6028484843359891,
|
| 527 |
+
0.572968319428126
|
| 528 |
+
]
|
| 529 |
+
}
|
| 530 |
+
}
|
| 531 |
+
}
|
| 532 |
+
},
|
| 533 |
+
{
|
| 534 |
+
"part_name": "bottle body",
|
| 535 |
+
"mask_color": "Purple",
|
| 536 |
+
"graspable": true,
|
| 537 |
+
"grasp_scenarios": [
|
| 538 |
+
{
|
| 539 |
+
"scenario": "grasp the bottle body to pick up and move the sanitizer",
|
| 540 |
+
"confidence": 0.95
|
| 541 |
+
},
|
| 542 |
+
{
|
| 543 |
+
"scenario": "hold the body steady while pressing the pump with another manipulator",
|
| 544 |
+
"confidence": 0.91
|
| 545 |
+
},
|
| 546 |
+
{
|
| 547 |
+
"scenario": "grasp the body to rotate and orient the bottle for placement",
|
| 548 |
+
"confidence": 0.88
|
| 549 |
+
}
|
| 550 |
+
],
|
| 551 |
+
"functional_labels": [
|
| 552 |
+
"contain sanitizer",
|
| 553 |
+
"main grasp surface",
|
| 554 |
+
"support pumping",
|
| 555 |
+
"provide stable standing base",
|
| 556 |
+
"display branding and decoration"
|
| 557 |
+
],
|
| 558 |
+
"semantic_description": "Medium-sized curved cream-gold plastic bottle with a glossy smooth hard surface, rounded sides, floral embossed decoration, and black printed text on the front, forming the main container body.",
|
| 559 |
+
"id": 5,
|
| 560 |
+
"grasp_group": {
|
| 561 |
+
"grasp_40": {
|
| 562 |
+
"confidence": 0.9908479452133179,
|
| 563 |
+
"position": [
|
| 564 |
+
-0.0027056580875068903,
|
| 565 |
+
-0.10249415101134218,
|
| 566 |
+
-0.021743236109614372
|
| 567 |
+
],
|
| 568 |
+
"orientation": {
|
| 569 |
+
"w": 0.7080197955930397,
|
| 570 |
+
"xyz": [
|
| 571 |
+
-0.7058607153774504,
|
| 572 |
+
0.007272277877730882,
|
| 573 |
+
-0.020389544126663394
|
| 574 |
+
]
|
| 575 |
+
}
|
| 576 |
+
},
|
| 577 |
+
"grasp_41": {
|
| 578 |
+
"confidence": 0.9905755519866943,
|
| 579 |
+
"position": [
|
| 580 |
+
0.0020351968705654144,
|
| 581 |
+
-0.10288676680647768,
|
| 582 |
+
-0.02155257575213909
|
| 583 |
+
],
|
| 584 |
+
"orientation": {
|
| 585 |
+
"w": 0.706973670490758,
|
| 586 |
+
"xyz": [
|
| 587 |
+
-0.7071165607782911,
|
| 588 |
+
-0.011286911151779044,
|
| 589 |
+
-0.00685597130668455
|
| 590 |
+
]
|
| 591 |
+
}
|
| 592 |
+
},
|
| 593 |
+
"grasp_42": {
|
| 594 |
+
"confidence": 0.9905142784118652,
|
| 595 |
+
"position": [
|
| 596 |
+
0.003161794738844037,
|
| 597 |
+
-0.10331624062382616,
|
| 598 |
+
-0.012537200003862381
|
| 599 |
+
],
|
| 600 |
+
"orientation": {
|
| 601 |
+
"w": 0.7066683877553835,
|
| 602 |
+
"xyz": [
|
| 603 |
+
-0.7073116970891837,
|
| 604 |
+
-0.016372338988644985,
|
| 605 |
+
0.007867618703687901
|
| 606 |
+
]
|
| 607 |
+
}
|
| 608 |
+
},
|
| 609 |
+
"grasp_43": {
|
| 610 |
+
"confidence": 0.9902689456939697,
|
| 611 |
+
"position": [
|
| 612 |
+
0.0054555959068238735,
|
| 613 |
+
-0.10419810624443926,
|
| 614 |
+
-0.01712619885802269
|
| 615 |
+
],
|
| 616 |
+
"orientation": {
|
| 617 |
+
"w": 0.7040271409173329,
|
| 618 |
+
"xyz": [
|
| 619 |
+
-0.7094053098774158,
|
| 620 |
+
-0.031291114298468425,
|
| 621 |
+
0.010524131102087088
|
| 622 |
+
]
|
| 623 |
+
}
|
| 624 |
+
},
|
| 625 |
+
"grasp_44": {
|
| 626 |
+
"confidence": 0.9902386665344238,
|
| 627 |
+
"position": [
|
| 628 |
+
-0.004573171958327293,
|
| 629 |
+
-0.10366632105433382,
|
| 630 |
+
-0.00894586555659771
|
| 631 |
+
],
|
| 632 |
+
"orientation": {
|
| 633 |
+
"w": 0.7067168448860134,
|
| 634 |
+
"xyz": [
|
| 635 |
+
-0.7070636510818292,
|
| 636 |
+
0.010223611188141746,
|
| 637 |
+
-0.02253380233039211
|
| 638 |
+
]
|
| 639 |
+
}
|
| 640 |
+
},
|
| 641 |
+
"grasp_45": {
|
| 642 |
+
"confidence": 0.9900711178779602,
|
| 643 |
+
"position": [
|
| 644 |
+
-0.008577597793191671,
|
| 645 |
+
-0.10462205918156542,
|
| 646 |
+
-0.023531274870038033
|
| 647 |
+
],
|
| 648 |
+
"orientation": {
|
| 649 |
+
"w": 0.7093007219009938,
|
| 650 |
+
"xyz": [
|
| 651 |
+
-0.703165050761556,
|
| 652 |
+
0.028006971921964885,
|
| 653 |
+
-0.040828994868720804
|
| 654 |
+
]
|
| 655 |
+
}
|
| 656 |
+
},
|
| 657 |
+
"grasp_46": {
|
| 658 |
+
"confidence": 0.9899629950523376,
|
| 659 |
+
"position": [
|
| 660 |
+
0.0007564451079815626,
|
| 661 |
+
-0.10223877491080202,
|
| 662 |
+
-0.0297070425003767
|
| 663 |
+
],
|
| 664 |
+
"orientation": {
|
| 665 |
+
"w": 0.7405087341415699,
|
| 666 |
+
"xyz": [
|
| 667 |
+
-0.6720359235171659,
|
| 668 |
+
-0.0032634259200552407,
|
| 669 |
+
-0.001970333409148754
|
| 670 |
+
]
|
| 671 |
+
}
|
| 672 |
+
},
|
| 673 |
+
"grasp_47": {
|
| 674 |
+
"confidence": 0.9897504448890686,
|
| 675 |
+
"position": [
|
| 676 |
+
0.011317151132971048,
|
| 677 |
+
-0.10367449434124865,
|
| 678 |
+
-0.024618593975901604
|
| 679 |
+
],
|
| 680 |
+
"orientation": {
|
| 681 |
+
"w": 0.7077633834057019,
|
| 682 |
+
"xyz": [
|
| 683 |
+
-0.7043618090620885,
|
| 684 |
+
-0.042942324522242004,
|
| 685 |
+
0.033187223588633755
|
| 686 |
+
]
|
| 687 |
+
}
|
| 688 |
+
},
|
| 689 |
+
"grasp_48": {
|
| 690 |
+
"confidence": 0.9896976351737976,
|
| 691 |
+
"position": [
|
| 692 |
+
0.01276101404801011,
|
| 693 |
+
-0.1037356263550464,
|
| 694 |
+
-0.019141916185617447
|
| 695 |
+
],
|
| 696 |
+
"orientation": {
|
| 697 |
+
"w": 0.707321808808185,
|
| 698 |
+
"xyz": [
|
| 699 |
+
-0.7036065738341738,
|
| 700 |
+
-0.055913766863888714,
|
| 701 |
+
0.03882394514656833
|
| 702 |
+
]
|
| 703 |
+
}
|
| 704 |
+
},
|
| 705 |
+
"grasp_49": {
|
| 706 |
+
"confidence": 0.9896613359451294,
|
| 707 |
+
"position": [
|
| 708 |
+
-0.024582637939602137,
|
| 709 |
+
0.10031405030167662,
|
| 710 |
+
-0.005256013013422489
|
| 711 |
+
],
|
| 712 |
+
"orientation": {
|
| 713 |
+
"w": 0.07879088366367169,
|
| 714 |
+
"xyz": [
|
| 715 |
+
-0.10252464400637885,
|
| 716 |
+
0.708534583007295,
|
| 717 |
+
-0.6937286491889623
|
| 718 |
+
]
|
| 719 |
+
}
|
| 720 |
+
},
|
| 721 |
+
"grasp_50": {
|
| 722 |
+
"confidence": 0.9896469712257385,
|
| 723 |
+
"position": [
|
| 724 |
+
0.0003255617921240628,
|
| 725 |
+
-0.10675583840929903,
|
| 726 |
+
-0.011369401589035988
|
| 727 |
+
],
|
| 728 |
+
"orientation": {
|
| 729 |
+
"w": 0.7122890714162257,
|
| 730 |
+
"xyz": [
|
| 731 |
+
-0.7018674845488156,
|
| 732 |
+
-0.0022077261978828977,
|
| 733 |
+
-0.00463020724856745
|
| 734 |
+
]
|
| 735 |
+
}
|
| 736 |
+
},
|
| 737 |
+
"grasp_51": {
|
| 738 |
+
"confidence": 0.9895792603492737,
|
| 739 |
+
"position": [
|
| 740 |
+
-0.023409415502101183,
|
| 741 |
+
-0.10038001151406206,
|
| 742 |
+
-0.024968499317765236
|
| 743 |
+
],
|
| 744 |
+
"orientation": {
|
| 745 |
+
"w": 0.7233694888660036,
|
| 746 |
+
"xyz": [
|
| 747 |
+
-0.6784502337467736,
|
| 748 |
+
0.06289715550804986,
|
| 749 |
+
-0.11173992453765542
|
| 750 |
+
]
|
| 751 |
+
}
|
| 752 |
+
},
|
| 753 |
+
"grasp_52": {
|
| 754 |
+
"confidence": 0.9895777702331543,
|
| 755 |
+
"position": [
|
| 756 |
+
-0.01760020712390542,
|
| 757 |
+
-0.10110718818032183,
|
| 758 |
+
-0.008370282128453255
|
| 759 |
+
],
|
| 760 |
+
"orientation": {
|
| 761 |
+
"w": 0.7082054302235723,
|
| 762 |
+
"xyz": [
|
| 763 |
+
-0.7005256464606255,
|
| 764 |
+
0.061113764198690856,
|
| 765 |
+
-0.06303963101283569
|
| 766 |
+
]
|
| 767 |
+
}
|
| 768 |
+
},
|
| 769 |
+
"grasp_53": {
|
| 770 |
+
"confidence": 0.9895552396774292,
|
| 771 |
+
"position": [
|
| 772 |
+
0.03493921784684062,
|
| 773 |
+
-0.1006150847824756,
|
| 774 |
+
-0.00530182383954525
|
| 775 |
+
],
|
| 776 |
+
"orientation": {
|
| 777 |
+
"w": 0.6868564308728382,
|
| 778 |
+
"xyz": [
|
| 779 |
+
-0.7059726983499117,
|
| 780 |
+
-0.12749121576351674,
|
| 781 |
+
0.1165194509784171
|
| 782 |
+
]
|
| 783 |
+
}
|
| 784 |
+
},
|
| 785 |
+
"grasp_54": {
|
| 786 |
+
"confidence": 0.9895374774932861,
|
| 787 |
+
"position": [
|
| 788 |
+
-0.03528592409566045,
|
| 789 |
+
0.10001455186284147,
|
| 790 |
+
-0.0014628153294324875
|
| 791 |
+
],
|
| 792 |
+
"orientation": {
|
| 793 |
+
"w": 0.10232681647848196,
|
| 794 |
+
"xyz": [
|
| 795 |
+
-0.14087851706380503,
|
| 796 |
+
0.7104133770520158,
|
| 797 |
+
-0.6819056384609475
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
"grasp_55": {
|
| 802 |
+
"confidence": 0.9895349144935608,
|
| 803 |
+
"position": [
|
| 804 |
+
0.008894053753465414,
|
| 805 |
+
-0.1042018985899631,
|
| 806 |
+
-0.0011006388813257217
|
| 807 |
+
],
|
| 808 |
+
"orientation": {
|
| 809 |
+
"w": 0.7028983774643354,
|
| 810 |
+
"xyz": [
|
| 811 |
+
-0.7102164987457548,
|
| 812 |
+
-0.027556364454220383,
|
| 813 |
+
0.027695534755495584
|
| 814 |
+
]
|
| 815 |
+
}
|
| 816 |
+
},
|
| 817 |
+
"grasp_56": {
|
| 818 |
+
"confidence": 0.9894635677337646,
|
| 819 |
+
"position": [
|
| 820 |
+
-0.004874471575021744,
|
| 821 |
+
-0.10209487439715303,
|
| 822 |
+
-0.025163235142827034
|
| 823 |
+
],
|
| 824 |
+
"orientation": {
|
| 825 |
+
"w": 0.7102016572259573,
|
| 826 |
+
"xyz": [
|
| 827 |
+
-0.703394583416725,
|
| 828 |
+
-0.000947412238814116,
|
| 829 |
+
-0.029133631829308174
|
| 830 |
+
]
|
| 831 |
+
}
|
| 832 |
+
},
|
| 833 |
+
"grasp_57": {
|
| 834 |
+
"confidence": 0.9893966317176819,
|
| 835 |
+
"position": [
|
| 836 |
+
0.047109782230108976,
|
| 837 |
+
-0.09496096582734026,
|
| 838 |
+
-0.013541080057621002
|
| 839 |
+
],
|
| 840 |
+
"orientation": {
|
| 841 |
+
"w": 0.68246502378733,
|
| 842 |
+
"xyz": [
|
| 843 |
+
-0.6917248466606659,
|
| 844 |
+
-0.16484066231551897,
|
| 845 |
+
0.16907330914907578
|
| 846 |
+
]
|
| 847 |
+
}
|
| 848 |
+
},
|
| 849 |
+
"grasp_58": {
|
| 850 |
+
"confidence": 0.9888633489608765,
|
| 851 |
+
"position": [
|
| 852 |
+
0.010847889352589846,
|
| 853 |
+
-0.10625486882054247,
|
| 854 |
+
0.0004734797403216362
|
| 855 |
+
],
|
| 856 |
+
"orientation": {
|
| 857 |
+
"w": 0.6985258252731112,
|
| 858 |
+
"xyz": [
|
| 859 |
+
-0.7138668414605914,
|
| 860 |
+
-0.03869783867704024,
|
| 861 |
+
0.0309561200948012
|
| 862 |
+
]
|
| 863 |
+
}
|
| 864 |
+
},
|
| 865 |
+
"grasp_59": {
|
| 866 |
+
"confidence": 0.9886316657066345,
|
| 867 |
+
"position": [
|
| 868 |
+
0.0001837526506278664,
|
| 869 |
+
-0.1067067614349071,
|
| 870 |
+
-0.01972082071006298
|
| 871 |
+
],
|
| 872 |
+
"orientation": {
|
| 873 |
+
"w": 0.7049279757732626,
|
| 874 |
+
"xyz": [
|
| 875 |
+
-0.7092657482439235,
|
| 876 |
+
-0.003002727954629192,
|
| 877 |
+
0.003103379613958577
|
| 878 |
+
]
|
| 879 |
+
}
|
| 880 |
+
}
|
| 881 |
+
}
|
| 882 |
+
}
|
| 883 |
+
],
|
| 884 |
+
"quality_check": {
|
| 885 |
+
"success": true,
|
| 886 |
+
"message": "YES"
|
| 887 |
+
}
|
| 888 |
+
}
|
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:095b4f1b69466d1086608648b5b7ad8985cd50d57d11ebc29ba0b3b5488dc9e4
|
| 3 |
+
size 3770228
|
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|