Add asset livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339
Browse files
.gitattributes
CHANGED
|
@@ -7752,3 +7752,4 @@ dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/affordanc
|
|
| 7752 |
dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7753 |
dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7754 |
dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7752 |
dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7753 |
dataset/livingroom_supplies/ornaments/b9103a185b8d52e5adf791614f1a2981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7754 |
dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7755 |
+
dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,579 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body from the sides to pick up and move the diffuser bottle",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while removing or installing the cap assembly",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain fragrance liquid",
|
| 19 |
+
"support the diffuser structure",
|
| 20 |
+
"provide the main grasp surface",
|
| 21 |
+
"display decorative labeling"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded off-white bottle body with a smooth hard ceramic-like or painted finish, decorated with pastel floral graphics and small printed text on the front and sides.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.850443422794342,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.0001717564882710576,
|
| 30 |
+
-0.11000140465330333,
|
| 31 |
+
0.06358829140663147
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7055305057203716,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.708535846823565,
|
| 37 |
+
-0.0008350343912580938,
|
| 38 |
+
-0.014246472599766833
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.7858344316482544,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.08691622246988118,
|
| 46 |
+
0.06194979988504201,
|
| 47 |
+
0.057996027171611786
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.6446447808476905,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.608899171507059,
|
| 53 |
+
0.32431255695510663,
|
| 54 |
+
0.3293877211814238
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_4": {
|
| 59 |
+
"confidence": 0.7129330039024353,
|
| 60 |
+
"position": [
|
| 61 |
+
0.10307908128015697,
|
| 62 |
+
0.03363930352497846,
|
| 63 |
+
0.06267045438289642
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.399681959267844,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.41476810580346646,
|
| 69 |
+
-0.5705132731661368,
|
| 70 |
+
0.5854368924019765
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_5": {
|
| 75 |
+
"confidence": 0.6536229848861694,
|
| 76 |
+
"position": [
|
| 77 |
+
0.10228777001611888,
|
| 78 |
+
-0.018449400435201824,
|
| 79 |
+
0.06186608225107193
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.4727747960807036,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.44144669285332117,
|
| 85 |
+
-0.5430832781267275,
|
| 86 |
+
-0.535415131070128
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
}
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"part_name": "neck of diffuser bottle",
|
| 94 |
+
"mask_color": "Blue",
|
| 95 |
+
"graspable": true,
|
| 96 |
+
"grasp_scenarios": [
|
| 97 |
+
{
|
| 98 |
+
"scenario": "grasp the neck to stabilize the bottle during cap removal or adjustment",
|
| 99 |
+
"confidence": 0.58
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "pinch the neck for careful repositioning when the body is obstructed",
|
| 103 |
+
"confidence": 0.4
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"connect body to cap assembly",
|
| 108 |
+
"provide a seating surface for the closure",
|
| 109 |
+
"guide cap alignment",
|
| 110 |
+
"support the top assembly"
|
| 111 |
+
],
|
| 112 |
+
"semantic_description": "Short off-white cylindrical neck with a smooth hard surface and slightly tapered profile, centered above the bottle body beneath the cap assembly.",
|
| 113 |
+
"id": 2,
|
| 114 |
+
"grasp_group": {
|
| 115 |
+
"grasp_41": {
|
| 116 |
+
"confidence": 0.8156228065490723,
|
| 117 |
+
"position": [
|
| 118 |
+
0.011718187248334289,
|
| 119 |
+
-0.11263862706255168,
|
| 120 |
+
0.036301448941230774
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.7171045994226399,
|
| 124 |
+
"xyz": [
|
| 125 |
+
-0.6953219684628483,
|
| 126 |
+
-0.03548156218028953,
|
| 127 |
+
0.03208445737567418
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_43": {
|
| 132 |
+
"confidence": 0.7901887893676758,
|
| 133 |
+
"position": [
|
| 134 |
+
0.010318625485524535,
|
| 135 |
+
-0.11000989831518382,
|
| 136 |
+
0.03762471675872803
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.7121828508000957,
|
| 140 |
+
"xyz": [
|
| 141 |
+
-0.700756873809505,
|
| 142 |
+
-0.03516337916905998,
|
| 143 |
+
0.02233668731909563
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_44": {
|
| 148 |
+
"confidence": 0.7828388810157776,
|
| 149 |
+
"position": [
|
| 150 |
+
0.02998035470955074,
|
| 151 |
+
-0.1070686400635168,
|
| 152 |
+
0.033761560916900635
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.7195853900102742,
|
| 156 |
+
"xyz": [
|
| 157 |
+
-0.6826733072592934,
|
| 158 |
+
-0.0959935986724354,
|
| 159 |
+
0.08330216715869658
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"grasp_45": {
|
| 164 |
+
"confidence": 0.7754526734352112,
|
| 165 |
+
"position": [
|
| 166 |
+
0.012254631845280528,
|
| 167 |
+
-0.10961302078794688,
|
| 168 |
+
0.03393760323524475
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
+
"w": 0.724411556876267,
|
| 172 |
+
"xyz": [
|
| 173 |
+
-0.6873163685247599,
|
| 174 |
+
-0.04597631535546198,
|
| 175 |
+
0.0266511584809211
|
| 176 |
+
]
|
| 177 |
+
}
|
| 178 |
+
},
|
| 179 |
+
"grasp_50": {
|
| 180 |
+
"confidence": 0.7605002522468567,
|
| 181 |
+
"position": [
|
| 182 |
+
-0.003503934247419238,
|
| 183 |
+
-0.11093828536104411,
|
| 184 |
+
0.035407692193984985
|
| 185 |
+
],
|
| 186 |
+
"orientation": {
|
| 187 |
+
"w": 0.01100143980252038,
|
| 188 |
+
"xyz": [
|
| 189 |
+
0.032888825909681424,
|
| 190 |
+
0.7022518336921646,
|
| 191 |
+
0.7110834378106036
|
| 192 |
+
]
|
| 193 |
+
}
|
| 194 |
+
},
|
| 195 |
+
"grasp_53": {
|
| 196 |
+
"confidence": 0.7465757131576538,
|
| 197 |
+
"position": [
|
| 198 |
+
-0.0004471425781957805,
|
| 199 |
+
-0.10804515786003321,
|
| 200 |
+
0.03724019229412079
|
| 201 |
+
],
|
| 202 |
+
"orientation": {
|
| 203 |
+
"w": 0.7131412811639302,
|
| 204 |
+
"xyz": [
|
| 205 |
+
-0.7007975483851304,
|
| 206 |
+
-0.002916485189924045,
|
| 207 |
+
-0.017429956723882464
|
| 208 |
+
]
|
| 209 |
+
}
|
| 210 |
+
},
|
| 211 |
+
"grasp_57": {
|
| 212 |
+
"confidence": 0.7308467626571655,
|
| 213 |
+
"position": [
|
| 214 |
+
0.011310016503557563,
|
| 215 |
+
-0.107205216656439,
|
| 216 |
+
0.03514591604471207
|
| 217 |
+
],
|
| 218 |
+
"orientation": {
|
| 219 |
+
"w": 0.719764720624575,
|
| 220 |
+
"xyz": [
|
| 221 |
+
-0.6929417860002179,
|
| 222 |
+
-0.03420199602383722,
|
| 223 |
+
0.024508195099623833
|
| 224 |
+
]
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"part_name": "cap assembly with flower decoration",
|
| 231 |
+
"mask_color": "Green",
|
| 232 |
+
"graspable": true,
|
| 233 |
+
"grasp_scenarios": [
|
| 234 |
+
{
|
| 235 |
+
"scenario": "grasp the cap assembly to remove or adjust the bottle closure",
|
| 236 |
+
"confidence": 0.9
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"scenario": "hold the top while placing or orienting the bottle carefully",
|
| 240 |
+
"confidence": 0.45
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"functional_labels": [
|
| 244 |
+
"cover the bottle opening",
|
| 245 |
+
"seal the diffuser bottle",
|
| 246 |
+
"provide a top grip for opening",
|
| 247 |
+
"add decorative styling"
|
| 248 |
+
],
|
| 249 |
+
"semantic_description": "Round brown cap with a wood-like matte finish and an integrated raised cream flower-shaped decoration on top, centered on the bottle neck.",
|
| 250 |
+
"id": 1,
|
| 251 |
+
"grasp_group": {
|
| 252 |
+
"grasp_20": {
|
| 253 |
+
"confidence": 0.8904772996902466,
|
| 254 |
+
"position": [
|
| 255 |
+
-0.01369662513025105,
|
| 256 |
+
-0.1134874866111204,
|
| 257 |
+
0.05755306035280228
|
| 258 |
+
],
|
| 259 |
+
"orientation": {
|
| 260 |
+
"w": 0.7043955055731309,
|
| 261 |
+
"xyz": [
|
| 262 |
+
-0.7073446627202181,
|
| 263 |
+
0.0355752624127732,
|
| 264 |
+
-0.04716885152149182
|
| 265 |
+
]
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
"grasp_21": {
|
| 269 |
+
"confidence": 0.8888788819313049,
|
| 270 |
+
"position": [
|
| 271 |
+
-0.009405338438227773,
|
| 272 |
+
-0.11368905461858958,
|
| 273 |
+
0.05211608111858368
|
| 274 |
+
],
|
| 275 |
+
"orientation": {
|
| 276 |
+
"w": 0.7099227585981125,
|
| 277 |
+
"xyz": [
|
| 278 |
+
-0.7031087882406027,
|
| 279 |
+
0.022237469312747282,
|
| 280 |
+
-0.03395885277570741
|
| 281 |
+
]
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
"grasp_22": {
|
| 285 |
+
"confidence": 0.888678789138794,
|
| 286 |
+
"position": [
|
| 287 |
+
0.029506002319976687,
|
| 288 |
+
-0.10819685168098658,
|
| 289 |
+
0.04904747009277344
|
| 290 |
+
],
|
| 291 |
+
"orientation": {
|
| 292 |
+
"w": 0.10665163828127118,
|
| 293 |
+
"xyz": [
|
| 294 |
+
0.06131211840113678,
|
| 295 |
+
-0.6973922751947715,
|
| 296 |
+
-0.7060525948452752
|
| 297 |
+
]
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"grasp_23": {
|
| 301 |
+
"confidence": 0.8873844146728516,
|
| 302 |
+
"position": [
|
| 303 |
+
0.025586963398382068,
|
| 304 |
+
-0.10797845281194896,
|
| 305 |
+
0.04743542522192001
|
| 306 |
+
],
|
| 307 |
+
"orientation": {
|
| 308 |
+
"w": 0.09390784888015842,
|
| 309 |
+
"xyz": [
|
| 310 |
+
0.0533209128607625,
|
| 311 |
+
-0.6966575704186226,
|
| 312 |
+
-0.7092294591659444
|
| 313 |
+
]
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"grasp_24": {
|
| 317 |
+
"confidence": 0.8869945406913757,
|
| 318 |
+
"position": [
|
| 319 |
+
0.02771860803477466,
|
| 320 |
+
-0.10680750466417521,
|
| 321 |
+
0.05217847228050232
|
| 322 |
+
],
|
| 323 |
+
"orientation": {
|
| 324 |
+
"w": 0.7116865240103109,
|
| 325 |
+
"xyz": [
|
| 326 |
+
-0.6916390134381989,
|
| 327 |
+
-0.0935559350295736,
|
| 328 |
+
0.07990653072871132
|
| 329 |
+
]
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"grasp_25": {
|
| 333 |
+
"confidence": 0.8868398070335388,
|
| 334 |
+
"position": [
|
| 335 |
+
-0.010773251997306943,
|
| 336 |
+
-0.10975900001358241,
|
| 337 |
+
0.058803848922252655
|
| 338 |
+
],
|
| 339 |
+
"orientation": {
|
| 340 |
+
"w": 0.7000278099354228,
|
| 341 |
+
"xyz": [
|
| 342 |
+
-0.7127412832896567,
|
| 343 |
+
0.02750623766969984,
|
| 344 |
+
-0.034703534414913036
|
| 345 |
+
]
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
"grasp_26": {
|
| 349 |
+
"confidence": 0.8846429586410522,
|
| 350 |
+
"position": [
|
| 351 |
+
-0.015700616175308824,
|
| 352 |
+
-0.107861113618128,
|
| 353 |
+
0.05636591464281082
|
| 354 |
+
],
|
| 355 |
+
"orientation": {
|
| 356 |
+
"w": 0.7073514637672195,
|
| 357 |
+
"xyz": [
|
| 358 |
+
-0.7028257785188495,
|
| 359 |
+
0.04233883257556992,
|
| 360 |
+
-0.062427998621477625
|
| 361 |
+
]
|
| 362 |
+
}
|
| 363 |
+
},
|
| 364 |
+
"grasp_27": {
|
| 365 |
+
"confidence": 0.8831250667572021,
|
| 366 |
+
"position": [
|
| 367 |
+
0.021506472257897258,
|
| 368 |
+
-0.10672046698164195,
|
| 369 |
+
0.07271017134189606
|
| 370 |
+
],
|
| 371 |
+
"orientation": {
|
| 372 |
+
"w": 0.06628496917378603,
|
| 373 |
+
"xyz": [
|
| 374 |
+
0.03982355059348191,
|
| 375 |
+
-0.7635552548178706,
|
| 376 |
+
-0.6410957498843486
|
| 377 |
+
]
|
| 378 |
+
}
|
| 379 |
+
},
|
| 380 |
+
"grasp_28": {
|
| 381 |
+
"confidence": 0.8817551732063293,
|
| 382 |
+
"position": [
|
| 383 |
+
0.007106262957677245,
|
| 384 |
+
-0.10854328132700175,
|
| 385 |
+
0.05927102267742157
|
| 386 |
+
],
|
| 387 |
+
"orientation": {
|
| 388 |
+
"w": 0.6998313422538893,
|
| 389 |
+
"xyz": [
|
| 390 |
+
-0.7138662617336375,
|
| 391 |
+
-0.020873591706116357,
|
| 392 |
+
0.013976620723457164
|
| 393 |
+
]
|
| 394 |
+
}
|
| 395 |
+
},
|
| 396 |
+
"grasp_29": {
|
| 397 |
+
"confidence": 0.8815593123435974,
|
| 398 |
+
"position": [
|
| 399 |
+
-0.0021753876353614032,
|
| 400 |
+
-0.10972272313665599,
|
| 401 |
+
0.05902983248233795
|
| 402 |
+
],
|
| 403 |
+
"orientation": {
|
| 404 |
+
"w": 0.7054530222795714,
|
| 405 |
+
"xyz": [
|
| 406 |
+
-0.7087264363951581,
|
| 407 |
+
0.0036216932831021342,
|
| 408 |
+
-0.005454818878887207
|
| 409 |
+
]
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"grasp_30": {
|
| 413 |
+
"confidence": 0.8809089660644531,
|
| 414 |
+
"position": [
|
| 415 |
+
0.004805760690942407,
|
| 416 |
+
-0.11303683824371547,
|
| 417 |
+
0.05965632200241089
|
| 418 |
+
],
|
| 419 |
+
"orientation": {
|
| 420 |
+
"w": 0.7078422439022412,
|
| 421 |
+
"xyz": [
|
| 422 |
+
-0.7062419080448316,
|
| 423 |
+
-0.006732942353763871,
|
| 424 |
+
0.011678722357224513
|
| 425 |
+
]
|
| 426 |
+
}
|
| 427 |
+
},
|
| 428 |
+
"grasp_31": {
|
| 429 |
+
"confidence": 0.8807222247123718,
|
| 430 |
+
"position": [
|
| 431 |
+
0.011865007458254695,
|
| 432 |
+
-0.11003637767862529,
|
| 433 |
+
0.05387570708990097
|
| 434 |
+
],
|
| 435 |
+
"orientation": {
|
| 436 |
+
"w": 0.7060757569693132,
|
| 437 |
+
"xyz": [
|
| 438 |
+
-0.7062231121922911,
|
| 439 |
+
-0.045274114378379915,
|
| 440 |
+
0.02561631887879073
|
| 441 |
+
]
|
| 442 |
+
}
|
| 443 |
+
},
|
| 444 |
+
"grasp_32": {
|
| 445 |
+
"confidence": 0.8787246942520142,
|
| 446 |
+
"position": [
|
| 447 |
+
0.04781402344815433,
|
| 448 |
+
-0.10219882137607783,
|
| 449 |
+
0.0429392084479332
|
| 450 |
+
],
|
| 451 |
+
"orientation": {
|
| 452 |
+
"w": 0.17438895529541182,
|
| 453 |
+
"xyz": [
|
| 454 |
+
0.11695056494109428,
|
| 455 |
+
-0.6763414208187368,
|
| 456 |
+
-0.7060264443459798
|
| 457 |
+
]
|
| 458 |
+
}
|
| 459 |
+
},
|
| 460 |
+
"grasp_33": {
|
| 461 |
+
"confidence": 0.8780094981193542,
|
| 462 |
+
"position": [
|
| 463 |
+
0.01790631446056068,
|
| 464 |
+
-0.10925580270122737,
|
| 465 |
+
0.05328105390071869
|
| 466 |
+
],
|
| 467 |
+
"orientation": {
|
| 468 |
+
"w": 0.7065736367309466,
|
| 469 |
+
"xyz": [
|
| 470 |
+
-0.7027266571224553,
|
| 471 |
+
-0.0760465572568012,
|
| 472 |
+
0.03385058900066033
|
| 473 |
+
]
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"grasp_34": {
|
| 477 |
+
"confidence": 0.8775030374526978,
|
| 478 |
+
"position": [
|
| 479 |
+
-0.001355702588625718,
|
| 480 |
+
-0.10914840258192271,
|
| 481 |
+
0.06785956025123596
|
| 482 |
+
],
|
| 483 |
+
"orientation": {
|
| 484 |
+
"w": 0.6767410782212976,
|
| 485 |
+
"xyz": [
|
| 486 |
+
-0.7360155564485851,
|
| 487 |
+
-0.004884082798356504,
|
| 488 |
+
-0.016696090823127112
|
| 489 |
+
]
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"grasp_35": {
|
| 493 |
+
"confidence": 0.876373827457428,
|
| 494 |
+
"position": [
|
| 495 |
+
-0.004503547679632902,
|
| 496 |
+
-0.11542513675522059,
|
| 497 |
+
0.061088889837265015
|
| 498 |
+
],
|
| 499 |
+
"orientation": {
|
| 500 |
+
"w": 0.6986927773827158,
|
| 501 |
+
"xyz": [
|
| 502 |
+
-0.7148876194682554,
|
| 503 |
+
0.0038883955864366104,
|
| 504 |
+
-0.027367402945856847
|
| 505 |
+
]
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"grasp_36": {
|
| 509 |
+
"confidence": 0.8760179877281189,
|
| 510 |
+
"position": [
|
| 511 |
+
0.0016867234371602535,
|
| 512 |
+
-0.115224574576132,
|
| 513 |
+
0.048057921230793
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.7125108446041777,
|
| 517 |
+
"xyz": [
|
| 518 |
+
-0.7016218158988875,
|
| 519 |
+
-0.007419995017605929,
|
| 520 |
+
0.0002597116237917581
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_37": {
|
| 525 |
+
"confidence": 0.8758504390716553,
|
| 526 |
+
"position": [
|
| 527 |
+
0.0023905569687485695,
|
| 528 |
+
-0.11293410963844508,
|
| 529 |
+
0.06094742566347122
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.7013561077977123,
|
| 533 |
+
"xyz": [
|
| 534 |
+
-0.712668024383561,
|
| 535 |
+
-0.010435824321038178,
|
| 536 |
+
-0.009746314524801368
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_38": {
|
| 541 |
+
"confidence": 0.8757038712501526,
|
| 542 |
+
"position": [
|
| 543 |
+
-0.025917212711647153,
|
| 544 |
+
-0.10616103268694133,
|
| 545 |
+
0.056110888719558716
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.7005684103818781,
|
| 549 |
+
"xyz": [
|
| 550 |
+
-0.7021741843660644,
|
| 551 |
+
0.07218030214408688,
|
| 552 |
+
-0.10461988896595692
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_39": {
|
| 557 |
+
"confidence": 0.87516188621521,
|
| 558 |
+
"position": [
|
| 559 |
+
0.0009362741839140654,
|
| 560 |
+
-0.10999891615938395,
|
| 561 |
+
0.05797192454338074
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.6932063301533629,
|
| 565 |
+
"xyz": [
|
| 566 |
+
-0.7204867743562616,
|
| 567 |
+
-0.016843997069432404,
|
| 568 |
+
-0.008948272220995071
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
}
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
],
|
| 575 |
+
"quality_check": {
|
| 576 |
+
"success": true,
|
| 577 |
+
"message": "YES"
|
| 578 |
+
}
|
| 579 |
+
}
|
dataset/livingroom_supplies/ornaments/bfc6a607e5bb560f8514cec441330339/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3fd76798fa24cefa66a54f1e18eee0ea4ed9882838949816bf3d94689625e258
|
| 3 |
+
size 3781196
|