Add asset bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab
Browse files
.gitattributes
CHANGED
|
@@ -5603,3 +5603,4 @@ dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/afforda
|
|
| 5603 |
dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5604 |
dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5605 |
dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5603 |
dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5604 |
dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5605 |
dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5606 |
+
dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1077 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and move the cleanser bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body while pressing the pump with another manipulator",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the bottle body to orient the dispenser spout for dispensing",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain cleanser",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural housing",
|
| 26 |
+
"stabilize the bottle upright"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large white plastic bottle body with a smooth slightly glossy hard surface, rounded rectangular shape, wider lower half, front printed label graphics, and the main central mass below the pump.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9893997311592102,
|
| 33 |
+
"position": [
|
| 34 |
+
0.015826164657482877,
|
| 35 |
+
-0.10992334100228618,
|
| 36 |
+
-0.013016239739954472
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6986999283847913,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.7113422454381944,
|
| 42 |
+
-0.05325507062376611,
|
| 43 |
+
0.05453913624996842
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9891023635864258,
|
| 49 |
+
"position": [
|
| 50 |
+
0.01850657249451615,
|
| 51 |
+
-0.10944515528899501,
|
| 52 |
+
-0.014541407115757465
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.6988318887860603,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.7091320713821997,
|
| 58 |
+
-0.057285484799727726,
|
| 59 |
+
0.07405450549533595
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9889110326766968,
|
| 65 |
+
"position": [
|
| 66 |
+
0.015543452376732603,
|
| 67 |
+
-0.1123106783888943,
|
| 68 |
+
-0.005277928896248341
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6928757362650791,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.7169404669603114,
|
| 74 |
+
-0.048743768142342936,
|
| 75 |
+
0.059528362963718946
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9886383414268494,
|
| 81 |
+
"position": [
|
| 82 |
+
0.004339234816143289,
|
| 83 |
+
-0.11095185640078853,
|
| 84 |
+
-0.022173804230988026
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7082404654705697,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.7056907039167051,
|
| 90 |
+
-0.01569313925843907,
|
| 91 |
+
0.012239234281246729
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9882530570030212,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.001091692567570135,
|
| 99 |
+
-0.11264117869359325,
|
| 100 |
+
-0.00890363845974207
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.7016944750655103,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.7122908912364547,
|
| 106 |
+
0.009062695224481998,
|
| 107 |
+
-0.013580039741573902
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9881430268287659,
|
| 113 |
+
"position": [
|
| 114 |
+
0.006615784397581592,
|
| 115 |
+
-0.11298904630166362,
|
| 116 |
+
-0.01806341204792261
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.7059132766647942,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.7075869292546774,
|
| 122 |
+
-0.020704821444057497,
|
| 123 |
+
0.02405189691644645
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9879091382026672,
|
| 129 |
+
"position": [
|
| 130 |
+
0.02113715829909779,
|
| 131 |
+
-0.11278257581216167,
|
| 132 |
+
-0.008217020891606808
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.7097715563674886,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.6972176072635177,
|
| 138 |
+
-0.07470118715813445,
|
| 139 |
+
0.06731774305911752
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9878617525100708,
|
| 145 |
+
"position": [
|
| 146 |
+
0.0051834410114679486,
|
| 147 |
+
-0.11386817755919765,
|
| 148 |
+
-0.015826846472918987
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.7054215796359322,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.7085945423985398,
|
| 154 |
+
-0.011607546334633456,
|
| 155 |
+
0.011808231664363891
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.9878575801849365,
|
| 161 |
+
"position": [
|
| 162 |
+
0.01970552551210858,
|
| 163 |
+
-0.10757137152177165,
|
| 164 |
+
0.009454415645450354
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.6057546771798834,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.7891384311917093,
|
| 170 |
+
-0.09061286382606937,
|
| 171 |
+
0.045946886730456014
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.9878066182136536,
|
| 177 |
+
"position": [
|
| 178 |
+
0.0016817257564980537,
|
| 179 |
+
-0.11136450680714916,
|
| 180 |
+
-0.02350704465061426
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.7013958386085639,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.7126657258934994,
|
| 186 |
+
-0.008913182110606988,
|
| 187 |
+
0.008485040008399114
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9877996444702148,
|
| 193 |
+
"position": [
|
| 194 |
+
0.006576700980076566,
|
| 195 |
+
-0.11286516549807857,
|
| 196 |
+
-0.0106393126770854
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.7032140403956071,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.710015793351893,
|
| 202 |
+
-0.019748573784982515,
|
| 203 |
+
0.031266282395361986
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.987473726272583,
|
| 209 |
+
"position": [
|
| 210 |
+
0.0025939852057490498,
|
| 211 |
+
-0.11397722425681422,
|
| 212 |
+
-0.0070153484120965
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.6972831865417319,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.7166711303295749,
|
| 218 |
+
-0.003606276053893298,
|
| 219 |
+
0.012870256072077533
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9873437881469727,
|
| 225 |
+
"position": [
|
| 226 |
+
0.019749739120015875,
|
| 227 |
+
-0.10919216337424587,
|
| 228 |
+
-0.026215077377855778
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.7052260017826749,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.7011207801531676,
|
| 234 |
+
-0.07783343337763937,
|
| 235 |
+
0.07090764906330282
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.9871494174003601,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.009181141940644011,
|
| 243 |
+
0.10850157526510884,
|
| 244 |
+
-0.009544878266751766
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.03416048215118245,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.04543449486074532,
|
| 250 |
+
0.7065763944672503,
|
| 251 |
+
-0.705349960599424
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.9869677424430847,
|
| 257 |
+
"position": [
|
| 258 |
+
0.002713938622036949,
|
| 259 |
+
-0.10969885500890086,
|
| 260 |
+
-0.014730171300470829
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.7100462257052785,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.7040995894984751,
|
| 266 |
+
-0.008838201900198572,
|
| 267 |
+
0.00010778190579676056
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_15": {
|
| 272 |
+
"confidence": 0.9864270091056824,
|
| 273 |
+
"position": [
|
| 274 |
+
0.005533149844268337,
|
| 275 |
+
-0.10935565146428416,
|
| 276 |
+
-0.022430834360420704
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.709591859837973,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.7041210743098039,
|
| 282 |
+
-0.025569865614097687,
|
| 283 |
+
0.006251970647000995
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_16": {
|
| 288 |
+
"confidence": 0.9858165979385376,
|
| 289 |
+
"position": [
|
| 290 |
+
0.0050396778678987175,
|
| 291 |
+
-0.10965920301896404,
|
| 292 |
+
-0.011792034842073917
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.030727391610991295,
|
| 296 |
+
"xyz": [
|
| 297 |
+
0.008696418993951061,
|
| 298 |
+
-0.7108942388954834,
|
| 299 |
+
-0.7025735412088031
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_17": {
|
| 304 |
+
"confidence": 0.9851872324943542,
|
| 305 |
+
"position": [
|
| 306 |
+
0.028105010191211477,
|
| 307 |
+
-0.10390012773495982,
|
| 308 |
+
0.021553348749876022
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.5889843063716449,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.7948290682907633,
|
| 314 |
+
-0.12450649346325227,
|
| 315 |
+
0.07643541151478579
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_18": {
|
| 320 |
+
"confidence": 0.9851347804069519,
|
| 321 |
+
"position": [
|
| 322 |
+
0.039884922007331625,
|
| 323 |
+
-0.10377384784442256,
|
| 324 |
+
-0.021268961019814014
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.7039500195091222,
|
| 328 |
+
"xyz": [
|
| 329 |
+
-0.6772748760218413,
|
| 330 |
+
-0.14858117190746045,
|
| 331 |
+
0.1538725046826493
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_19": {
|
| 336 |
+
"confidence": 0.9850894212722778,
|
| 337 |
+
"position": [
|
| 338 |
+
0.032329008827218786,
|
| 339 |
+
-0.10995061757785152,
|
| 340 |
+
-0.012095159851014614
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.6825748888632306,
|
| 344 |
+
"xyz": [
|
| 345 |
+
-0.7111004706383831,
|
| 346 |
+
-0.11628147287975854,
|
| 347 |
+
0.12209119876605558
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"part_name": "pump head",
|
| 355 |
+
"mask_color": "Blue",
|
| 356 |
+
"graspable": true,
|
| 357 |
+
"grasp_scenarios": [
|
| 358 |
+
{
|
| 359 |
+
"scenario": "pinch the pump head to rotate or align the spout during setup",
|
| 360 |
+
"confidence": 0.53
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"scenario": "delicately grasp the pump head to pull upward when unlocking the dispenser",
|
| 364 |
+
"confidence": 0.41
|
| 365 |
+
}
|
| 366 |
+
],
|
| 367 |
+
"functional_labels": [
|
| 368 |
+
"dispense cleanser",
|
| 369 |
+
"provide press surface",
|
| 370 |
+
"direct liquid flow through spout",
|
| 371 |
+
"enable pump actuation"
|
| 372 |
+
],
|
| 373 |
+
"semantic_description": "Small white plastic pump head with a smooth slightly glossy hard surface, flat top press pad and short forward spout, mounted at the bottle top.",
|
| 374 |
+
"id": 2,
|
| 375 |
+
"grasp_group": {
|
| 376 |
+
"grasp_20": {
|
| 377 |
+
"confidence": 0.9724326729774475,
|
| 378 |
+
"position": [
|
| 379 |
+
0.006458147341618314,
|
| 380 |
+
0.08697821882742574,
|
| 381 |
+
0.12214637082070112
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.5161253754937153,
|
| 385 |
+
"xyz": [
|
| 386 |
+
0.856401645355651,
|
| 387 |
+
-0.003565739948820701,
|
| 388 |
+
-0.01334556488959312
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_21": {
|
| 393 |
+
"confidence": 0.9604140520095825,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.0027457311225589365,
|
| 396 |
+
-0.08211516651135753,
|
| 397 |
+
0.14328190963715315
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.4405680379888638,
|
| 401 |
+
"xyz": [
|
| 402 |
+
-0.8966253351597696,
|
| 403 |
+
0.0439020159038212,
|
| 404 |
+
0.00595191161344952
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_22": {
|
| 409 |
+
"confidence": 0.9587501287460327,
|
| 410 |
+
"position": [
|
| 411 |
+
0.0029898305947426707,
|
| 412 |
+
-0.0030509246680594515,
|
| 413 |
+
0.17845705430954695
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.013252661338131976,
|
| 417 |
+
"xyz": [
|
| 418 |
+
-0.9998509571518581,
|
| 419 |
+
-0.006817844548444418,
|
| 420 |
+
0.008714783169023639
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_23": {
|
| 425 |
+
"confidence": 0.9584310054779053,
|
| 426 |
+
"position": [
|
| 427 |
+
0.006076952355215326,
|
| 428 |
+
-0.0027960349507338833,
|
| 429 |
+
0.17907628696411848
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.025068951998291004,
|
| 433 |
+
"xyz": [
|
| 434 |
+
0.02155049756936342,
|
| 435 |
+
-0.9994402935906554,
|
| 436 |
+
-0.0051208639548891936
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_24": {
|
| 441 |
+
"confidence": 0.9572812914848328,
|
| 442 |
+
"position": [
|
| 443 |
+
0.016687185416230932,
|
| 444 |
+
0.050646196428715484,
|
| 445 |
+
0.16502452176064253
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.26800885175806755,
|
| 449 |
+
"xyz": [
|
| 450 |
+
0.9612147899725905,
|
| 451 |
+
-0.04574802464431138,
|
| 452 |
+
-0.046308758981586456
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_25": {
|
| 457 |
+
"confidence": 0.9564275741577148,
|
| 458 |
+
"position": [
|
| 459 |
+
0.010841990733752027,
|
| 460 |
+
-0.003479338174656732,
|
| 461 |
+
0.17716217320412397
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.015817177947703754,
|
| 465 |
+
"xyz": [
|
| 466 |
+
-0.9994999475215038,
|
| 467 |
+
0.00153159781119485,
|
| 468 |
+
0.027337263843084294
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"grasp_26": {
|
| 473 |
+
"confidence": 0.9539474248886108,
|
| 474 |
+
"position": [
|
| 475 |
+
-0.027678185229888186,
|
| 476 |
+
0.08268435982245137,
|
| 477 |
+
0.12827822845429182
|
| 478 |
+
],
|
| 479 |
+
"orientation": {
|
| 480 |
+
"w": 0.4979285063225657,
|
| 481 |
+
"xyz": [
|
| 482 |
+
0.8468667198201968,
|
| 483 |
+
0.17007015848052154,
|
| 484 |
+
0.07720170106137017
|
| 485 |
+
]
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"grasp_27": {
|
| 489 |
+
"confidence": 0.9532267451286316,
|
| 490 |
+
"position": [
|
| 491 |
+
0.016778181219706312,
|
| 492 |
+
-0.04857929858189891,
|
| 493 |
+
0.17001118045300245
|
| 494 |
+
],
|
| 495 |
+
"orientation": {
|
| 496 |
+
"w": 0.2300815283864145,
|
| 497 |
+
"xyz": [
|
| 498 |
+
-0.9635413704635604,
|
| 499 |
+
-0.1271343764834657,
|
| 500 |
+
0.049873520195950885
|
| 501 |
+
]
|
| 502 |
+
}
|
| 503 |
+
},
|
| 504 |
+
"grasp_28": {
|
| 505 |
+
"confidence": 0.9525877833366394,
|
| 506 |
+
"position": [
|
| 507 |
+
0.0031866423378232867,
|
| 508 |
+
0.0027749075852625538,
|
| 509 |
+
0.178871083073318
|
| 510 |
+
],
|
| 511 |
+
"orientation": {
|
| 512 |
+
"w": 0.023637556264623893,
|
| 513 |
+
"xyz": [
|
| 514 |
+
0.999675930711107,
|
| 515 |
+
0.009235830590012106,
|
| 516 |
+
0.0019997309897874026
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"grasp_29": {
|
| 521 |
+
"confidence": 0.9517932534217834,
|
| 522 |
+
"position": [
|
| 523 |
+
0.009783326560864225,
|
| 524 |
+
0.04863907334583928,
|
| 525 |
+
0.16266201715916395
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.25949944741488273,
|
| 529 |
+
"xyz": [
|
| 530 |
+
0.9655733099770397,
|
| 531 |
+
0.001727383688604256,
|
| 532 |
+
-0.018034300567145365
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_30": {
|
| 537 |
+
"confidence": 0.9505552053451538,
|
| 538 |
+
"position": [
|
| 539 |
+
-0.00845940419822,
|
| 540 |
+
-0.05144301864129375,
|
| 541 |
+
0.16867150645703077
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.2415411074451358,
|
| 545 |
+
"xyz": [
|
| 546 |
+
-0.9640223089484513,
|
| 547 |
+
0.11022434250653124,
|
| 548 |
+
-0.013018278798564308
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"grasp_31": {
|
| 553 |
+
"confidence": 0.9476703405380249,
|
| 554 |
+
"position": [
|
| 555 |
+
0.004233264975482598,
|
| 556 |
+
-0.0030614572278864216,
|
| 557 |
+
0.1781580625101924
|
| 558 |
+
],
|
| 559 |
+
"orientation": {
|
| 560 |
+
"w": 0.03169275660458557,
|
| 561 |
+
"xyz": [
|
| 562 |
+
-0.9693797843931892,
|
| 563 |
+
-0.24293800163900983,
|
| 564 |
+
0.016719155129977625
|
| 565 |
+
]
|
| 566 |
+
}
|
| 567 |
+
},
|
| 568 |
+
"grasp_32": {
|
| 569 |
+
"confidence": 0.9453349113464355,
|
| 570 |
+
"position": [
|
| 571 |
+
-0.015046202664962038,
|
| 572 |
+
-0.04777895721417735,
|
| 573 |
+
0.16952920239418745
|
| 574 |
+
],
|
| 575 |
+
"orientation": {
|
| 576 |
+
"w": 0.23329703277349093,
|
| 577 |
+
"xyz": [
|
| 578 |
+
-0.9646994033010692,
|
| 579 |
+
0.11355950854866309,
|
| 580 |
+
-0.04507542332393467
|
| 581 |
+
]
|
| 582 |
+
}
|
| 583 |
+
},
|
| 584 |
+
"grasp_33": {
|
| 585 |
+
"confidence": 0.9443573355674744,
|
| 586 |
+
"position": [
|
| 587 |
+
-0.03368092616437934,
|
| 588 |
+
0.07662610647457768,
|
| 589 |
+
0.13059290032833815
|
| 590 |
+
],
|
| 591 |
+
"orientation": {
|
| 592 |
+
"w": 0.16044122018246018,
|
| 593 |
+
"xyz": [
|
| 594 |
+
-0.08476291045197021,
|
| 595 |
+
0.8729791583829182,
|
| 596 |
+
-0.45274855373278344
|
| 597 |
+
]
|
| 598 |
+
}
|
| 599 |
+
},
|
| 600 |
+
"grasp_34": {
|
| 601 |
+
"confidence": 0.9434086680412292,
|
| 602 |
+
"position": [
|
| 603 |
+
-0.016000467439880595,
|
| 604 |
+
0.054768658552347915,
|
| 605 |
+
0.16154325287789106
|
| 606 |
+
],
|
| 607 |
+
"orientation": {
|
| 608 |
+
"w": 0.27308314346232687,
|
| 609 |
+
"xyz": [
|
| 610 |
+
0.9518935966372819,
|
| 611 |
+
0.11759863885250532,
|
| 612 |
+
0.07412649713639614
|
| 613 |
+
]
|
| 614 |
+
}
|
| 615 |
+
},
|
| 616 |
+
"grasp_35": {
|
| 617 |
+
"confidence": 0.9421209096908569,
|
| 618 |
+
"position": [
|
| 619 |
+
0.0017565568268764764,
|
| 620 |
+
-0.011884114395797951,
|
| 621 |
+
0.17770797293633223
|
| 622 |
+
],
|
| 623 |
+
"orientation": {
|
| 624 |
+
"w": 0.013525981905837982,
|
| 625 |
+
"xyz": [
|
| 626 |
+
0.11016637248639455,
|
| 627 |
+
0.9935749585880055,
|
| 628 |
+
0.022118314888703014
|
| 629 |
+
]
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
"grasp_36": {
|
| 633 |
+
"confidence": 0.9407315850257874,
|
| 634 |
+
"position": [
|
| 635 |
+
0.009908520529279485,
|
| 636 |
+
0.00015612328206771053,
|
| 637 |
+
0.17841808777302504
|
| 638 |
+
],
|
| 639 |
+
"orientation": {
|
| 640 |
+
"w": 0.019388491612476976,
|
| 641 |
+
"xyz": [
|
| 642 |
+
0.9909608985242773,
|
| 643 |
+
0.13098412247204874,
|
| 644 |
+
-0.021534708012358145
|
| 645 |
+
]
|
| 646 |
+
}
|
| 647 |
+
},
|
| 648 |
+
"grasp_37": {
|
| 649 |
+
"confidence": 0.9403290748596191,
|
| 650 |
+
"position": [
|
| 651 |
+
0.041409180412301794,
|
| 652 |
+
0.07770739433544804,
|
| 653 |
+
0.12332386057823896
|
| 654 |
+
],
|
| 655 |
+
"orientation": {
|
| 656 |
+
"w": 0.4829375326949295,
|
| 657 |
+
"xyz": [
|
| 658 |
+
0.8517658429274825,
|
| 659 |
+
-0.1118861590226996,
|
| 660 |
+
-0.16955169051270483
|
| 661 |
+
]
|
| 662 |
+
}
|
| 663 |
+
},
|
| 664 |
+
"grasp_38": {
|
| 665 |
+
"confidence": 0.9399328231811523,
|
| 666 |
+
"position": [
|
| 667 |
+
0.026743928814539686,
|
| 668 |
+
0.04358501297610928,
|
| 669 |
+
0.16416757088154554
|
| 670 |
+
],
|
| 671 |
+
"orientation": {
|
| 672 |
+
"w": 0.2562166329932173,
|
| 673 |
+
"xyz": [
|
| 674 |
+
0.9598518719172008,
|
| 675 |
+
-0.04255347280482935,
|
| 676 |
+
-0.10595575919653273
|
| 677 |
+
]
|
| 678 |
+
}
|
| 679 |
+
},
|
| 680 |
+
"grasp_39": {
|
| 681 |
+
"confidence": 0.9388996958732605,
|
| 682 |
+
"position": [
|
| 683 |
+
-0.00040597430779598653,
|
| 684 |
+
-0.04484232204777072,
|
| 685 |
+
0.1679898528382182
|
| 686 |
+
],
|
| 687 |
+
"orientation": {
|
| 688 |
+
"w": 0.22406432564846593,
|
| 689 |
+
"xyz": [
|
| 690 |
+
-0.9743283701864361,
|
| 691 |
+
0.02172081505950993,
|
| 692 |
+
0.0027588429988412984
|
| 693 |
+
]
|
| 694 |
+
}
|
| 695 |
+
}
|
| 696 |
+
}
|
| 697 |
+
},
|
| 698 |
+
{
|
| 699 |
+
"part_name": "pump collar",
|
| 700 |
+
"mask_color": "Yellow",
|
| 701 |
+
"graspable": true,
|
| 702 |
+
"grasp_scenarios": [
|
| 703 |
+
{
|
| 704 |
+
"scenario": "grasp the collar to twist and secure or loosen the pump assembly",
|
| 705 |
+
"confidence": 0.58
|
| 706 |
+
},
|
| 707 |
+
{
|
| 708 |
+
"scenario": "hold the collar to stabilize the pump during maintenance",
|
| 709 |
+
"confidence": 0.42
|
| 710 |
+
}
|
| 711 |
+
],
|
| 712 |
+
"functional_labels": [
|
| 713 |
+
"connect pump to bottle",
|
| 714 |
+
"secure dispenser assembly",
|
| 715 |
+
"provide twisting interface",
|
| 716 |
+
"seal the bottle opening"
|
| 717 |
+
],
|
| 718 |
+
"semantic_description": "Short white plastic collar with a smooth glossy hard finish, cylindrical ring shape around the bottle neck, positioned directly beneath the pump head.",
|
| 719 |
+
"id": 3,
|
| 720 |
+
"grasp_group": {
|
| 721 |
+
"grasp_40": {
|
| 722 |
+
"confidence": 0.972764790058136,
|
| 723 |
+
"position": [
|
| 724 |
+
-0.0331513314449694,
|
| 725 |
+
0.09614403483647038,
|
| 726 |
+
0.07263700943440199
|
| 727 |
+
],
|
| 728 |
+
"orientation": {
|
| 729 |
+
"w": 0.14389051976585981,
|
| 730 |
+
"xyz": [
|
| 731 |
+
-0.10955837906490207,
|
| 732 |
+
0.729598929759526,
|
| 733 |
+
-0.6595285297786109
|
| 734 |
+
]
|
| 735 |
+
}
|
| 736 |
+
},
|
| 737 |
+
"grasp_41": {
|
| 738 |
+
"confidence": 0.972364068031311,
|
| 739 |
+
"position": [
|
| 740 |
+
-0.0030768509896006435,
|
| 741 |
+
0.10168137339132954,
|
| 742 |
+
0.05389710050076246
|
| 743 |
+
],
|
| 744 |
+
"orientation": {
|
| 745 |
+
"w": 0.04618677672021356,
|
| 746 |
+
"xyz": [
|
| 747 |
+
-0.005819117275386734,
|
| 748 |
+
0.706066251260722,
|
| 749 |
+
-0.7066140165330456
|
| 750 |
+
]
|
| 751 |
+
}
|
| 752 |
+
},
|
| 753 |
+
"grasp_42": {
|
| 754 |
+
"confidence": 0.9718756675720215,
|
| 755 |
+
"position": [
|
| 756 |
+
-0.03236532871960662,
|
| 757 |
+
0.09576065776127507,
|
| 758 |
+
0.05928100552409887
|
| 759 |
+
],
|
| 760 |
+
"orientation": {
|
| 761 |
+
"w": 0.13655251103750093,
|
| 762 |
+
"xyz": [
|
| 763 |
+
-0.11302554982684922,
|
| 764 |
+
0.7160429665771644,
|
| 765 |
+
-0.6751748712971072
|
| 766 |
+
]
|
| 767 |
+
}
|
| 768 |
+
},
|
| 769 |
+
"grasp_43": {
|
| 770 |
+
"confidence": 0.9709550738334656,
|
| 771 |
+
"position": [
|
| 772 |
+
-0.013480462221195921,
|
| 773 |
+
0.09109620687740971,
|
| 774 |
+
0.1028973339125514
|
| 775 |
+
],
|
| 776 |
+
"orientation": {
|
| 777 |
+
"w": 0.06369538875054553,
|
| 778 |
+
"xyz": [
|
| 779 |
+
-0.04299477578222182,
|
| 780 |
+
0.8436283097623895,
|
| 781 |
+
-0.5313996816660764
|
| 782 |
+
]
|
| 783 |
+
}
|
| 784 |
+
},
|
| 785 |
+
"grasp_44": {
|
| 786 |
+
"confidence": 0.9705946445465088,
|
| 787 |
+
"position": [
|
| 788 |
+
0.023453921923646703,
|
| 789 |
+
0.09023417470234563,
|
| 790 |
+
0.10302859079092741
|
| 791 |
+
],
|
| 792 |
+
"orientation": {
|
| 793 |
+
"w": 0.5231180420757968,
|
| 794 |
+
"xyz": [
|
| 795 |
+
0.8458112865272642,
|
| 796 |
+
-0.06291473191587416,
|
| 797 |
+
-0.08362127806863859
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
"grasp_45": {
|
| 802 |
+
"confidence": 0.9700129628181458,
|
| 803 |
+
"position": [
|
| 804 |
+
-0.002660764934262261,
|
| 805 |
+
0.09074518022316624,
|
| 806 |
+
0.10375611018389463
|
| 807 |
+
],
|
| 808 |
+
"orientation": {
|
| 809 |
+
"w": 0.5134269985855893,
|
| 810 |
+
"xyz": [
|
| 811 |
+
0.8564482343823918,
|
| 812 |
+
0.053344239824602346,
|
| 813 |
+
0.006597804499408244
|
| 814 |
+
]
|
| 815 |
+
}
|
| 816 |
+
},
|
| 817 |
+
"grasp_46": {
|
| 818 |
+
"confidence": 0.9697898030281067,
|
| 819 |
+
"position": [
|
| 820 |
+
-0.008790234191110358,
|
| 821 |
+
0.08950518754500081,
|
| 822 |
+
0.10054321121424437
|
| 823 |
+
],
|
| 824 |
+
"orientation": {
|
| 825 |
+
"w": 0.5192795351659928,
|
| 826 |
+
"xyz": [
|
| 827 |
+
0.8516801425771384,
|
| 828 |
+
0.06594953803936443,
|
| 829 |
+
0.025305286601218904
|
| 830 |
+
]
|
| 831 |
+
}
|
| 832 |
+
},
|
| 833 |
+
"grasp_47": {
|
| 834 |
+
"confidence": 0.9688596725463867,
|
| 835 |
+
"position": [
|
| 836 |
+
0.013972994784126058,
|
| 837 |
+
0.10178666499632527,
|
| 838 |
+
0.06579967122524977
|
| 839 |
+
],
|
| 840 |
+
"orientation": {
|
| 841 |
+
"w": 0.6903241825909477,
|
| 842 |
+
"xyz": [
|
| 843 |
+
0.7216801825089949,
|
| 844 |
+
-0.002677454067099627,
|
| 845 |
+
-0.05121589932474281
|
| 846 |
+
]
|
| 847 |
+
}
|
| 848 |
+
},
|
| 849 |
+
"grasp_48": {
|
| 850 |
+
"confidence": 0.9665292501449585,
|
| 851 |
+
"position": [
|
| 852 |
+
-0.0030834873614367098,
|
| 853 |
+
0.09916568485277821,
|
| 854 |
+
0.06131839286535978
|
| 855 |
+
],
|
| 856 |
+
"orientation": {
|
| 857 |
+
"w": 0.037353004307662,
|
| 858 |
+
"xyz": [
|
| 859 |
+
-0.009104683380013216,
|
| 860 |
+
0.7207700588844327,
|
| 861 |
+
-0.6921072026972941
|
| 862 |
+
]
|
| 863 |
+
}
|
| 864 |
+
},
|
| 865 |
+
"grasp_49": {
|
| 866 |
+
"confidence": 0.9654139280319214,
|
| 867 |
+
"position": [
|
| 868 |
+
0.0007177011866588145,
|
| 869 |
+
0.09295891908186604,
|
| 870 |
+
0.0968725560232997
|
| 871 |
+
],
|
| 872 |
+
"orientation": {
|
| 873 |
+
"w": 0.5288322621085325,
|
| 874 |
+
"xyz": [
|
| 875 |
+
0.8478027073107653,
|
| 876 |
+
0.0395094771986505,
|
| 877 |
+
-0.0024513753687819893
|
| 878 |
+
]
|
| 879 |
+
}
|
| 880 |
+
},
|
| 881 |
+
"grasp_50": {
|
| 882 |
+
"confidence": 0.9653707146644592,
|
| 883 |
+
"position": [
|
| 884 |
+
0.016921748319873586,
|
| 885 |
+
0.08678462294119527,
|
| 886 |
+
0.10400238912552595
|
| 887 |
+
],
|
| 888 |
+
"orientation": {
|
| 889 |
+
"w": 0.5149313080953326,
|
| 890 |
+
"xyz": [
|
| 891 |
+
0.8546113486754173,
|
| 892 |
+
-0.03354682713282431,
|
| 893 |
+
-0.05796379083302082
|
| 894 |
+
]
|
| 895 |
+
}
|
| 896 |
+
},
|
| 897 |
+
"grasp_51": {
|
| 898 |
+
"confidence": 0.9647900462150574,
|
| 899 |
+
"position": [
|
| 900 |
+
0.010869506659219041,
|
| 901 |
+
0.10228522804754903,
|
| 902 |
+
0.0553567623719573
|
| 903 |
+
],
|
| 904 |
+
"orientation": {
|
| 905 |
+
"w": 0.7013587057080722,
|
| 906 |
+
"xyz": [
|
| 907 |
+
0.7117102999053009,
|
| 908 |
+
-0.01456026265240895,
|
| 909 |
+
-0.03677517760252128
|
| 910 |
+
]
|
| 911 |
+
}
|
| 912 |
+
},
|
| 913 |
+
"grasp_52": {
|
| 914 |
+
"confidence": 0.9637352824211121,
|
| 915 |
+
"position": [
|
| 916 |
+
0.0039628044760320336,
|
| 917 |
+
0.10311181036013295,
|
| 918 |
+
0.05168223287910223
|
| 919 |
+
],
|
| 920 |
+
"orientation": {
|
| 921 |
+
"w": 0.7044138630542549,
|
| 922 |
+
"xyz": [
|
| 923 |
+
0.7093842252071465,
|
| 924 |
+
0.016233283045981484,
|
| 925 |
+
-0.017652509333997986
|
| 926 |
+
]
|
| 927 |
+
}
|
| 928 |
+
},
|
| 929 |
+
"grasp_53": {
|
| 930 |
+
"confidence": 0.9635483026504517,
|
| 931 |
+
"position": [
|
| 932 |
+
-0.026393403386464342,
|
| 933 |
+
0.09398811993378331,
|
| 934 |
+
0.05338404234498739
|
| 935 |
+
],
|
| 936 |
+
"orientation": {
|
| 937 |
+
"w": 0.11389018392967491,
|
| 938 |
+
"xyz": [
|
| 939 |
+
-0.09324726671233297,
|
| 940 |
+
0.6949010311206831,
|
| 941 |
+
-0.7038796276371092
|
| 942 |
+
]
|
| 943 |
+
}
|
| 944 |
+
},
|
| 945 |
+
"grasp_54": {
|
| 946 |
+
"confidence": 0.9584273099899292,
|
| 947 |
+
"position": [
|
| 948 |
+
0.010309072124073282,
|
| 949 |
+
0.08902312752979924,
|
| 950 |
+
0.09801286738365889
|
| 951 |
+
],
|
| 952 |
+
"orientation": {
|
| 953 |
+
"w": 0.521745320848897,
|
| 954 |
+
"xyz": [
|
| 955 |
+
0.8523399947516311,
|
| 956 |
+
-0.012350194663314995,
|
| 957 |
+
-0.03385005481309312
|
| 958 |
+
]
|
| 959 |
+
}
|
| 960 |
+
},
|
| 961 |
+
"grasp_55": {
|
| 962 |
+
"confidence": 0.953229546546936,
|
| 963 |
+
"position": [
|
| 964 |
+
-0.04369258796214126,
|
| 965 |
+
0.07217637387293507,
|
| 966 |
+
0.11123049538582563
|
| 967 |
+
],
|
| 968 |
+
"orientation": {
|
| 969 |
+
"w": 0.1576020153632312,
|
| 970 |
+
"xyz": [
|
| 971 |
+
-0.2035310416237941,
|
| 972 |
+
0.8566936667010553,
|
| 973 |
+
-0.44700411774756854
|
| 974 |
+
]
|
| 975 |
+
}
|
| 976 |
+
},
|
| 977 |
+
"grasp_56": {
|
| 978 |
+
"confidence": 0.9527823328971863,
|
| 979 |
+
"position": [
|
| 980 |
+
0.00890235128463246,
|
| 981 |
+
0.09662662384289433,
|
| 982 |
+
0.06355425249785185
|
| 983 |
+
],
|
| 984 |
+
"orientation": {
|
| 985 |
+
"w": 0.037165974846435496,
|
| 986 |
+
"xyz": [
|
| 987 |
+
-0.015850780894512494,
|
| 988 |
+
-0.710772584209007,
|
| 989 |
+
0.702260476316016
|
| 990 |
+
]
|
| 991 |
+
}
|
| 992 |
+
},
|
| 993 |
+
"grasp_57": {
|
| 994 |
+
"confidence": 0.9507902264595032,
|
| 995 |
+
"position": [
|
| 996 |
+
0.026898044074187055,
|
| 997 |
+
0.08909112897890736,
|
| 998 |
+
0.09802704583853483
|
| 999 |
+
],
|
| 1000 |
+
"orientation": {
|
| 1001 |
+
"w": 0.5198584845404737,
|
| 1002 |
+
"xyz": [
|
| 1003 |
+
0.8453068034703075,
|
| 1004 |
+
-0.05586996547483969,
|
| 1005 |
+
-0.10991865635975168
|
| 1006 |
+
]
|
| 1007 |
+
}
|
| 1008 |
+
},
|
| 1009 |
+
"grasp_58": {
|
| 1010 |
+
"confidence": 0.9500790238380432,
|
| 1011 |
+
"position": [
|
| 1012 |
+
0.009456434199819341,
|
| 1013 |
+
0.08614630934971501,
|
| 1014 |
+
0.10203983169049025
|
| 1015 |
+
],
|
| 1016 |
+
"orientation": {
|
| 1017 |
+
"w": 0.5101056886504337,
|
| 1018 |
+
"xyz": [
|
| 1019 |
+
0.8593194800636861,
|
| 1020 |
+
0.011433675726867376,
|
| 1021 |
+
-0.03509257256052885
|
| 1022 |
+
]
|
| 1023 |
+
}
|
| 1024 |
+
},
|
| 1025 |
+
"grasp_59": {
|
| 1026 |
+
"confidence": 0.9444936513900757,
|
| 1027 |
+
"position": [
|
| 1028 |
+
-0.0026129517646040767,
|
| 1029 |
+
0.09942408588904073,
|
| 1030 |
+
0.058593603782355785
|
| 1031 |
+
],
|
| 1032 |
+
"orientation": {
|
| 1033 |
+
"w": 0.7028445685029411,
|
| 1034 |
+
"xyz": [
|
| 1035 |
+
0.709814089483185,
|
| 1036 |
+
0.04610868725519768,
|
| 1037 |
+
0.006889111457507589
|
| 1038 |
+
]
|
| 1039 |
+
}
|
| 1040 |
+
}
|
| 1041 |
+
}
|
| 1042 |
+
},
|
| 1043 |
+
{
|
| 1044 |
+
"part_name": "neck ring",
|
| 1045 |
+
"mask_color": "Magenta",
|
| 1046 |
+
"graspable": false,
|
| 1047 |
+
"grasp_scenarios": [],
|
| 1048 |
+
"functional_labels": [
|
| 1049 |
+
"transition between collar and bottle",
|
| 1050 |
+
"provide assembly boundary",
|
| 1051 |
+
"support pump mounting"
|
| 1052 |
+
],
|
| 1053 |
+
"semantic_description": "Thin white plastic ring with a smooth glossy surface, narrow circular band at the top of the bottle body just below the collar.",
|
| 1054 |
+
"id": 7,
|
| 1055 |
+
"grasp_group": {}
|
| 1056 |
+
},
|
| 1057 |
+
{
|
| 1058 |
+
"part_name": "printed front label",
|
| 1059 |
+
"mask_color": "Orange",
|
| 1060 |
+
"graspable": false,
|
| 1061 |
+
"grasp_scenarios": [],
|
| 1062 |
+
"functional_labels": [
|
| 1063 |
+
"display branding",
|
| 1064 |
+
"identify product",
|
| 1065 |
+
"provide usage information",
|
| 1066 |
+
"indicate front orientation"
|
| 1067 |
+
],
|
| 1068 |
+
"semantic_description": "Small dark printed graphics and text on the front of the white bottle body, flat and smooth with logo and product markings visible on the main face.",
|
| 1069 |
+
"id": 4,
|
| 1070 |
+
"grasp_group": {}
|
| 1071 |
+
}
|
| 1072 |
+
],
|
| 1073 |
+
"quality_check": {
|
| 1074 |
+
"success": true,
|
| 1075 |
+
"message": "YES"
|
| 1076 |
+
}
|
| 1077 |
+
}
|
dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a1f1f6feb37b040f8a32412c2ecde6090ec9d3ff178d14e96270f4c8a1836f72
|
| 3 |
+
size 37335288
|