Add asset kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6
Browse files
.gitattributes
CHANGED
|
@@ -8488,3 +8488,4 @@ dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/affordance/me
|
|
| 8488 |
dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8489 |
dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8490 |
dataset/kitchen_supplies/utensils/0e13775ef1515c65a7474ebe097b9022/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8488 |
dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8489 |
dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8490 |
dataset/kitchen_supplies/utensils/0e13775ef1515c65a7474ebe097b9022/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8491 |
+
dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,893 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "jar body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body to pick up and move the jar",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while the other gripper twists the lid open",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to tilt and dispense contents",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main container",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support twisting against the lid",
|
| 25 |
+
"support pouring or shaking",
|
| 26 |
+
"provide structure"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Tall tapered silver metal body with a smooth reflective finish, forming most of the container wall. A small oval emblem is visible on the front in some views, with faint printed markings lower on the body.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_2": {
|
| 32 |
+
"confidence": 0.9789435267448425,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.09925777537864633,
|
| 35 |
+
-0.0416022515273653,
|
| 36 |
+
-0.039590078638866544
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6013965630646562,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.571930356679824,
|
| 42 |
+
0.3691251929664302,
|
| 43 |
+
-0.418287500362614
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_4": {
|
| 48 |
+
"confidence": 0.9784973859786987,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.08288653267663904,
|
| 51 |
+
-0.05894104152685031,
|
| 52 |
+
-0.005719954380765557
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.594358982109381,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.6582191097536845,
|
| 58 |
+
0.3387877495765055,
|
| 59 |
+
-0.3141780779714813
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_8": {
|
| 64 |
+
"confidence": 0.9779089689254761,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.08492592049879022,
|
| 67 |
+
-0.04408468067413196,
|
| 68 |
+
-0.0830334008205682
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.47030679035977807,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.2737869193330542,
|
| 74 |
+
0.452021622372758,
|
| 75 |
+
0.7067734422366894
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_9": {
|
| 80 |
+
"confidence": 0.9775959253311157,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.09685331655782647,
|
| 83 |
+
-0.04379578813677654,
|
| 84 |
+
-0.05345087428577244
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.6459589682261537,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.5338843002813322,
|
| 90 |
+
0.3465321991185445,
|
| 91 |
+
-0.42144987869897527
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_10": {
|
| 96 |
+
"confidence": 0.9774488806724548,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.07770893050474115,
|
| 99 |
+
-0.06852150469785556,
|
| 100 |
+
-0.046551279025152326
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.6880596641089173,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5885330953641894,
|
| 106 |
+
0.26897027797335693,
|
| 107 |
+
-0.3284169360040752
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_12": {
|
| 112 |
+
"confidence": 0.97704017162323,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.07454088403028436,
|
| 115 |
+
-0.011455292289610952,
|
| 116 |
+
-0.1050469980109483
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.6675071570092966,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.32336279123700223,
|
| 122 |
+
0.2555953279587886,
|
| 123 |
+
-0.6201142869749258
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_14": {
|
| 128 |
+
"confidence": 0.9766855835914612,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.07885842098039575,
|
| 131 |
+
-0.05335838854080066,
|
| 132 |
+
-0.07479908620007336
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.740488384514979,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.47067755298906483,
|
| 138 |
+
0.25854894476732526,
|
| 139 |
+
-0.40409409383251926
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_16": {
|
| 144 |
+
"confidence": 0.976264238357544,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.09634926242870279,
|
| 147 |
+
-0.02887041069334373,
|
| 148 |
+
0.002684256760403514
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.49088033212651844,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.6257498699180516,
|
| 154 |
+
0.4687659905215469,
|
| 155 |
+
-0.38435926677947263
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_19": {
|
| 160 |
+
"confidence": 0.9760034084320068,
|
| 161 |
+
"position": [
|
| 162 |
+
0.03206888513523154,
|
| 163 |
+
0.0944456183933653,
|
| 164 |
+
-0.05626281653530896
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.13701353464777088,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.09169593646328422,
|
| 170 |
+
-0.5867863101547647,
|
| 171 |
+
0.7927805325399975
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
}
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"part_name": "lid",
|
| 179 |
+
"mask_color": "Yellow",
|
| 180 |
+
"graspable": true,
|
| 181 |
+
"grasp_scenarios": [
|
| 182 |
+
{
|
| 183 |
+
"scenario": "grasp the lid to twist it open or closed",
|
| 184 |
+
"confidence": 0.93
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"scenario": "pinch the lid from the top edge to stabilize the jar during repositioning",
|
| 188 |
+
"confidence": 0.64
|
| 189 |
+
}
|
| 190 |
+
],
|
| 191 |
+
"functional_labels": [
|
| 192 |
+
"cover the jar",
|
| 193 |
+
"seal contents",
|
| 194 |
+
"enable opening and closing",
|
| 195 |
+
"provide top grip for twisting"
|
| 196 |
+
],
|
| 197 |
+
"semantic_description": "Round silver metal cap at the top with a slightly domed top surface and reflective finish. The side edge appears knurled or ribbed for grip.",
|
| 198 |
+
"id": 3,
|
| 199 |
+
"grasp_group": {
|
| 200 |
+
"grasp_20": {
|
| 201 |
+
"confidence": 0.8834913372993469,
|
| 202 |
+
"position": [
|
| 203 |
+
0.10670972542720847,
|
| 204 |
+
0.011770382116083056,
|
| 205 |
+
0.06128694559447467
|
| 206 |
+
],
|
| 207 |
+
"orientation": {
|
| 208 |
+
"w": 0.4803957769954482,
|
| 209 |
+
"xyz": [
|
| 210 |
+
0.5628683921438109,
|
| 211 |
+
-0.5063514538387504,
|
| 212 |
+
-0.4427270894871524
|
| 213 |
+
]
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"grasp_21": {
|
| 217 |
+
"confidence": 0.8789787292480469,
|
| 218 |
+
"position": [
|
| 219 |
+
-0.019606447574915364,
|
| 220 |
+
0.10254095733398572,
|
| 221 |
+
0.05485479976050556
|
| 222 |
+
],
|
| 223 |
+
"orientation": {
|
| 224 |
+
"w": 0.058230766472057355,
|
| 225 |
+
"xyz": [
|
| 226 |
+
-0.07943914896374858,
|
| 227 |
+
0.7292510897932148,
|
| 228 |
+
-0.6771199653557713
|
| 229 |
+
]
|
| 230 |
+
}
|
| 231 |
+
},
|
| 232 |
+
"grasp_22": {
|
| 233 |
+
"confidence": 0.9292882680892944,
|
| 234 |
+
"position": [
|
| 235 |
+
0.056438802945194766,
|
| 236 |
+
0.08836467802757397,
|
| 237 |
+
0.06485116924159229
|
| 238 |
+
],
|
| 239 |
+
"orientation": {
|
| 240 |
+
"w": 0.18035320551702136,
|
| 241 |
+
"xyz": [
|
| 242 |
+
-0.23964967869150963,
|
| 243 |
+
-0.733373337485969,
|
| 244 |
+
0.6100854863275157
|
| 245 |
+
]
|
| 246 |
+
}
|
| 247 |
+
},
|
| 248 |
+
"grasp_23": {
|
| 249 |
+
"confidence": 0.8923658132553101,
|
| 250 |
+
"position": [
|
| 251 |
+
-0.026965490338625386,
|
| 252 |
+
0.09935643017524853,
|
| 253 |
+
0.05720691825263202
|
| 254 |
+
],
|
| 255 |
+
"orientation": {
|
| 256 |
+
"w": 0.08422358526833966,
|
| 257 |
+
"xyz": [
|
| 258 |
+
-0.10752744494523923,
|
| 259 |
+
0.7370677298612305,
|
| 260 |
+
-0.661872644747694
|
| 261 |
+
]
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"grasp_24": {
|
| 265 |
+
"confidence": 0.8525285124778748,
|
| 266 |
+
"position": [
|
| 267 |
+
0.00794934222358279,
|
| 268 |
+
0.10925845295423642,
|
| 269 |
+
0.06716094608418643
|
| 270 |
+
],
|
| 271 |
+
"orientation": {
|
| 272 |
+
"w": 0.6359965481254894,
|
| 273 |
+
"xyz": [
|
| 274 |
+
0.7712889678381263,
|
| 275 |
+
-0.023834394545720117,
|
| 276 |
+
-0.007323967524403655
|
| 277 |
+
]
|
| 278 |
+
}
|
| 279 |
+
},
|
| 280 |
+
"grasp_25": {
|
| 281 |
+
"confidence": 0.9205541014671326,
|
| 282 |
+
"position": [
|
| 283 |
+
-0.1004148654465098,
|
| 284 |
+
-0.008462484402116388,
|
| 285 |
+
0.07609232957474887
|
| 286 |
+
],
|
| 287 |
+
"orientation": {
|
| 288 |
+
"w": 0.3912683823569412,
|
| 289 |
+
"xyz": [
|
| 290 |
+
0.5414359939422176,
|
| 291 |
+
0.6008656452554426,
|
| 292 |
+
0.4389949815013216
|
| 293 |
+
]
|
| 294 |
+
}
|
| 295 |
+
},
|
| 296 |
+
"grasp_26": {
|
| 297 |
+
"confidence": 0.9132453799247742,
|
| 298 |
+
"position": [
|
| 299 |
+
0.01060843953746371,
|
| 300 |
+
0.10005934775108472,
|
| 301 |
+
0.07631288911215961
|
| 302 |
+
],
|
| 303 |
+
"orientation": {
|
| 304 |
+
"w": 0.5945715276655411,
|
| 305 |
+
"xyz": [
|
| 306 |
+
0.8031567645011747,
|
| 307 |
+
-0.02301395055017097,
|
| 308 |
+
-0.029904317506738862
|
| 309 |
+
]
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"grasp_27": {
|
| 313 |
+
"confidence": 0.9118718504905701,
|
| 314 |
+
"position": [
|
| 315 |
+
0.00974776895600371,
|
| 316 |
+
0.10074445098871365,
|
| 317 |
+
0.07557061011902988
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.5992060291451555,
|
| 321 |
+
"xyz": [
|
| 322 |
+
0.7992828144239358,
|
| 323 |
+
-0.04097363256809439,
|
| 324 |
+
-0.02050069844718158
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_28": {
|
| 329 |
+
"confidence": 0.902049720287323,
|
| 330 |
+
"position": [
|
| 331 |
+
0.10025948958355002,
|
| 332 |
+
-0.0003037133865291253,
|
| 333 |
+
0.08073556120507419
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.39187441108089494,
|
| 337 |
+
"xyz": [
|
| 338 |
+
0.5758936638021693,
|
| 339 |
+
-0.5865810974189469,
|
| 340 |
+
-0.4131628614521146
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_29": {
|
| 345 |
+
"confidence": 0.8673502206802368,
|
| 346 |
+
"position": [
|
| 347 |
+
-0.09125101639074273,
|
| 348 |
+
-0.052197427896317095,
|
| 349 |
+
0.06865048850886524
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.552802330059969,
|
| 353 |
+
"xyz": [
|
| 354 |
+
-0.6588850020812899,
|
| 355 |
+
0.42571990569010265,
|
| 356 |
+
-0.28114533574615364
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_30": {
|
| 361 |
+
"confidence": 0.8647478818893433,
|
| 362 |
+
"position": [
|
| 363 |
+
0.05256725029903464,
|
| 364 |
+
0.0917818570160307,
|
| 365 |
+
0.07494772667996585
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.5825901994870969,
|
| 369 |
+
"xyz": [
|
| 370 |
+
0.7665277800989412,
|
| 371 |
+
-0.2202629660774853,
|
| 372 |
+
-0.15655046334304681
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_31": {
|
| 377 |
+
"confidence": 0.26044759154319763,
|
| 378 |
+
"position": [
|
| 379 |
+
0.06326942818122916,
|
| 380 |
+
-0.03782254591351375,
|
| 381 |
+
0.12769977445714176
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.2393621468391726,
|
| 385 |
+
"xyz": [
|
| 386 |
+
-0.9212295936421743,
|
| 387 |
+
-0.19433001169745134,
|
| 388 |
+
0.2372290981563718
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_32": {
|
| 393 |
+
"confidence": 0.9137420654296875,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.0985527865414042,
|
| 396 |
+
0.008784372883383185,
|
| 397 |
+
0.07909302110783756
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.4225455692710743,
|
| 401 |
+
"xyz": [
|
| 402 |
+
0.5964751182494912,
|
| 403 |
+
0.5614779533067902,
|
| 404 |
+
0.3878339633774444
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_33": {
|
| 409 |
+
"confidence": 0.9098545908927917,
|
| 410 |
+
"position": [
|
| 411 |
+
-0.09968392623704858,
|
| 412 |
+
-0.006235637643840164,
|
| 413 |
+
0.08303764159791172
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.3762568041195089,
|
| 417 |
+
"xyz": [
|
| 418 |
+
0.576293939101136,
|
| 419 |
+
0.5961014700375191,
|
| 420 |
+
0.41349625213317054
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_34": {
|
| 425 |
+
"confidence": 0.8919752240180969,
|
| 426 |
+
"position": [
|
| 427 |
+
0.09828089104848914,
|
| 428 |
+
0.027566675620619208,
|
| 429 |
+
0.08516074414364994
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.4383437355526295,
|
| 433 |
+
"xyz": [
|
| 434 |
+
0.6532330465291037,
|
| 435 |
+
-0.5101863826221298,
|
| 436 |
+
-0.3476366082722269
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_35": {
|
| 441 |
+
"confidence": 0.7914632558822632,
|
| 442 |
+
"position": [
|
| 443 |
+
0.06804188268142752,
|
| 444 |
+
-0.024956920591648668,
|
| 445 |
+
0.11846950347535312
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.2268557641929988,
|
| 449 |
+
"xyz": [
|
| 450 |
+
0.49967029665245705,
|
| 451 |
+
-0.7789174423658951,
|
| 452 |
+
-0.30356823759054447
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_36": {
|
| 457 |
+
"confidence": 0.5886403918266296,
|
| 458 |
+
"position": [
|
| 459 |
+
-0.007855239586206153,
|
| 460 |
+
0.012811167689505965,
|
| 461 |
+
0.1478870182763785
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.06968849455697133,
|
| 465 |
+
"xyz": [
|
| 466 |
+
0.7597539912935655,
|
| 467 |
+
0.6461572198338662,
|
| 468 |
+
0.01995579355596306
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"grasp_37": {
|
| 473 |
+
"confidence": 0.9373977780342102,
|
| 474 |
+
"position": [
|
| 475 |
+
0.09170605169492774,
|
| 476 |
+
0.028575331496540457,
|
| 477 |
+
0.08028874988667667
|
| 478 |
+
],
|
| 479 |
+
"orientation": {
|
| 480 |
+
"w": 0.45903140977880136,
|
| 481 |
+
"xyz": [
|
| 482 |
+
0.651676298917799,
|
| 483 |
+
-0.505577327052662,
|
| 484 |
+
-0.33015107547238315
|
| 485 |
+
]
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"grasp_38": {
|
| 489 |
+
"confidence": 0.925884485244751,
|
| 490 |
+
"position": [
|
| 491 |
+
0.028001583385048434,
|
| 492 |
+
0.0936058932566084,
|
| 493 |
+
0.08282845164649189
|
| 494 |
+
],
|
| 495 |
+
"orientation": {
|
| 496 |
+
"w": 0.556591934540091,
|
| 497 |
+
"xyz": [
|
| 498 |
+
0.8196907221023585,
|
| 499 |
+
-0.10783049938907885,
|
| 500 |
+
-0.08176259478352686
|
| 501 |
+
]
|
| 502 |
+
}
|
| 503 |
+
},
|
| 504 |
+
"grasp_39": {
|
| 505 |
+
"confidence": 0.9208283424377441,
|
| 506 |
+
"position": [
|
| 507 |
+
0.012326160649536178,
|
| 508 |
+
0.10626224667066708,
|
| 509 |
+
0.05930968443863094
|
| 510 |
+
],
|
| 511 |
+
"orientation": {
|
| 512 |
+
"w": 0.6552873213957721,
|
| 513 |
+
"xyz": [
|
| 514 |
+
0.753908700975194,
|
| 515 |
+
-0.032024290421250434,
|
| 516 |
+
-0.03456359117431901
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
},
|
| 522 |
+
{
|
| 523 |
+
"part_name": "lid side band",
|
| 524 |
+
"mask_color": "Orange",
|
| 525 |
+
"graspable": true,
|
| 526 |
+
"grasp_scenarios": [
|
| 527 |
+
{
|
| 528 |
+
"scenario": "grip the knurled side band to improve twisting traction when opening or closing the lid",
|
| 529 |
+
"confidence": 0.78
|
| 530 |
+
}
|
| 531 |
+
],
|
| 532 |
+
"functional_labels": [
|
| 533 |
+
"provide grip texture for twisting",
|
| 534 |
+
"form the side wall of the cap",
|
| 535 |
+
"assist opening and closing"
|
| 536 |
+
],
|
| 537 |
+
"semantic_description": "Narrow silver band around the side of the lid, just below the domed top, with fine vertical ribbing or knurling visible around the circumference.",
|
| 538 |
+
"id": 4,
|
| 539 |
+
"grasp_group": {
|
| 540 |
+
"grasp_40": {
|
| 541 |
+
"confidence": 0.8711918592453003,
|
| 542 |
+
"position": [
|
| 543 |
+
-0.020479344559134915,
|
| 544 |
+
0.09914420038694516,
|
| 545 |
+
0.07090421463362873
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.05529795132073064,
|
| 549 |
+
"xyz": [
|
| 550 |
+
-0.08246247241012396,
|
| 551 |
+
0.7743937424568698,
|
| 552 |
+
-0.6248651125382045
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_41": {
|
| 557 |
+
"confidence": 0.8237752318382263,
|
| 558 |
+
"position": [
|
| 559 |
+
0.08790028022485785,
|
| 560 |
+
0.06114688754314557,
|
| 561 |
+
0.0798413425218314
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.5200624739762413,
|
| 565 |
+
"xyz": [
|
| 566 |
+
0.7045099212628714,
|
| 567 |
+
-0.39432796488669686,
|
| 568 |
+
-0.278758408146213
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_42": {
|
| 573 |
+
"confidence": 0.5794526934623718,
|
| 574 |
+
"position": [
|
| 575 |
+
-0.003502853709505871,
|
| 576 |
+
0.10831500828498974,
|
| 577 |
+
0.08630600268952549
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.5743296478433523,
|
| 581 |
+
"xyz": [
|
| 582 |
+
0.8177209168779342,
|
| 583 |
+
0.03399227889684797,
|
| 584 |
+
0.017957802867840288
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"grasp_44": {
|
| 589 |
+
"confidence": 0.8825796246528625,
|
| 590 |
+
"position": [
|
| 591 |
+
-0.09352668447536416,
|
| 592 |
+
-0.007137698063161224,
|
| 593 |
+
0.09740812028758228
|
| 594 |
+
],
|
| 595 |
+
"orientation": {
|
| 596 |
+
"w": 0.33679074658085173,
|
| 597 |
+
"xyz": [
|
| 598 |
+
0.5778812187591984,
|
| 599 |
+
0.6402197140568416,
|
| 600 |
+
0.3778147796948553
|
| 601 |
+
]
|
| 602 |
+
}
|
| 603 |
+
},
|
| 604 |
+
"grasp_45": {
|
| 605 |
+
"confidence": 0.8717582821846008,
|
| 606 |
+
"position": [
|
| 607 |
+
0.0982436902995687,
|
| 608 |
+
-0.01092234201496467,
|
| 609 |
+
0.08363314415328205
|
| 610 |
+
],
|
| 611 |
+
"orientation": {
|
| 612 |
+
"w": 0.3792657429803329,
|
| 613 |
+
"xyz": [
|
| 614 |
+
0.5335803492915203,
|
| 615 |
+
-0.6250598135528457,
|
| 616 |
+
-0.42514672353529526
|
| 617 |
+
]
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"grasp_46": {
|
| 621 |
+
"confidence": 0.8240668773651123,
|
| 622 |
+
"position": [
|
| 623 |
+
-0.0876853994850535,
|
| 624 |
+
0.023581002431456,
|
| 625 |
+
0.10371412779204547
|
| 626 |
+
],
|
| 627 |
+
"orientation": {
|
| 628 |
+
"w": 0.37418822976960436,
|
| 629 |
+
"xyz": [
|
| 630 |
+
0.6822358470100995,
|
| 631 |
+
0.5529550611900705,
|
| 632 |
+
0.2979565707625645
|
| 633 |
+
]
|
| 634 |
+
}
|
| 635 |
+
},
|
| 636 |
+
"grasp_47": {
|
| 637 |
+
"confidence": 0.8233007192611694,
|
| 638 |
+
"position": [
|
| 639 |
+
0.07616956459241919,
|
| 640 |
+
0.04600813478464261,
|
| 641 |
+
0.10578406299464405
|
| 642 |
+
],
|
| 643 |
+
"orientation": {
|
| 644 |
+
"w": 0.3963532105922384,
|
| 645 |
+
"xyz": [
|
| 646 |
+
0.7882901389206493,
|
| 647 |
+
-0.39425938661321336,
|
| 648 |
+
-0.2570259235973317
|
| 649 |
+
]
|
| 650 |
+
}
|
| 651 |
+
},
|
| 652 |
+
"grasp_48": {
|
| 653 |
+
"confidence": 0.8128321170806885,
|
| 654 |
+
"position": [
|
| 655 |
+
-0.027549563703360036,
|
| 656 |
+
0.09209826827282086,
|
| 657 |
+
0.09430429036729038
|
| 658 |
+
],
|
| 659 |
+
"orientation": {
|
| 660 |
+
"w": 0.5167781811547955,
|
| 661 |
+
"xyz": [
|
| 662 |
+
0.8420866732553207,
|
| 663 |
+
0.12800911246178936,
|
| 664 |
+
0.08627869571842513
|
| 665 |
+
]
|
| 666 |
+
}
|
| 667 |
+
},
|
| 668 |
+
"grasp_49": {
|
| 669 |
+
"confidence": 0.7815020084381104,
|
| 670 |
+
"position": [
|
| 671 |
+
-0.07850551677984186,
|
| 672 |
+
0.052654574217740446,
|
| 673 |
+
0.0934196978341788
|
| 674 |
+
],
|
| 675 |
+
"orientation": {
|
| 676 |
+
"w": 0.4721858898577313,
|
| 677 |
+
"xyz": [
|
| 678 |
+
0.713796312783491,
|
| 679 |
+
0.4650095076831243,
|
| 680 |
+
0.22649827160544284
|
| 681 |
+
]
|
| 682 |
+
}
|
| 683 |
+
},
|
| 684 |
+
"grasp_50": {
|
| 685 |
+
"confidence": 0.7546282410621643,
|
| 686 |
+
"position": [
|
| 687 |
+
0.08070362286525778,
|
| 688 |
+
0.055522284063044935,
|
| 689 |
+
0.10190038080327213
|
| 690 |
+
],
|
| 691 |
+
"orientation": {
|
| 692 |
+
"w": 0.23924752000705166,
|
| 693 |
+
"xyz": [
|
| 694 |
+
-0.4056744730487483,
|
| 695 |
+
-0.7681380533457682,
|
| 696 |
+
0.433765809036708
|
| 697 |
+
]
|
| 698 |
+
}
|
| 699 |
+
},
|
| 700 |
+
"grasp_51": {
|
| 701 |
+
"confidence": 0.7209585905075073,
|
| 702 |
+
"position": [
|
| 703 |
+
-0.08232310487073846,
|
| 704 |
+
0.001300905889365822,
|
| 705 |
+
0.1191251843702048
|
| 706 |
+
],
|
| 707 |
+
"orientation": {
|
| 708 |
+
"w": 0.28759792342128815,
|
| 709 |
+
"xyz": [
|
| 710 |
+
-0.6512938283790201,
|
| 711 |
+
0.6453653758471259,
|
| 712 |
+
-0.2767802652229033
|
| 713 |
+
]
|
| 714 |
+
}
|
| 715 |
+
},
|
| 716 |
+
"grasp_52": {
|
| 717 |
+
"confidence": 0.905236542224884,
|
| 718 |
+
"position": [
|
| 719 |
+
-0.05824824495357461,
|
| 720 |
+
-0.051829086092766374,
|
| 721 |
+
0.11094726319424808
|
| 722 |
+
],
|
| 723 |
+
"orientation": {
|
| 724 |
+
"w": 0.3949661034159906,
|
| 725 |
+
"xyz": [
|
| 726 |
+
-0.8082232484777606,
|
| 727 |
+
0.4026445604791946,
|
| 728 |
+
-0.16927585678105755
|
| 729 |
+
]
|
| 730 |
+
}
|
| 731 |
+
},
|
| 732 |
+
"grasp_53": {
|
| 733 |
+
"confidence": 0.868472158908844,
|
| 734 |
+
"position": [
|
| 735 |
+
0.028118246438680217,
|
| 736 |
+
0.08808393270010129,
|
| 737 |
+
0.10186247224919498
|
| 738 |
+
],
|
| 739 |
+
"orientation": {
|
| 740 |
+
"w": 0.49440056146475486,
|
| 741 |
+
"xyz": [
|
| 742 |
+
0.8557711815331177,
|
| 743 |
+
-0.13192323747774726,
|
| 744 |
+
-0.0762891151746861
|
| 745 |
+
]
|
| 746 |
+
}
|
| 747 |
+
},
|
| 748 |
+
"grasp_54": {
|
| 749 |
+
"confidence": 0.863196849822998,
|
| 750 |
+
"position": [
|
| 751 |
+
-0.028492343408288434,
|
| 752 |
+
-0.08041392773156986,
|
| 753 |
+
0.1091888218652457
|
| 754 |
+
],
|
| 755 |
+
"orientation": {
|
| 756 |
+
"w": 0.08586116567628156,
|
| 757 |
+
"xyz": [
|
| 758 |
+
0.14642053532595742,
|
| 759 |
+
0.8842359146741797,
|
| 760 |
+
0.4351042797581835
|
| 761 |
+
]
|
| 762 |
+
}
|
| 763 |
+
},
|
| 764 |
+
"grasp_55": {
|
| 765 |
+
"confidence": 0.8593140840530396,
|
| 766 |
+
"position": [
|
| 767 |
+
0.0022395380947273225,
|
| 768 |
+
0.08208368957275525,
|
| 769 |
+
0.10526252235285938
|
| 770 |
+
],
|
| 771 |
+
"orientation": {
|
| 772 |
+
"w": 0.46307414295196575,
|
| 773 |
+
"xyz": [
|
| 774 |
+
0.8862389714942484,
|
| 775 |
+
0.011902128262431144,
|
| 776 |
+
0.001078367721949189
|
| 777 |
+
]
|
| 778 |
+
}
|
| 779 |
+
},
|
| 780 |
+
"grasp_56": {
|
| 781 |
+
"confidence": 0.8476449251174927,
|
| 782 |
+
"position": [
|
| 783 |
+
0.09112201558309607,
|
| 784 |
+
-0.01917627773946151,
|
| 785 |
+
0.10292783076874912
|
| 786 |
+
],
|
| 787 |
+
"orientation": {
|
| 788 |
+
"w": 0.3693607152421652,
|
| 789 |
+
"xyz": [
|
| 790 |
+
-0.6842208080517941,
|
| 791 |
+
-0.5550152770367119,
|
| 792 |
+
0.2955885486966779
|
| 793 |
+
]
|
| 794 |
+
}
|
| 795 |
+
},
|
| 796 |
+
"grasp_57": {
|
| 797 |
+
"confidence": 0.8256253600120544,
|
| 798 |
+
"position": [
|
| 799 |
+
0.08001970426994376,
|
| 800 |
+
0.04906391218537465,
|
| 801 |
+
0.10326713020913303
|
| 802 |
+
],
|
| 803 |
+
"orientation": {
|
| 804 |
+
"w": 0.24444103059178876,
|
| 805 |
+
"xyz": [
|
| 806 |
+
-0.4399579714498059,
|
| 807 |
+
-0.7538218720215492,
|
| 808 |
+
0.42241940199631434
|
| 809 |
+
]
|
| 810 |
+
}
|
| 811 |
+
},
|
| 812 |
+
"grasp_58": {
|
| 813 |
+
"confidence": 0.8016511797904968,
|
| 814 |
+
"position": [
|
| 815 |
+
0.07321081237751059,
|
| 816 |
+
-0.021303919551428407,
|
| 817 |
+
0.11447623069398105
|
| 818 |
+
],
|
| 819 |
+
"orientation": {
|
| 820 |
+
"w": 0.23886218174119614,
|
| 821 |
+
"xyz": [
|
| 822 |
+
0.5750609765861826,
|
| 823 |
+
-0.7061262598480754,
|
| 824 |
+
-0.3370985560552739
|
| 825 |
+
]
|
| 826 |
+
}
|
| 827 |
+
},
|
| 828 |
+
"grasp_59": {
|
| 829 |
+
"confidence": 0.7824119925498962,
|
| 830 |
+
"position": [
|
| 831 |
+
0.025626152026234195,
|
| 832 |
+
-0.0666407099342905,
|
| 833 |
+
0.12306733126752079
|
| 834 |
+
],
|
| 835 |
+
"orientation": {
|
| 836 |
+
"w": 0.35946742375860796,
|
| 837 |
+
"xyz": [
|
| 838 |
+
-0.9211615901005993,
|
| 839 |
+
-0.12589408364867177,
|
| 840 |
+
0.07996984357835149
|
| 841 |
+
]
|
| 842 |
+
}
|
| 843 |
+
}
|
| 844 |
+
}
|
| 845 |
+
},
|
| 846 |
+
{
|
| 847 |
+
"part_name": "neck seam ring",
|
| 848 |
+
"mask_color": "Purple",
|
| 849 |
+
"graspable": false,
|
| 850 |
+
"grasp_scenarios": [],
|
| 851 |
+
"functional_labels": [
|
| 852 |
+
"mark the boundary between lid and body",
|
| 853 |
+
"provide closure seating interface",
|
| 854 |
+
"visual transition between cap and container"
|
| 855 |
+
],
|
| 856 |
+
"semantic_description": "Thin circular ring directly below the lid at the top of the body, visible as a slim silver seam line around the neck area.",
|
| 857 |
+
"id": 5,
|
| 858 |
+
"grasp_group": {}
|
| 859 |
+
},
|
| 860 |
+
{
|
| 861 |
+
"part_name": "base",
|
| 862 |
+
"mask_color": "Green",
|
| 863 |
+
"graspable": false,
|
| 864 |
+
"grasp_scenarios": [],
|
| 865 |
+
"functional_labels": [
|
| 866 |
+
"support standing upright",
|
| 867 |
+
"stabilize the jar on surfaces",
|
| 868 |
+
"form the bottom contact surface"
|
| 869 |
+
],
|
| 870 |
+
"semantic_description": "Flat circular bottom end of the jar, silver metal with a smooth hard finish, forming the stable underside support surface.",
|
| 871 |
+
"id": 1,
|
| 872 |
+
"grasp_group": {}
|
| 873 |
+
},
|
| 874 |
+
{
|
| 875 |
+
"part_name": "front label emblem",
|
| 876 |
+
"mask_color": "Blue",
|
| 877 |
+
"graspable": false,
|
| 878 |
+
"grasp_scenarios": [],
|
| 879 |
+
"functional_labels": [
|
| 880 |
+
"brand marking",
|
| 881 |
+
"identify product front",
|
| 882 |
+
"provide visual decoration"
|
| 883 |
+
],
|
| 884 |
+
"semantic_description": "Small oval emblem on the front of the body, appearing darker than the surrounding reflective silver surface and visible only on one side.",
|
| 885 |
+
"id": 2,
|
| 886 |
+
"grasp_group": {}
|
| 887 |
+
}
|
| 888 |
+
],
|
| 889 |
+
"quality_check": {
|
| 890 |
+
"success": true,
|
| 891 |
+
"message": "YES"
|
| 892 |
+
}
|
| 893 |
+
}
|
dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4eb86eb02cce6900807f9a50eb6512b21ccd4d51a9b3654c5b5acd7ef2bed992
|
| 3 |
+
size 3787612
|