Add asset bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227
Browse files
.gitattributes
CHANGED
|
@@ -5672,3 +5672,4 @@ dataset/bathroom_supplies/bath_products/b15fd38ad9025295a4ff0293feb4e2a9/afforda
|
|
| 5672 |
dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5673 |
dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5674 |
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5672 |
dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5673 |
dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5674 |
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5675 |
+
dataset/bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1043 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 to pick up and move the sanitizer",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body steady while pressing the pump",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the bottle body to reorient the dispenser nozzle",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain sanitizer",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural housing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rounded light pink plastic bottle body with a glossy smooth hard surface, oval shape, and black floral graphics with small printed text on the front.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9884672164916992,
|
| 32 |
+
"position": [
|
| 33 |
+
0.013400951458606869,
|
| 34 |
+
-0.10755194129887968,
|
| 35 |
+
0.00473841791972518
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6947299809666412,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7161976673014255,
|
| 41 |
+
-0.04705244725834956,
|
| 42 |
+
0.04687453578530021
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9884235262870789,
|
| 48 |
+
"position": [
|
| 49 |
+
0.004810718877706677,
|
| 50 |
+
-0.10911215248052031,
|
| 51 |
+
0.0049049570225179195
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6967734069341629,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.7170078468482602,
|
| 57 |
+
-0.011908166015106358,
|
| 58 |
+
0.01627152511407829
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9881442785263062,
|
| 64 |
+
"position": [
|
| 65 |
+
0.018628199642989784,
|
| 66 |
+
-0.10724297317210585,
|
| 67 |
+
0.016386625356972218
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6810126725269223,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.7262790505456451,
|
| 73 |
+
-0.0649166531031442,
|
| 74 |
+
0.06727784736553838
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.988103449344635,
|
| 80 |
+
"position": [
|
| 81 |
+
0.013215996383223683,
|
| 82 |
+
-0.10763456078711897,
|
| 83 |
+
0.007600957294926047
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6959637966931436,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.7149657431686907,
|
| 89 |
+
-0.04944713387127886,
|
| 90 |
+
0.04487048851553527
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9880887866020203,
|
| 96 |
+
"position": [
|
| 97 |
+
0.00907087983796373,
|
| 98 |
+
-0.10978093894664198,
|
| 99 |
+
0.0022947853431105614
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7118777197947246,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.7007077687490405,
|
| 105 |
+
-0.019025085379463014,
|
| 106 |
+
0.04332183053506733
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9880791306495667,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0005071181512903422,
|
| 114 |
+
-0.11010873469058424,
|
| 115 |
+
-0.002842409536242485
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.7057150837244175,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.7084832342846643,
|
| 121 |
+
-0.0016158751349992784,
|
| 122 |
+
-0.0038879671974141198
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9879481196403503,
|
| 128 |
+
"position": [
|
| 129 |
+
0.0036972882808186114,
|
| 130 |
+
-0.11115002783481032,
|
| 131 |
+
-0.0016531432047486305
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7018834483133293,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.7120543291955413,
|
| 137 |
+
-0.0164558580933738,
|
| 138 |
+
0.008213524949023209
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9877598881721497,
|
| 144 |
+
"position": [
|
| 145 |
+
0.008332554309163243,
|
| 146 |
+
-0.11133863928262144,
|
| 147 |
+
0.004292062949389219
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.6964556736062555,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.7163936757387349,
|
| 153 |
+
-0.03218835260709607,
|
| 154 |
+
0.026334502456712882
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.98774254322052,
|
| 160 |
+
"position": [
|
| 161 |
+
0.006286099611315876,
|
| 162 |
+
-0.10793487878981978,
|
| 163 |
+
0.019771314226090908
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.6747150159564609,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.7371551090589801,
|
| 169 |
+
-0.03277784002152184,
|
| 170 |
+
0.01695893966730653
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.987491250038147,
|
| 176 |
+
"position": [
|
| 177 |
+
0.019490131235215813,
|
| 178 |
+
-0.10240039380732924,
|
| 179 |
+
0.030808284878730774
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.5983077481887287,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.7952391650020488,
|
| 185 |
+
-0.07937002308553631,
|
| 186 |
+
0.05764467312405001
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9874497652053833,
|
| 192 |
+
"position": [
|
| 193 |
+
0.005968671815935522,
|
| 194 |
+
-0.1077461555832997,
|
| 195 |
+
0.01484438544139266
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.6956029927875306,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.7180640998259373,
|
| 201 |
+
-0.01651672598882503,
|
| 202 |
+
0.015736032816662797
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9874163269996643,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.0016800270532257855,
|
| 210 |
+
-0.11025207641068846,
|
| 211 |
+
-0.007684735581278801
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.7039421088075323,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.7102080661166289,
|
| 217 |
+
0.006337088133042346,
|
| 218 |
+
-0.005463660355170713
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9873954653739929,
|
| 224 |
+
"position": [
|
| 225 |
+
0.0005811661831103265,
|
| 226 |
+
-0.10640151950065047,
|
| 227 |
+
0.02944059483706951
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.5976429408888124,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.8016239595038124,
|
| 233 |
+
-0.012459585041969201,
|
| 234 |
+
-0.008167098369900951
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9873859882354736,
|
| 240 |
+
"position": [
|
| 241 |
+
0.017324074229691178,
|
| 242 |
+
-0.10893877747002989,
|
| 243 |
+
-0.010476505383849144
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.7041359647681311,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.7045038394054361,
|
| 249 |
+
-0.06266619210406588,
|
| 250 |
+
0.06276807907072439
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9873790144920349,
|
| 256 |
+
"position": [
|
| 257 |
+
0.005687441269401461,
|
| 258 |
+
-0.10997177811805159,
|
| 259 |
+
-0.008671673014760017
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.7171004847039096,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.6961254935357677,
|
| 265 |
+
-0.007195224345189266,
|
| 266 |
+
0.03353238484844669
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.98735111951828,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.010957956255879253,
|
| 274 |
+
-0.10822513850871474,
|
| 275 |
+
0.002209274098277092
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.7023498042768094,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.7099130789852943,
|
| 281 |
+
0.04015419769785711,
|
| 282 |
+
-0.03340378908429599
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_17": {
|
| 287 |
+
"confidence": 0.9871004819869995,
|
| 288 |
+
"position": [
|
| 289 |
+
0.0034596911282278597,
|
| 290 |
+
-0.1078006491297856,
|
| 291 |
+
0.017087772022932768
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.6970502615281278,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.7168687587727898,
|
| 297 |
+
-0.008771079897375356,
|
| 298 |
+
0.011965941524259338
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_18": {
|
| 303 |
+
"confidence": 0.9870750308036804,
|
| 304 |
+
"position": [
|
| 305 |
+
0.023033944016788155,
|
| 306 |
+
-0.1088728770846501,
|
| 307 |
+
-0.001620774157345295
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.689214468716057,
|
| 311 |
+
"xyz": [
|
| 312 |
+
-0.7147230791785536,
|
| 313 |
+
-0.0849959727558206,
|
| 314 |
+
0.08324674658664939
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_19": {
|
| 319 |
+
"confidence": 0.9870395064353943,
|
| 320 |
+
"position": [
|
| 321 |
+
-0.0005130143254064023,
|
| 322 |
+
-0.10428735765162855,
|
| 323 |
+
0.022715273313224316
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.6342138673748555,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.7730382841866039,
|
| 329 |
+
-0.002937010982893007,
|
| 330 |
+
-0.013264824829107291
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"part_name": "pump head",
|
| 338 |
+
"mask_color": "Green",
|
| 339 |
+
"graspable": true,
|
| 340 |
+
"grasp_scenarios": [
|
| 341 |
+
{
|
| 342 |
+
"scenario": "delicately grasp the pump head to rotate or orient the dispenser",
|
| 343 |
+
"confidence": 0.44
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"scenario": "lightly hold the pump head to stabilize the top during cap adjustment",
|
| 347 |
+
"confidence": 0.31
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"functional_labels": [
|
| 351 |
+
"dispense sanitizer",
|
| 352 |
+
"press to pump liquid",
|
| 353 |
+
"direct output flow",
|
| 354 |
+
"provide finger press surface"
|
| 355 |
+
],
|
| 356 |
+
"semantic_description": "Small white plastic pump head with a glossy smooth hard surface, curved nozzle-like shape, positioned at the top and sized for pressing rather than full-hand holding.",
|
| 357 |
+
"id": 1,
|
| 358 |
+
"grasp_group": {
|
| 359 |
+
"grasp_20": {
|
| 360 |
+
"confidence": 0.9589380621910095,
|
| 361 |
+
"position": [
|
| 362 |
+
0.015002251660916954,
|
| 363 |
+
-0.051690505468286574,
|
| 364 |
+
0.1527149099856615
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.046529844958063886,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.05303402435109822,
|
| 370 |
+
-0.9664386272244565,
|
| 371 |
+
-0.24701972714302145
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_21": {
|
| 376 |
+
"confidence": 0.9587134122848511,
|
| 377 |
+
"position": [
|
| 378 |
+
0.02657002682099119,
|
| 379 |
+
0.044099210179410875,
|
| 380 |
+
0.14859026856720448
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.2648725354397136,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.9420059160178588,
|
| 386 |
+
-0.18948407838761394,
|
| 387 |
+
-0.08101344453045406
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_22": {
|
| 392 |
+
"confidence": 0.9585109353065491,
|
| 393 |
+
"position": [
|
| 394 |
+
0.02375879610190168,
|
| 395 |
+
0.005794140859507024,
|
| 396 |
+
0.16187122650444508
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.08188316058886015,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.13798211686954542,
|
| 402 |
+
-0.985471180364897,
|
| 403 |
+
0.05570131153208671
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_23": {
|
| 408 |
+
"confidence": 0.9542807936668396,
|
| 409 |
+
"position": [
|
| 410 |
+
0.015453892818186432,
|
| 411 |
+
-0.04632599058095366,
|
| 412 |
+
0.15570169873535633
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.22948123865485962,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.963247299611186,
|
| 418 |
+
-0.13254420893514418,
|
| 419 |
+
0.04387520455731295
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_24": {
|
| 424 |
+
"confidence": 0.9540120363235474,
|
| 425 |
+
"position": [
|
| 426 |
+
-0.007963319250848144,
|
| 427 |
+
-0.04828526976052672,
|
| 428 |
+
0.1561142522841692
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.22730423735932487,
|
| 432 |
+
"xyz": [
|
| 433 |
+
-0.9732262751538155,
|
| 434 |
+
0.021289446990856692,
|
| 435 |
+
-0.026648836288835572
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_25": {
|
| 440 |
+
"confidence": 0.9537460803985596,
|
| 441 |
+
"position": [
|
| 442 |
+
0.028860618418548256,
|
| 443 |
+
0.04744200257118791,
|
| 444 |
+
0.14891191013157368
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.2752132841637655,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.9373922622749274,
|
| 450 |
+
-0.1897478329230059,
|
| 451 |
+
-0.09771977664685413
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_26": {
|
| 456 |
+
"confidence": 0.9531732201576233,
|
| 457 |
+
"position": [
|
| 458 |
+
0.03138965280959383,
|
| 459 |
+
0.04647813586052507,
|
| 460 |
+
0.14850361831486225
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.27440290121824,
|
| 464 |
+
"xyz": [
|
| 465 |
+
0.9421232933246912,
|
| 466 |
+
-0.1627007336344959,
|
| 467 |
+
-0.10312719938429332
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_27": {
|
| 472 |
+
"confidence": 0.9515641331672668,
|
| 473 |
+
"position": [
|
| 474 |
+
-0.0016358465072698891,
|
| 475 |
+
-0.08854994329158217,
|
| 476 |
+
0.12130855210125446
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.4925941369183561,
|
| 480 |
+
"xyz": [
|
| 481 |
+
-0.870208428749525,
|
| 482 |
+
0.006449778702216802,
|
| 483 |
+
-0.006834263796139203
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_28": {
|
| 488 |
+
"confidence": 0.9507710337638855,
|
| 489 |
+
"position": [
|
| 490 |
+
0.0034515977022238076,
|
| 491 |
+
0.051716370857320726,
|
| 492 |
+
0.14811246283352375
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.2750353067904637,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.9611399070159033,
|
| 498 |
+
0.023774663409241115,
|
| 499 |
+
0.0006515672747519399
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_29": {
|
| 504 |
+
"confidence": 0.9497416019439697,
|
| 505 |
+
"position": [
|
| 506 |
+
0.004084258864168078,
|
| 507 |
+
0.004586669499985874,
|
| 508 |
+
0.16443422622978687
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.031160628206449575,
|
| 512 |
+
"xyz": [
|
| 513 |
+
0.9977921516985194,
|
| 514 |
+
-0.058649979196648966,
|
| 515 |
+
0.00013114438945877074
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_30": {
|
| 520 |
+
"confidence": 0.9431825280189514,
|
| 521 |
+
"position": [
|
| 522 |
+
0.009410561120603234,
|
| 523 |
+
-0.04707726615015417,
|
| 524 |
+
0.15640933997929096
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.08129860442887085,
|
| 528 |
+
"xyz": [
|
| 529 |
+
-0.182769893949758,
|
| 530 |
+
-0.9592124246070194,
|
| 531 |
+
-0.1997429029103043
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_31": {
|
| 536 |
+
"confidence": 0.9425380825996399,
|
| 537 |
+
"position": [
|
| 538 |
+
0.022456993407104164,
|
| 539 |
+
0.057209441787563264,
|
| 540 |
+
0.14701238460838795
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.2971043118581799,
|
| 544 |
+
"xyz": [
|
| 545 |
+
0.9445338230567626,
|
| 546 |
+
-0.11658915504792633,
|
| 547 |
+
-0.0774070662295398
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"grasp_32": {
|
| 552 |
+
"confidence": 0.9405619502067566,
|
| 553 |
+
"position": [
|
| 554 |
+
-0.006654029188212007,
|
| 555 |
+
0.005875510978512466,
|
| 556 |
+
0.16521589644253254
|
| 557 |
+
],
|
| 558 |
+
"orientation": {
|
| 559 |
+
"w": 0.0591437703282784,
|
| 560 |
+
"xyz": [
|
| 561 |
+
0.23094525494356227,
|
| 562 |
+
0.9709354634461593,
|
| 563 |
+
-0.021228035071577393
|
| 564 |
+
]
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"grasp_33": {
|
| 568 |
+
"confidence": 0.9335610270500183,
|
| 569 |
+
"position": [
|
| 570 |
+
0.016676793864462525,
|
| 571 |
+
-0.0019514167797751725,
|
| 572 |
+
0.1631800103932619
|
| 573 |
+
],
|
| 574 |
+
"orientation": {
|
| 575 |
+
"w": 0.026473246398308285,
|
| 576 |
+
"xyz": [
|
| 577 |
+
0.9959119139182235,
|
| 578 |
+
-0.07054298543690243,
|
| 579 |
+
-0.04982282756452499
|
| 580 |
+
]
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"grasp_34": {
|
| 584 |
+
"confidence": 0.9329618215560913,
|
| 585 |
+
"position": [
|
| 586 |
+
-0.022986556345131248,
|
| 587 |
+
-0.08286694588605314,
|
| 588 |
+
0.1287327352911234
|
| 589 |
+
],
|
| 590 |
+
"orientation": {
|
| 591 |
+
"w": 0.06626403144012304,
|
| 592 |
+
"xyz": [
|
| 593 |
+
0.17335313651474604,
|
| 594 |
+
0.8768326892809091,
|
| 595 |
+
0.4435337678308275
|
| 596 |
+
]
|
| 597 |
+
}
|
| 598 |
+
},
|
| 599 |
+
"grasp_35": {
|
| 600 |
+
"confidence": 0.9318690896034241,
|
| 601 |
+
"position": [
|
| 602 |
+
0.02152181329438463,
|
| 603 |
+
-0.050244548940099776,
|
| 604 |
+
0.14936191029846668
|
| 605 |
+
],
|
| 606 |
+
"orientation": {
|
| 607 |
+
"w": 0.2568283242141058,
|
| 608 |
+
"xyz": [
|
| 609 |
+
-0.9604472580135186,
|
| 610 |
+
0.0035755524103285863,
|
| 611 |
+
0.1075522751067992
|
| 612 |
+
]
|
| 613 |
+
}
|
| 614 |
+
},
|
| 615 |
+
"grasp_36": {
|
| 616 |
+
"confidence": 0.9299757480621338,
|
| 617 |
+
"position": [
|
| 618 |
+
0.04859475704142824,
|
| 619 |
+
0.048485091305337846,
|
| 620 |
+
0.1396843958646059
|
| 621 |
+
],
|
| 622 |
+
"orientation": {
|
| 623 |
+
"w": 0.3044128007681377,
|
| 624 |
+
"xyz": [
|
| 625 |
+
0.9043297147844929,
|
| 626 |
+
-0.241355658486207,
|
| 627 |
+
-0.17682776875532147
|
| 628 |
+
]
|
| 629 |
+
}
|
| 630 |
+
},
|
| 631 |
+
"grasp_37": {
|
| 632 |
+
"confidence": 0.9268139600753784,
|
| 633 |
+
"position": [
|
| 634 |
+
-0.0024192958953790367,
|
| 635 |
+
0.07509037700947374,
|
| 636 |
+
0.13286961801350117
|
| 637 |
+
],
|
| 638 |
+
"orientation": {
|
| 639 |
+
"w": 0.40391323211846486,
|
| 640 |
+
"xyz": [
|
| 641 |
+
0.9119088621370036,
|
| 642 |
+
0.07214196228907244,
|
| 643 |
+
0.008477343492646538
|
| 644 |
+
]
|
| 645 |
+
}
|
| 646 |
+
},
|
| 647 |
+
"grasp_38": {
|
| 648 |
+
"confidence": 0.9256002902984619,
|
| 649 |
+
"position": [
|
| 650 |
+
0.015014171658549458,
|
| 651 |
+
-0.04675182478968054,
|
| 652 |
+
0.15253709442913532
|
| 653 |
+
],
|
| 654 |
+
"orientation": {
|
| 655 |
+
"w": 0.05992689834046261,
|
| 656 |
+
"xyz": [
|
| 657 |
+
0.11478747699055625,
|
| 658 |
+
-0.9576594836936556,
|
| 659 |
+
-0.25713987491837065
|
| 660 |
+
]
|
| 661 |
+
}
|
| 662 |
+
}
|
| 663 |
+
}
|
| 664 |
+
},
|
| 665 |
+
{
|
| 666 |
+
"part_name": "pump collar",
|
| 667 |
+
"mask_color": "Blue",
|
| 668 |
+
"graspable": true,
|
| 669 |
+
"grasp_scenarios": [
|
| 670 |
+
{
|
| 671 |
+
"scenario": "grasp the collar to stabilize the top during opening or closing adjustments",
|
| 672 |
+
"confidence": 0.56
|
| 673 |
+
},
|
| 674 |
+
{
|
| 675 |
+
"scenario": "hold the collar while reorienting the bottle in a fixture",
|
| 676 |
+
"confidence": 0.38
|
| 677 |
+
}
|
| 678 |
+
],
|
| 679 |
+
"functional_labels": [
|
| 680 |
+
"connect pump to bottle",
|
| 681 |
+
"secure dispenser assembly",
|
| 682 |
+
"provide top support",
|
| 683 |
+
"seal around the neck"
|
| 684 |
+
],
|
| 685 |
+
"semantic_description": "Short white plastic collar with a ribbed cylindrical form, glossy finish, and hard texture, wrapped around the bottle neck below the pump head.",
|
| 686 |
+
"id": 2,
|
| 687 |
+
"grasp_group": {
|
| 688 |
+
"grasp_40": {
|
| 689 |
+
"confidence": 0.9762434363365173,
|
| 690 |
+
"position": [
|
| 691 |
+
0.006476125738117844,
|
| 692 |
+
-0.10347990843001753,
|
| 693 |
+
0.04194848798215389
|
| 694 |
+
],
|
| 695 |
+
"orientation": {
|
| 696 |
+
"w": 0.6794631880016558,
|
| 697 |
+
"xyz": [
|
| 698 |
+
-0.7333506119377299,
|
| 699 |
+
-0.0063389289002716565,
|
| 700 |
+
0.02205615790614808
|
| 701 |
+
]
|
| 702 |
+
}
|
| 703 |
+
},
|
| 704 |
+
"grasp_41": {
|
| 705 |
+
"confidence": 0.9715901017189026,
|
| 706 |
+
"position": [
|
| 707 |
+
-0.02463687484851107,
|
| 708 |
+
0.09829518047627062,
|
| 709 |
+
0.03960178606212139
|
| 710 |
+
],
|
| 711 |
+
"orientation": {
|
| 712 |
+
"w": 0.0888992284283712,
|
| 713 |
+
"xyz": [
|
| 714 |
+
-0.09038207047598698,
|
| 715 |
+
0.7093591722233475,
|
| 716 |
+
-0.6933524163828383
|
| 717 |
+
]
|
| 718 |
+
}
|
| 719 |
+
},
|
| 720 |
+
"grasp_42": {
|
| 721 |
+
"confidence": 0.9712958335876465,
|
| 722 |
+
"position": [
|
| 723 |
+
-0.026876385265495628,
|
| 724 |
+
0.09752438066061586,
|
| 725 |
+
0.040862394496798515
|
| 726 |
+
],
|
| 727 |
+
"orientation": {
|
| 728 |
+
"w": 0.08265883535568867,
|
| 729 |
+
"xyz": [
|
| 730 |
+
-0.12389161251130822,
|
| 731 |
+
0.7007402505284207,
|
| 732 |
+
-0.6976972743076727
|
| 733 |
+
]
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
"grasp_43": {
|
| 737 |
+
"confidence": 0.9696159362792969,
|
| 738 |
+
"position": [
|
| 739 |
+
-0.002854418649803847,
|
| 740 |
+
-0.10279881360474974,
|
| 741 |
+
0.04332537017762661
|
| 742 |
+
],
|
| 743 |
+
"orientation": {
|
| 744 |
+
"w": 0.03583731958309141,
|
| 745 |
+
"xyz": [
|
| 746 |
+
0.0058304571334020835,
|
| 747 |
+
0.7275635590827425,
|
| 748 |
+
0.6850787982338732
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
},
|
| 752 |
+
"grasp_44": {
|
| 753 |
+
"confidence": 0.9689461588859558,
|
| 754 |
+
"position": [
|
| 755 |
+
-0.0440623359172605,
|
| 756 |
+
0.08781935868319124,
|
| 757 |
+
0.04491947777569294
|
| 758 |
+
],
|
| 759 |
+
"orientation": {
|
| 760 |
+
"w": 0.21211854283518736,
|
| 761 |
+
"xyz": [
|
| 762 |
+
-0.12555895869267159,
|
| 763 |
+
0.6963856814454282,
|
| 764 |
+
-0.6740086456087009
|
| 765 |
+
]
|
| 766 |
+
}
|
| 767 |
+
},
|
| 768 |
+
"grasp_45": {
|
| 769 |
+
"confidence": 0.9649189710617065,
|
| 770 |
+
"position": [
|
| 771 |
+
-0.030821061634924263,
|
| 772 |
+
0.0980125576024875,
|
| 773 |
+
0.04499445669353008
|
| 774 |
+
],
|
| 775 |
+
"orientation": {
|
| 776 |
+
"w": 0.6715759959516983,
|
| 777 |
+
"xyz": [
|
| 778 |
+
0.7181807030918049,
|
| 779 |
+
0.16933198249254333,
|
| 780 |
+
0.06729664979172784
|
| 781 |
+
]
|
| 782 |
+
}
|
| 783 |
+
},
|
| 784 |
+
"grasp_46": {
|
| 785 |
+
"confidence": 0.9639392495155334,
|
| 786 |
+
"position": [
|
| 787 |
+
-0.04442631540587172,
|
| 788 |
+
0.08556867984589189,
|
| 789 |
+
0.055294984951615334
|
| 790 |
+
],
|
| 791 |
+
"orientation": {
|
| 792 |
+
"w": 0.6299226020795827,
|
| 793 |
+
"xyz": [
|
| 794 |
+
0.7326878918278296,
|
| 795 |
+
0.21927609649427315,
|
| 796 |
+
0.13521820167570991
|
| 797 |
+
]
|
| 798 |
+
}
|
| 799 |
+
},
|
| 800 |
+
"grasp_47": {
|
| 801 |
+
"confidence": 0.9632558822631836,
|
| 802 |
+
"position": [
|
| 803 |
+
0.007772074139211327,
|
| 804 |
+
-0.10339107515756041,
|
| 805 |
+
0.04800497181713581
|
| 806 |
+
],
|
| 807 |
+
"orientation": {
|
| 808 |
+
"w": 0.07949901171328087,
|
| 809 |
+
"xyz": [
|
| 810 |
+
-0.048210742435061425,
|
| 811 |
+
-0.7311275281518742,
|
| 812 |
+
-0.6758758532667098
|
| 813 |
+
]
|
| 814 |
+
}
|
| 815 |
+
},
|
| 816 |
+
"grasp_48": {
|
| 817 |
+
"confidence": 0.9623942971229553,
|
| 818 |
+
"position": [
|
| 819 |
+
0.002292427758220583,
|
| 820 |
+
0.10275037435349077,
|
| 821 |
+
0.044909967109560966
|
| 822 |
+
],
|
| 823 |
+
"orientation": {
|
| 824 |
+
"w": 0.03917342623427876,
|
| 825 |
+
"xyz": [
|
| 826 |
+
0.043693316854695734,
|
| 827 |
+
0.7219715254863143,
|
| 828 |
+
-0.6894298028996622
|
| 829 |
+
]
|
| 830 |
+
}
|
| 831 |
+
},
|
| 832 |
+
"grasp_49": {
|
| 833 |
+
"confidence": 0.9611353874206543,
|
| 834 |
+
"position": [
|
| 835 |
+
0.03991727816173807,
|
| 836 |
+
0.0853838756447658,
|
| 837 |
+
0.08217828162014484
|
| 838 |
+
],
|
| 839 |
+
"orientation": {
|
| 840 |
+
"w": 0.5167032532226359,
|
| 841 |
+
"xyz": [
|
| 842 |
+
0.8296668851090234,
|
| 843 |
+
-0.1742573208464433,
|
| 844 |
+
-0.11960348654639993
|
| 845 |
+
]
|
| 846 |
+
}
|
| 847 |
+
},
|
| 848 |
+
"grasp_50": {
|
| 849 |
+
"confidence": 0.9588914513587952,
|
| 850 |
+
"position": [
|
| 851 |
+
-0.051893879601266235,
|
| 852 |
+
0.0811915680533275,
|
| 853 |
+
0.04591965489089489
|
| 854 |
+
],
|
| 855 |
+
"orientation": {
|
| 856 |
+
"w": 0.24955399065663947,
|
| 857 |
+
"xyz": [
|
| 858 |
+
-0.1555140288987352,
|
| 859 |
+
0.7106942501968417,
|
| 860 |
+
-0.6391023981336466
|
| 861 |
+
]
|
| 862 |
+
}
|
| 863 |
+
},
|
| 864 |
+
"grasp_51": {
|
| 865 |
+
"confidence": 0.9582157731056213,
|
| 866 |
+
"position": [
|
| 867 |
+
-0.03642588196089491,
|
| 868 |
+
0.09695920196827501,
|
| 869 |
+
0.052852923050522804
|
| 870 |
+
],
|
| 871 |
+
"orientation": {
|
| 872 |
+
"w": 0.13421520805408885,
|
| 873 |
+
"xyz": [
|
| 874 |
+
-0.13860280487409707,
|
| 875 |
+
0.7188408340437047,
|
| 876 |
+
-0.667864803474013
|
| 877 |
+
]
|
| 878 |
+
}
|
| 879 |
+
},
|
| 880 |
+
"grasp_52": {
|
| 881 |
+
"confidence": 0.9550812840461731,
|
| 882 |
+
"position": [
|
| 883 |
+
0.01953009987482801,
|
| 884 |
+
0.08506723341997713,
|
| 885 |
+
0.0879297573119402
|
| 886 |
+
],
|
| 887 |
+
"orientation": {
|
| 888 |
+
"w": 0.5017429675449239,
|
| 889 |
+
"xyz": [
|
| 890 |
+
0.8586899520729014,
|
| 891 |
+
-0.0871466318075742,
|
| 892 |
+
-0.0575415093028221
|
| 893 |
+
]
|
| 894 |
+
}
|
| 895 |
+
},
|
| 896 |
+
"grasp_53": {
|
| 897 |
+
"confidence": 0.9538130164146423,
|
| 898 |
+
"position": [
|
| 899 |
+
0.045666336140129715,
|
| 900 |
+
0.08156243560370058,
|
| 901 |
+
0.08814950473606586
|
| 902 |
+
],
|
| 903 |
+
"orientation": {
|
| 904 |
+
"w": 0.4993792246419093,
|
| 905 |
+
"xyz": [
|
| 906 |
+
0.8270945342769846,
|
| 907 |
+
-0.21082960338257695,
|
| 908 |
+
-0.14861325547449863
|
| 909 |
+
]
|
| 910 |
+
}
|
| 911 |
+
},
|
| 912 |
+
"grasp_54": {
|
| 913 |
+
"confidence": 0.9534136652946472,
|
| 914 |
+
"position": [
|
| 915 |
+
0.03356556879589334,
|
| 916 |
+
0.09502141026314348,
|
| 917 |
+
0.04474242962896824
|
| 918 |
+
],
|
| 919 |
+
"orientation": {
|
| 920 |
+
"w": 0.6971106596819935,
|
| 921 |
+
"xyz": [
|
| 922 |
+
0.6958589764654558,
|
| 923 |
+
-0.08174273789412512,
|
| 924 |
+
-0.152102392590506
|
| 925 |
+
]
|
| 926 |
+
}
|
| 927 |
+
},
|
| 928 |
+
"grasp_55": {
|
| 929 |
+
"confidence": 0.951851487159729,
|
| 930 |
+
"position": [
|
| 931 |
+
0.019349557405803353,
|
| 932 |
+
0.08471049217041582,
|
| 933 |
+
0.08803370036184788
|
| 934 |
+
],
|
| 935 |
+
"orientation": {
|
| 936 |
+
"w": 0.09310244094917983,
|
| 937 |
+
"xyz": [
|
| 938 |
+
-0.031156694966773344,
|
| 939 |
+
-0.8592099878873233,
|
| 940 |
+
0.5021149196774762
|
| 941 |
+
]
|
| 942 |
+
}
|
| 943 |
+
},
|
| 944 |
+
"grasp_56": {
|
| 945 |
+
"confidence": 0.9497179388999939,
|
| 946 |
+
"position": [
|
| 947 |
+
0.044838341942522675,
|
| 948 |
+
0.07325158861931413,
|
| 949 |
+
0.09670130349695683
|
| 950 |
+
],
|
| 951 |
+
"orientation": {
|
| 952 |
+
"w": 0.45617316224197246,
|
| 953 |
+
"xyz": [
|
| 954 |
+
0.8506134302120006,
|
| 955 |
+
-0.20654397431207516,
|
| 956 |
+
-0.16031975882125654
|
| 957 |
+
]
|
| 958 |
+
}
|
| 959 |
+
},
|
| 960 |
+
"grasp_57": {
|
| 961 |
+
"confidence": 0.949263870716095,
|
| 962 |
+
"position": [
|
| 963 |
+
-0.05316707579186186,
|
| 964 |
+
0.08483148214872926,
|
| 965 |
+
0.04638918302953243
|
| 966 |
+
],
|
| 967 |
+
"orientation": {
|
| 968 |
+
"w": 0.2216026161514748,
|
| 969 |
+
"xyz": [
|
| 970 |
+
-0.20959126307064474,
|
| 971 |
+
0.7111877645379272,
|
| 972 |
+
-0.6333843592407536
|
| 973 |
+
]
|
| 974 |
+
}
|
| 975 |
+
},
|
| 976 |
+
"grasp_58": {
|
| 977 |
+
"confidence": 0.9485350847244263,
|
| 978 |
+
"position": [
|
| 979 |
+
0.02539722906658426,
|
| 980 |
+
0.09459687618073076,
|
| 981 |
+
0.041640808805823326
|
| 982 |
+
],
|
| 983 |
+
"orientation": {
|
| 984 |
+
"w": 0.08850382741886231,
|
| 985 |
+
"xyz": [
|
| 986 |
+
-0.09169002303021272,
|
| 987 |
+
-0.724055821012824,
|
| 988 |
+
0.6778666389979501
|
| 989 |
+
]
|
| 990 |
+
}
|
| 991 |
+
},
|
| 992 |
+
"grasp_59": {
|
| 993 |
+
"confidence": 0.9459550976753235,
|
| 994 |
+
"position": [
|
| 995 |
+
-0.009861121827270836,
|
| 996 |
+
0.08799112436827272,
|
| 997 |
+
0.08660745061933994
|
| 998 |
+
],
|
| 999 |
+
"orientation": {
|
| 1000 |
+
"w": 0.07106586059865821,
|
| 1001 |
+
"xyz": [
|
| 1002 |
+
-0.008605944793844383,
|
| 1003 |
+
0.8589460109068355,
|
| 1004 |
+
-0.5070378008776187
|
| 1005 |
+
]
|
| 1006 |
+
}
|
| 1007 |
+
}
|
| 1008 |
+
}
|
| 1009 |
+
},
|
| 1010 |
+
{
|
| 1011 |
+
"part_name": "pump neck",
|
| 1012 |
+
"mask_color": "Orange",
|
| 1013 |
+
"graspable": false,
|
| 1014 |
+
"grasp_scenarios": [],
|
| 1015 |
+
"functional_labels": [
|
| 1016 |
+
"connect pump head to collar",
|
| 1017 |
+
"transfer pumped liquid",
|
| 1018 |
+
"support pump motion"
|
| 1019 |
+
],
|
| 1020 |
+
"semantic_description": "Tiny white plastic neck section with a smooth glossy surface and hard texture, located between the pump head and collar as a narrow connector.",
|
| 1021 |
+
"id": 4,
|
| 1022 |
+
"grasp_group": {}
|
| 1023 |
+
},
|
| 1024 |
+
{
|
| 1025 |
+
"part_name": "base of bottle",
|
| 1026 |
+
"mask_color": "Purple",
|
| 1027 |
+
"graspable": false,
|
| 1028 |
+
"grasp_scenarios": [],
|
| 1029 |
+
"functional_labels": [
|
| 1030 |
+
"support upright standing",
|
| 1031 |
+
"stabilize the bottle",
|
| 1032 |
+
"form the bottom contact surface"
|
| 1033 |
+
],
|
| 1034 |
+
"semantic_description": "Flat oval bottom section of the pink plastic bottle with a smooth slightly recessed surface, located underneath as the small supporting base.",
|
| 1035 |
+
"id": 5,
|
| 1036 |
+
"grasp_group": {}
|
| 1037 |
+
}
|
| 1038 |
+
],
|
| 1039 |
+
"quality_check": {
|
| 1040 |
+
"success": true,
|
| 1041 |
+
"message": "YES"
|
| 1042 |
+
}
|
| 1043 |
+
}
|
dataset/bathroom_supplies/bath_products/b9e55eda73b9514493d8cd3be6798227/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a6c2548420a498a6889719355e1ce1e49c1228b3d28040bf36df9e8b61430b93
|
| 3 |
+
size 37328512
|