Add asset bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46
Browse files- .gitattributes +1 -1
- dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/affordance/affordance_annot.json +995 -0
- dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8083,4 +8083,4 @@ dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mes
|
|
| 8083 |
dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8084 |
dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8085 |
dataset/bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8086 |
-
dataset/bedroom_supplies/storage/
|
|
|
|
| 8083 |
dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8084 |
dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8085 |
dataset/bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8086 |
+
dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,995 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main body",
|
| 5 |
+
"mask_color": "Gray",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls to pick up and relocate the holder",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the holder while inserting or removing a remote",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain stored items",
|
| 19 |
+
"provide structural support",
|
| 20 |
+
"form the main grasp surface",
|
| 21 |
+
"protect contents",
|
| 22 |
+
"stabilize upright placement"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Large light-gray plastic body with a matte smooth hard surface, tapered rectangular form, and rounded lower corners forming most of the holder below the top cap.",
|
| 25 |
+
"id": 15,
|
| 26 |
+
"grasp_group": {
|
| 27 |
+
"grasp_40": {
|
| 28 |
+
"confidence": 0.8816199898719788,
|
| 29 |
+
"position": [
|
| 30 |
+
0.006381106097251177,
|
| 31 |
+
0.1273281122557819,
|
| 32 |
+
0.06915754626970738
|
| 33 |
+
],
|
| 34 |
+
"orientation": {
|
| 35 |
+
"w": 0.503473234399256,
|
| 36 |
+
"xyz": [
|
| 37 |
+
0.8637026673291777,
|
| 38 |
+
-0.011723039208500818,
|
| 39 |
+
0.019873979061361124
|
| 40 |
+
]
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"grasp_41": {
|
| 44 |
+
"confidence": 0.8802983164787292,
|
| 45 |
+
"position": [
|
| 46 |
+
0.017159529961645603,
|
| 47 |
+
0.12847478641197085,
|
| 48 |
+
0.05873177747707814
|
| 49 |
+
],
|
| 50 |
+
"orientation": {
|
| 51 |
+
"w": 0.5112323466277438,
|
| 52 |
+
"xyz": [
|
| 53 |
+
0.8590368661301248,
|
| 54 |
+
-0.02335489275709568,
|
| 55 |
+
0.012316630023217081
|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"grasp_42": {
|
| 60 |
+
"confidence": 0.8762238621711731,
|
| 61 |
+
"position": [
|
| 62 |
+
0.011118375812657177,
|
| 63 |
+
0.13823854876682162,
|
| 64 |
+
0.031069779652170837
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.7019668352573812,
|
| 68 |
+
"xyz": [
|
| 69 |
+
0.7112409323139771,
|
| 70 |
+
-0.0328901877625456,
|
| 71 |
+
0.017237573751136975
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_43": {
|
| 76 |
+
"confidence": 0.8725327253341675,
|
| 77 |
+
"position": [
|
| 78 |
+
0.022240014746785164,
|
| 79 |
+
0.14020666433498263,
|
| 80 |
+
0.012453923816792667
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.701493206527967,
|
| 84 |
+
"xyz": [
|
| 85 |
+
0.7120722355055475,
|
| 86 |
+
-0.029150206898473474,
|
| 87 |
+
0.0032677293369163334
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_44": {
|
| 92 |
+
"confidence": 0.8711081743240356,
|
| 93 |
+
"position": [
|
| 94 |
+
0.020708665251731873,
|
| 95 |
+
0.13875825656577945,
|
| 96 |
+
0.01540180470328778
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.7017996365771726,
|
| 100 |
+
"xyz": [
|
| 101 |
+
0.711563640482475,
|
| 102 |
+
-0.031471321416683296,
|
| 103 |
+
0.012806700268354171
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_46": {
|
| 108 |
+
"confidence": 0.8566955924034119,
|
| 109 |
+
"position": [
|
| 110 |
+
0.011819845298305154,
|
| 111 |
+
0.13135491264984012,
|
| 112 |
+
-0.028541550156660378
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.8280332033095786,
|
| 116 |
+
"xyz": [
|
| 117 |
+
0.560346772307426,
|
| 118 |
+
-0.013654282981420351,
|
| 119 |
+
0.013640730837863983
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_47": {
|
| 124 |
+
"confidence": 0.8562071919441223,
|
| 125 |
+
"position": [
|
| 126 |
+
0.010853055748157203,
|
| 127 |
+
0.12842176808044314,
|
| 128 |
+
0.07349499862175435
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.5080916531504527,
|
| 132 |
+
"xyz": [
|
| 133 |
+
0.8600290177873723,
|
| 134 |
+
-0.032866474660335876,
|
| 135 |
+
0.03335798863734801
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_48": {
|
| 140 |
+
"confidence": 0.8523436188697815,
|
| 141 |
+
"position": [
|
| 142 |
+
0.017455391585826874,
|
| 143 |
+
0.1318897600285709,
|
| 144 |
+
-0.021928599220700562
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.8049727444999478,
|
| 148 |
+
"xyz": [
|
| 149 |
+
0.5926418715208506,
|
| 150 |
+
-0.015997913064626834,
|
| 151 |
+
0.02320688497111332
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_49": {
|
| 156 |
+
"confidence": 0.8510006070137024,
|
| 157 |
+
"position": [
|
| 158 |
+
0.011057035764679313,
|
| 159 |
+
0.1266642208211124,
|
| 160 |
+
0.06627273361664265
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.5147274612386994,
|
| 164 |
+
"xyz": [
|
| 165 |
+
0.8568539025508177,
|
| 166 |
+
-0.01749719280313733,
|
| 167 |
+
0.023470802589747364
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_50": {
|
| 172 |
+
"confidence": 0.8492482900619507,
|
| 173 |
+
"position": [
|
| 174 |
+
0.017067051492631435,
|
| 175 |
+
0.12786282552406192,
|
| 176 |
+
-0.032820457709021866
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.8432908549592636,
|
| 180 |
+
"xyz": [
|
| 181 |
+
0.5373169144512107,
|
| 182 |
+
-0.01075786311014415,
|
| 183 |
+
0.005944389624552286
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
"grasp_51": {
|
| 188 |
+
"confidence": 0.8471196889877319,
|
| 189 |
+
"position": [
|
| 190 |
+
0.012016093824058771,
|
| 191 |
+
0.12624442530795932,
|
| 192 |
+
0.055888155358843505
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
| 195 |
+
"w": 0.5188146633401968,
|
| 196 |
+
"xyz": [
|
| 197 |
+
0.8546235944847849,
|
| 198 |
+
-0.008916661642446533,
|
| 199 |
+
0.019244479682718255
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
"grasp_52": {
|
| 204 |
+
"confidence": 0.8463277816772461,
|
| 205 |
+
"position": [
|
| 206 |
+
0.011412102030590177,
|
| 207 |
+
0.12632834864780307,
|
| 208 |
+
0.06076314102392644
|
| 209 |
+
],
|
| 210 |
+
"orientation": {
|
| 211 |
+
"w": 0.5218141591308156,
|
| 212 |
+
"xyz": [
|
| 213 |
+
0.8526565167850485,
|
| 214 |
+
-0.01186513214735585,
|
| 215 |
+
0.02336806268636922
|
| 216 |
+
]
|
| 217 |
+
}
|
| 218 |
+
},
|
| 219 |
+
"grasp_53": {
|
| 220 |
+
"confidence": 0.8462768793106079,
|
| 221 |
+
"position": [
|
| 222 |
+
0.014968328643590212,
|
| 223 |
+
0.1387278432957828,
|
| 224 |
+
0.03333580296020955
|
| 225 |
+
],
|
| 226 |
+
"orientation": {
|
| 227 |
+
"w": 0.027800034787101028,
|
| 228 |
+
"xyz": [
|
| 229 |
+
-0.032292233441158585,
|
| 230 |
+
-0.7123976748085361,
|
| 231 |
+
0.7004812079225313
|
| 232 |
+
]
|
| 233 |
+
}
|
| 234 |
+
},
|
| 235 |
+
"grasp_54": {
|
| 236 |
+
"confidence": 0.844155490398407,
|
| 237 |
+
"position": [
|
| 238 |
+
0.016420905012637377,
|
| 239 |
+
0.1420813794247806,
|
| 240 |
+
0.021679304423741996
|
| 241 |
+
],
|
| 242 |
+
"orientation": {
|
| 243 |
+
"w": 0.024377985101257674,
|
| 244 |
+
"xyz": [
|
| 245 |
+
-0.03812891046376765,
|
| 246 |
+
-0.7057157911050386,
|
| 247 |
+
0.7070481753135629
|
| 248 |
+
]
|
| 249 |
+
}
|
| 250 |
+
},
|
| 251 |
+
"grasp_55": {
|
| 252 |
+
"confidence": 0.8438268899917603,
|
| 253 |
+
"position": [
|
| 254 |
+
0.01200648583471775,
|
| 255 |
+
0.1367790694348514,
|
| 256 |
+
0.019076309981755912
|
| 257 |
+
],
|
| 258 |
+
"orientation": {
|
| 259 |
+
"w": 0.7190681642822663,
|
| 260 |
+
"xyz": [
|
| 261 |
+
0.6947490650002368,
|
| 262 |
+
-0.009415078029728963,
|
| 263 |
+
0.013269065631099893
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"grasp_56": {
|
| 268 |
+
"confidence": 0.8436596393585205,
|
| 269 |
+
"position": [
|
| 270 |
+
0.010465817875228822,
|
| 271 |
+
0.13893888844177127,
|
| 272 |
+
0.029379861312918365
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.7173084987775058,
|
| 276 |
+
"xyz": [
|
| 277 |
+
0.6957755676992886,
|
| 278 |
+
-0.021147602099212515,
|
| 279 |
+
0.030292835782535856
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_57": {
|
| 284 |
+
"confidence": 0.8435145616531372,
|
| 285 |
+
"position": [
|
| 286 |
+
0.013967020437121391,
|
| 287 |
+
0.12666258169338107,
|
| 288 |
+
0.06937696586828679
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.5187658498769705,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.8546090176702806,
|
| 294 |
+
-0.017152466449806503,
|
| 295 |
+
0.015205683567366178
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_58": {
|
| 300 |
+
"confidence": 0.8422055244445801,
|
| 301 |
+
"position": [
|
| 302 |
+
0.018372741527855396,
|
| 303 |
+
0.1395128662697971,
|
| 304 |
+
0.03457691322546452
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.7030455764384509,
|
| 308 |
+
"xyz": [
|
| 309 |
+
0.7099760183655974,
|
| 310 |
+
-0.03924872702893756,
|
| 311 |
+
0.010977623725894793
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_59": {
|
| 316 |
+
"confidence": 0.8420617580413818,
|
| 317 |
+
"position": [
|
| 318 |
+
0.0042841508984565735,
|
| 319 |
+
-0.12688250886276364,
|
| 320 |
+
0.06816644768696278
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.5369581311170595,
|
| 324 |
+
"xyz": [
|
| 325 |
+
-0.8433248108875558,
|
| 326 |
+
-0.0025908918109192047,
|
| 327 |
+
-0.02173743426366004
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
}
|
| 331 |
+
}
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"part_name": "front lip",
|
| 335 |
+
"mask_color": "Navy",
|
| 336 |
+
"graspable": true,
|
| 337 |
+
"grasp_scenarios": [
|
| 338 |
+
{
|
| 339 |
+
"scenario": "pinch the front lip and opposite wall to pull the holder forward slightly",
|
| 340 |
+
"confidence": 0.54
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"scenario": "use the front lip as a secondary contact point while repositioning the holder",
|
| 344 |
+
"confidence": 0.47
|
| 345 |
+
}
|
| 346 |
+
],
|
| 347 |
+
"functional_labels": [
|
| 348 |
+
"retain contents at the front",
|
| 349 |
+
"allow front access opening",
|
| 350 |
+
"indicate insertion direction",
|
| 351 |
+
"support partial pulling"
|
| 352 |
+
],
|
| 353 |
+
"semantic_description": "Short lower front wall in light gray plastic with a matte smooth finish and curved top cutout, forming the front edge of the storage opening.",
|
| 354 |
+
"id": 13,
|
| 355 |
+
"grasp_group": {
|
| 356 |
+
"grasp_20": {
|
| 357 |
+
"confidence": 0.8545311689376831,
|
| 358 |
+
"position": [
|
| 359 |
+
0.030970790423452854,
|
| 360 |
+
0.13234259141609073,
|
| 361 |
+
-0.06271360639948398
|
| 362 |
+
],
|
| 363 |
+
"orientation": {
|
| 364 |
+
"w": 0.03026007416032422,
|
| 365 |
+
"xyz": [
|
| 366 |
+
-0.05731249382282452,
|
| 367 |
+
-0.6329775279155759,
|
| 368 |
+
0.7714525618063024
|
| 369 |
+
]
|
| 370 |
+
}
|
| 371 |
+
},
|
| 372 |
+
"grasp_21": {
|
| 373 |
+
"confidence": 0.8494049906730652,
|
| 374 |
+
"position": [
|
| 375 |
+
0.02043068688362837,
|
| 376 |
+
0.1328708971850574,
|
| 377 |
+
-0.049651546520181
|
| 378 |
+
],
|
| 379 |
+
"orientation": {
|
| 380 |
+
"w": 0.7215548967889159,
|
| 381 |
+
"xyz": [
|
| 382 |
+
0.6918663338959564,
|
| 383 |
+
-0.02446800137866534,
|
| 384 |
+
0.008990208553704039
|
| 385 |
+
]
|
| 386 |
+
}
|
| 387 |
+
},
|
| 388 |
+
"grasp_22": {
|
| 389 |
+
"confidence": 0.8423618078231812,
|
| 390 |
+
"position": [
|
| 391 |
+
0.018680404871702194,
|
| 392 |
+
0.13251782907173038,
|
| 393 |
+
-0.07308609236497432
|
| 394 |
+
],
|
| 395 |
+
"orientation": {
|
| 396 |
+
"w": 0.7286305965171445,
|
| 397 |
+
"xyz": [
|
| 398 |
+
0.684370165318022,
|
| 399 |
+
-0.024471728375341284,
|
| 400 |
+
0.011664696823215323
|
| 401 |
+
]
|
| 402 |
+
}
|
| 403 |
+
},
|
| 404 |
+
"grasp_23": {
|
| 405 |
+
"confidence": 0.8406239151954651,
|
| 406 |
+
"position": [
|
| 407 |
+
0.0222609406337142,
|
| 408 |
+
0.13075993908569217,
|
| 409 |
+
-0.0771866460563615
|
| 410 |
+
],
|
| 411 |
+
"orientation": {
|
| 412 |
+
"w": 0.7563738246366857,
|
| 413 |
+
"xyz": [
|
| 414 |
+
0.6535455503874873,
|
| 415 |
+
-0.023826661345494493,
|
| 416 |
+
0.014461714362944864
|
| 417 |
+
]
|
| 418 |
+
}
|
| 419 |
+
},
|
| 420 |
+
"grasp_24": {
|
| 421 |
+
"confidence": 0.8399151563644409,
|
| 422 |
+
"position": [
|
| 423 |
+
0.020279601216316223,
|
| 424 |
+
0.13277104450389743,
|
| 425 |
+
-0.05081334162969142
|
| 426 |
+
],
|
| 427 |
+
"orientation": {
|
| 428 |
+
"w": 0.720274361725452,
|
| 429 |
+
"xyz": [
|
| 430 |
+
0.6932531533760818,
|
| 431 |
+
-0.018769704335841908,
|
| 432 |
+
0.015893626843982805
|
| 433 |
+
]
|
| 434 |
+
}
|
| 435 |
+
},
|
| 436 |
+
"grasp_25": {
|
| 437 |
+
"confidence": 0.8353368639945984,
|
| 438 |
+
"position": [
|
| 439 |
+
0.019166870042681694,
|
| 440 |
+
0.12639063550159335,
|
| 441 |
+
-0.06222655076999217
|
| 442 |
+
],
|
| 443 |
+
"orientation": {
|
| 444 |
+
"w": 0.03745009432968791,
|
| 445 |
+
"xyz": [
|
| 446 |
+
-0.01934603394669967,
|
| 447 |
+
-0.5392135192708408,
|
| 448 |
+
0.8411135488391477
|
| 449 |
+
]
|
| 450 |
+
}
|
| 451 |
+
},
|
| 452 |
+
"grasp_26": {
|
| 453 |
+
"confidence": 0.8268004059791565,
|
| 454 |
+
"position": [
|
| 455 |
+
0.015000012703239918,
|
| 456 |
+
0.13160765124484897,
|
| 457 |
+
-0.04908344347495586
|
| 458 |
+
],
|
| 459 |
+
"orientation": {
|
| 460 |
+
"w": 0.7139618007231497,
|
| 461 |
+
"xyz": [
|
| 462 |
+
0.699653745202066,
|
| 463 |
+
-0.013057271686554017,
|
| 464 |
+
0.02393097551256885
|
| 465 |
+
]
|
| 466 |
+
}
|
| 467 |
+
},
|
| 468 |
+
"grasp_27": {
|
| 469 |
+
"confidence": 0.8225700259208679,
|
| 470 |
+
"position": [
|
| 471 |
+
0.018925469368696213,
|
| 472 |
+
0.13211074424907565,
|
| 473 |
+
-0.06664286006707698
|
| 474 |
+
],
|
| 475 |
+
"orientation": {
|
| 476 |
+
"w": 0.0037584984701538693,
|
| 477 |
+
"xyz": [
|
| 478 |
+
-0.029336032158141914,
|
| 479 |
+
-0.7098230070308436,
|
| 480 |
+
0.7037588859802463
|
| 481 |
+
]
|
| 482 |
+
}
|
| 483 |
+
},
|
| 484 |
+
"grasp_28": {
|
| 485 |
+
"confidence": 0.8220571875572205,
|
| 486 |
+
"position": [
|
| 487 |
+
0.023382785730063915,
|
| 488 |
+
0.1285262550227344,
|
| 489 |
+
-0.08461293030995876
|
| 490 |
+
],
|
| 491 |
+
"orientation": {
|
| 492 |
+
"w": 0.8013551674289366,
|
| 493 |
+
"xyz": [
|
| 494 |
+
0.5976458285921008,
|
| 495 |
+
-0.023513581824063046,
|
| 496 |
+
0.009821948442377753
|
| 497 |
+
]
|
| 498 |
+
}
|
| 499 |
+
},
|
| 500 |
+
"grasp_29": {
|
| 501 |
+
"confidence": 0.8218503594398499,
|
| 502 |
+
"position": [
|
| 503 |
+
0.015815958380699158,
|
| 504 |
+
0.1304893339984119,
|
| 505 |
+
-0.044992419076152146
|
| 506 |
+
],
|
| 507 |
+
"orientation": {
|
| 508 |
+
"w": 0.6968140719910955,
|
| 509 |
+
"xyz": [
|
| 510 |
+
0.7171565811871072,
|
| 511 |
+
-0.007471087271511134,
|
| 512 |
+
0.00898721259289798
|
| 513 |
+
]
|
| 514 |
+
}
|
| 515 |
+
},
|
| 516 |
+
"grasp_30": {
|
| 517 |
+
"confidence": 0.8193464875221252,
|
| 518 |
+
"position": [
|
| 519 |
+
0.012149633606895804,
|
| 520 |
+
0.13192069483920932,
|
| 521 |
+
-0.0745274742366746
|
| 522 |
+
],
|
| 523 |
+
"orientation": {
|
| 524 |
+
"w": 0.7219055001668188,
|
| 525 |
+
"xyz": [
|
| 526 |
+
0.6913092824275505,
|
| 527 |
+
-0.014653614694530859,
|
| 528 |
+
0.027003637436190404
|
| 529 |
+
]
|
| 530 |
+
}
|
| 531 |
+
},
|
| 532 |
+
"grasp_31": {
|
| 533 |
+
"confidence": 0.8192647099494934,
|
| 534 |
+
"position": [
|
| 535 |
+
0.010958766331896186,
|
| 536 |
+
0.13166558695957065,
|
| 537 |
+
-0.038823967915959656
|
| 538 |
+
],
|
| 539 |
+
"orientation": {
|
| 540 |
+
"w": 0.713734330507499,
|
| 541 |
+
"xyz": [
|
| 542 |
+
0.699501681078304,
|
| 543 |
+
-0.020461376727968772,
|
| 544 |
+
0.029360444241106644
|
| 545 |
+
]
|
| 546 |
+
}
|
| 547 |
+
},
|
| 548 |
+
"grasp_32": {
|
| 549 |
+
"confidence": 0.8185552954673767,
|
| 550 |
+
"position": [
|
| 551 |
+
0.013195462059229612,
|
| 552 |
+
0.13331355107948184,
|
| 553 |
+
-0.02323788416106254
|
| 554 |
+
],
|
| 555 |
+
"orientation": {
|
| 556 |
+
"w": 0.015763539813589977,
|
| 557 |
+
"xyz": [
|
| 558 |
+
-0.016532560731520343,
|
| 559 |
+
-0.7207742849248783,
|
| 560 |
+
0.6927933425194233
|
| 561 |
+
]
|
| 562 |
+
}
|
| 563 |
+
},
|
| 564 |
+
"grasp_33": {
|
| 565 |
+
"confidence": 0.8177403807640076,
|
| 566 |
+
"position": [
|
| 567 |
+
0.015529198572039604,
|
| 568 |
+
0.1291302884928882,
|
| 569 |
+
-0.054502880317159
|
| 570 |
+
],
|
| 571 |
+
"orientation": {
|
| 572 |
+
"w": 0.7212946648758517,
|
| 573 |
+
"xyz": [
|
| 574 |
+
0.6916716748651518,
|
| 575 |
+
-0.02308840902256004,
|
| 576 |
+
0.02812873939008142
|
| 577 |
+
]
|
| 578 |
+
}
|
| 579 |
+
},
|
| 580 |
+
"grasp_34": {
|
| 581 |
+
"confidence": 0.8169241547584534,
|
| 582 |
+
"position": [
|
| 583 |
+
0.013992943800985813,
|
| 584 |
+
0.13154159439727664,
|
| 585 |
+
-0.039033355307765305
|
| 586 |
+
],
|
| 587 |
+
"orientation": {
|
| 588 |
+
"w": 0.7470472545983718,
|
| 589 |
+
"xyz": [
|
| 590 |
+
0.6639758988053314,
|
| 591 |
+
-0.016412620239501186,
|
| 592 |
+
0.028054074562562863
|
| 593 |
+
]
|
| 594 |
+
}
|
| 595 |
+
},
|
| 596 |
+
"grasp_36": {
|
| 597 |
+
"confidence": 0.813129723072052,
|
| 598 |
+
"position": [
|
| 599 |
+
0.019709323532879353,
|
| 600 |
+
0.12708774162456393,
|
| 601 |
+
-0.05435611878056079
|
| 602 |
+
],
|
| 603 |
+
"orientation": {
|
| 604 |
+
"w": 0.7223703193036753,
|
| 605 |
+
"xyz": [
|
| 606 |
+
0.6910145844074901,
|
| 607 |
+
-0.0231169379633287,
|
| 608 |
+
0.01206536797820425
|
| 609 |
+
]
|
| 610 |
+
}
|
| 611 |
+
},
|
| 612 |
+
"grasp_37": {
|
| 613 |
+
"confidence": 0.8123378753662109,
|
| 614 |
+
"position": [
|
| 615 |
+
0.016153814271092415,
|
| 616 |
+
0.12599201453849673,
|
| 617 |
+
-0.08531847049016505
|
| 618 |
+
],
|
| 619 |
+
"orientation": {
|
| 620 |
+
"w": 0.03564634810852525,
|
| 621 |
+
"xyz": [
|
| 622 |
+
-0.00868399756640037,
|
| 623 |
+
-0.5298283610385605,
|
| 624 |
+
0.8473109428609931
|
| 625 |
+
]
|
| 626 |
+
}
|
| 627 |
+
},
|
| 628 |
+
"grasp_38": {
|
| 629 |
+
"confidence": 0.811574399471283,
|
| 630 |
+
"position": [
|
| 631 |
+
0.01630126917734742,
|
| 632 |
+
0.1304600383155048,
|
| 633 |
+
-0.09267598588485271
|
| 634 |
+
],
|
| 635 |
+
"orientation": {
|
| 636 |
+
"w": 0.7781492036679739,
|
| 637 |
+
"xyz": [
|
| 638 |
+
0.6278825209512408,
|
| 639 |
+
-0.00917470798873321,
|
| 640 |
+
-0.01277424941567369
|
| 641 |
+
]
|
| 642 |
+
}
|
| 643 |
+
},
|
| 644 |
+
"grasp_39": {
|
| 645 |
+
"confidence": 0.8094197511672974,
|
| 646 |
+
"position": [
|
| 647 |
+
0.01451367698609829,
|
| 648 |
+
0.13246290339156985,
|
| 649 |
+
-0.031009754282422364
|
| 650 |
+
],
|
| 651 |
+
"orientation": {
|
| 652 |
+
"w": 0.7136594362652671,
|
| 653 |
+
"xyz": [
|
| 654 |
+
0.7001223932900758,
|
| 655 |
+
-0.007921132322295299,
|
| 656 |
+
0.021356476911006932
|
| 657 |
+
]
|
| 658 |
+
}
|
| 659 |
+
}
|
| 660 |
+
}
|
| 661 |
+
},
|
| 662 |
+
{
|
| 663 |
+
"part_name": "top cap",
|
| 664 |
+
"mask_color": "Magenta",
|
| 665 |
+
"graspable": true,
|
| 666 |
+
"grasp_scenarios": [
|
| 667 |
+
{
|
| 668 |
+
"scenario": "grasp around the rounded top cap area to lift the empty holder",
|
| 669 |
+
"confidence": 0.63
|
| 670 |
+
},
|
| 671 |
+
{
|
| 672 |
+
"scenario": "use the top cap as an upper contact area to steady the holder during loading",
|
| 673 |
+
"confidence": 0.57
|
| 674 |
+
}
|
| 675 |
+
],
|
| 676 |
+
"functional_labels": [
|
| 677 |
+
"close and shape the back upper end",
|
| 678 |
+
"reinforce the opening area",
|
| 679 |
+
"provide upper contact surface",
|
| 680 |
+
"protect the top edge"
|
| 681 |
+
],
|
| 682 |
+
"semantic_description": "Rounded light-gray plastic top section with a matte smooth finish, curved like a cap over the upper back of the holder and clearly distinct from the main body seam.",
|
| 683 |
+
"id": 7,
|
| 684 |
+
"grasp_group": {
|
| 685 |
+
"grasp_0": {
|
| 686 |
+
"confidence": 0.9597663879394531,
|
| 687 |
+
"position": [
|
| 688 |
+
0.13192630093544722,
|
| 689 |
+
0.001593268010765314,
|
| 690 |
+
0.1380359510658309
|
| 691 |
+
],
|
| 692 |
+
"orientation": {
|
| 693 |
+
"w": 0.6499152729164833,
|
| 694 |
+
"xyz": [
|
| 695 |
+
-0.06702680668081924,
|
| 696 |
+
-0.7567476455106589,
|
| 697 |
+
0.021226074298817458
|
| 698 |
+
]
|
| 699 |
+
}
|
| 700 |
+
},
|
| 701 |
+
"grasp_1": {
|
| 702 |
+
"confidence": 0.9582806825637817,
|
| 703 |
+
"position": [
|
| 704 |
+
0.11853649746626616,
|
| 705 |
+
0.021055312361568213,
|
| 706 |
+
0.14619025390129536
|
| 707 |
+
],
|
| 708 |
+
"orientation": {
|
| 709 |
+
"w": 0.5914936045488222,
|
| 710 |
+
"xyz": [
|
| 711 |
+
0.04856405845333223,
|
| 712 |
+
-0.8016926355818996,
|
| 713 |
+
0.07117419517023804
|
| 714 |
+
]
|
| 715 |
+
}
|
| 716 |
+
},
|
| 717 |
+
"grasp_2": {
|
| 718 |
+
"confidence": 0.9572529792785645,
|
| 719 |
+
"position": [
|
| 720 |
+
0.1184564707800746,
|
| 721 |
+
0.009137919638305902,
|
| 722 |
+
0.1479797939537093
|
| 723 |
+
],
|
| 724 |
+
"orientation": {
|
| 725 |
+
"w": 0.5824281576852968,
|
| 726 |
+
"xyz": [
|
| 727 |
+
-0.034464110443770186,
|
| 728 |
+
-0.8121063758228089,
|
| 729 |
+
0.008538183329790198
|
| 730 |
+
]
|
| 731 |
+
}
|
| 732 |
+
},
|
| 733 |
+
"grasp_3": {
|
| 734 |
+
"confidence": 0.9568012952804565,
|
| 735 |
+
"position": [
|
| 736 |
+
0.12528670858591795,
|
| 737 |
+
0.029083121102303267,
|
| 738 |
+
0.15748038690071553
|
| 739 |
+
],
|
| 740 |
+
"orientation": {
|
| 741 |
+
"w": 0.5487272182522472,
|
| 742 |
+
"xyz": [
|
| 743 |
+
-0.03902605760835973,
|
| 744 |
+
-0.829350848353936,
|
| 745 |
+
0.09773728618754385
|
| 746 |
+
]
|
| 747 |
+
}
|
| 748 |
+
},
|
| 749 |
+
"grasp_4": {
|
| 750 |
+
"confidence": 0.95607590675354,
|
| 751 |
+
"position": [
|
| 752 |
+
0.1316223768517375,
|
| 753 |
+
0.04356491891667247,
|
| 754 |
+
0.13793270091991872
|
| 755 |
+
],
|
| 756 |
+
"orientation": {
|
| 757 |
+
"w": 0.5956821617956842,
|
| 758 |
+
"xyz": [
|
| 759 |
+
-0.1234347564119051,
|
| 760 |
+
-0.7744473565068655,
|
| 761 |
+
0.17366034385397813
|
| 762 |
+
]
|
| 763 |
+
}
|
| 764 |
+
},
|
| 765 |
+
"grasp_5": {
|
| 766 |
+
"confidence": 0.9553128480911255,
|
| 767 |
+
"position": [
|
| 768 |
+
0.1139192832633853,
|
| 769 |
+
-0.0005380256334319711,
|
| 770 |
+
0.16605940263252705
|
| 771 |
+
],
|
| 772 |
+
"orientation": {
|
| 773 |
+
"w": 0.501616293973773,
|
| 774 |
+
"xyz": [
|
| 775 |
+
-0.1012960676613527,
|
| 776 |
+
-0.8585815564845982,
|
| 777 |
+
-0.030950139916447076
|
| 778 |
+
]
|
| 779 |
+
}
|
| 780 |
+
},
|
| 781 |
+
"grasp_6": {
|
| 782 |
+
"confidence": 0.9548516869544983,
|
| 783 |
+
"position": [
|
| 784 |
+
0.1284560663625598,
|
| 785 |
+
0.0183111852966249,
|
| 786 |
+
0.14448196988087147
|
| 787 |
+
],
|
| 788 |
+
"orientation": {
|
| 789 |
+
"w": 0.6100254699176523,
|
| 790 |
+
"xyz": [
|
| 791 |
+
0.09462129176640482,
|
| 792 |
+
-0.7847897974822411,
|
| 793 |
+
0.05496099493266318
|
| 794 |
+
]
|
| 795 |
+
}
|
| 796 |
+
},
|
| 797 |
+
"grasp_9": {
|
| 798 |
+
"confidence": 0.9532369375228882,
|
| 799 |
+
"position": [
|
| 800 |
+
0.12777819763869047,
|
| 801 |
+
-0.004460397642105818,
|
| 802 |
+
0.13478755753021687
|
| 803 |
+
],
|
| 804 |
+
"orientation": {
|
| 805 |
+
"w": 0.6615618620293675,
|
| 806 |
+
"xyz": [
|
| 807 |
+
-0.061908658862376655,
|
| 808 |
+
-0.7473282889750078,
|
| 809 |
+
-0.0019102784575928751
|
| 810 |
+
]
|
| 811 |
+
}
|
| 812 |
+
},
|
| 813 |
+
"grasp_10": {
|
| 814 |
+
"confidence": 0.9516748189926147,
|
| 815 |
+
"position": [
|
| 816 |
+
0.12357964646071196,
|
| 817 |
+
0.0031699626706540585,
|
| 818 |
+
0.1338933090446517
|
| 819 |
+
],
|
| 820 |
+
"orientation": {
|
| 821 |
+
"w": 0.6620124142824722,
|
| 822 |
+
"xyz": [
|
| 823 |
+
-0.04862037690458078,
|
| 824 |
+
-0.7478994940065055,
|
| 825 |
+
0.004687126023721522
|
| 826 |
+
]
|
| 827 |
+
}
|
| 828 |
+
},
|
| 829 |
+
"grasp_11": {
|
| 830 |
+
"confidence": 0.9513269662857056,
|
| 831 |
+
"position": [
|
| 832 |
+
0.13254559319466352,
|
| 833 |
+
0.013368192594498396,
|
| 834 |
+
0.13251845340710133
|
| 835 |
+
],
|
| 836 |
+
"orientation": {
|
| 837 |
+
"w": 0.6517304533985507,
|
| 838 |
+
"xyz": [
|
| 839 |
+
-0.11818477136232361,
|
| 840 |
+
-0.7416676620713135,
|
| 841 |
+
0.10587187997115526
|
| 842 |
+
]
|
| 843 |
+
}
|
| 844 |
+
},
|
| 845 |
+
"grasp_12": {
|
| 846 |
+
"confidence": 0.95100998878479,
|
| 847 |
+
"position": [
|
| 848 |
+
0.12098407279700041,
|
| 849 |
+
0.0239167264662683,
|
| 850 |
+
0.14533480803947896
|
| 851 |
+
],
|
| 852 |
+
"orientation": {
|
| 853 |
+
"w": 0.5935277744628553,
|
| 854 |
+
"xyz": [
|
| 855 |
+
-0.13373100297139803,
|
| 856 |
+
-0.7843319454036867,
|
| 857 |
+
0.12109582653709555
|
| 858 |
+
]
|
| 859 |
+
}
|
| 860 |
+
},
|
| 861 |
+
"grasp_13": {
|
| 862 |
+
"confidence": 0.9507673382759094,
|
| 863 |
+
"position": [
|
| 864 |
+
0.12997365277260542,
|
| 865 |
+
0.041556532960385084,
|
| 866 |
+
0.1426297555444762
|
| 867 |
+
],
|
| 868 |
+
"orientation": {
|
| 869 |
+
"w": 0.6057603328255058,
|
| 870 |
+
"xyz": [
|
| 871 |
+
0.020516095878936953,
|
| 872 |
+
-0.7837623134410974,
|
| 873 |
+
0.13546270709859015
|
| 874 |
+
]
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"grasp_14": {
|
| 878 |
+
"confidence": 0.9500042796134949,
|
| 879 |
+
"position": [
|
| 880 |
+
0.12804544251412153,
|
| 881 |
+
0.009045844431966543,
|
| 882 |
+
0.127786127733998
|
| 883 |
+
],
|
| 884 |
+
"orientation": {
|
| 885 |
+
"w": 0.6728495960294543,
|
| 886 |
+
"xyz": [
|
| 887 |
+
-0.055516301367528165,
|
| 888 |
+
-0.7368428392762852,
|
| 889 |
+
0.03541174399450648
|
| 890 |
+
]
|
| 891 |
+
}
|
| 892 |
+
},
|
| 893 |
+
"grasp_15": {
|
| 894 |
+
"confidence": 0.9483914971351624,
|
| 895 |
+
"position": [
|
| 896 |
+
0.13077716808766127,
|
| 897 |
+
0.007966331206262112,
|
| 898 |
+
0.12800760369282216
|
| 899 |
+
],
|
| 900 |
+
"orientation": {
|
| 901 |
+
"w": 0.6714679721995485,
|
| 902 |
+
"xyz": [
|
| 903 |
+
-0.09453202455905078,
|
| 904 |
+
-0.733473879799929,
|
| 905 |
+
0.04701623436891552
|
| 906 |
+
]
|
| 907 |
+
}
|
| 908 |
+
},
|
| 909 |
+
"grasp_16": {
|
| 910 |
+
"confidence": 0.9467540383338928,
|
| 911 |
+
"position": [
|
| 912 |
+
0.13062154781073332,
|
| 913 |
+
0.004605155438184738,
|
| 914 |
+
0.1349720786092803
|
| 915 |
+
],
|
| 916 |
+
"orientation": {
|
| 917 |
+
"w": 0.6652384084772627,
|
| 918 |
+
"xyz": [
|
| 919 |
+
0.030744025284757465,
|
| 920 |
+
-0.7459331138305575,
|
| 921 |
+
-0.009821124527152782
|
| 922 |
+
]
|
| 923 |
+
}
|
| 924 |
+
},
|
| 925 |
+
"grasp_17": {
|
| 926 |
+
"confidence": 0.9459677934646606,
|
| 927 |
+
"position": [
|
| 928 |
+
0.13193123321980238,
|
| 929 |
+
0.05809232173487544,
|
| 930 |
+
0.11047059099655598
|
| 931 |
+
],
|
| 932 |
+
"orientation": {
|
| 933 |
+
"w": 0.6116601216713069,
|
| 934 |
+
"xyz": [
|
| 935 |
+
-0.2099603907627738,
|
| 936 |
+
-0.7090966014825358,
|
| 937 |
+
0.2810169739245359
|
| 938 |
+
]
|
| 939 |
+
}
|
| 940 |
+
},
|
| 941 |
+
"grasp_18": {
|
| 942 |
+
"confidence": 0.9451280832290649,
|
| 943 |
+
"position": [
|
| 944 |
+
0.12775425892323256,
|
| 945 |
+
0.031620345544070005,
|
| 946 |
+
0.13968568842392415
|
| 947 |
+
],
|
| 948 |
+
"orientation": {
|
| 949 |
+
"w": 0.6184935462730594,
|
| 950 |
+
"xyz": [
|
| 951 |
+
0.13573564878114017,
|
| 952 |
+
-0.7650434750047729,
|
| 953 |
+
0.11726059961112024
|
| 954 |
+
]
|
| 955 |
+
}
|
| 956 |
+
},
|
| 957 |
+
"grasp_19": {
|
| 958 |
+
"confidence": 0.9449834823608398,
|
| 959 |
+
"position": [
|
| 960 |
+
0.11899882834404707,
|
| 961 |
+
0.010313428472727537,
|
| 962 |
+
0.1464069614885375
|
| 963 |
+
],
|
| 964 |
+
"orientation": {
|
| 965 |
+
"w": 0.59623444932017,
|
| 966 |
+
"xyz": [
|
| 967 |
+
0.019542234430495353,
|
| 968 |
+
-0.797879646073636,
|
| 969 |
+
0.08666402309347815
|
| 970 |
+
]
|
| 971 |
+
}
|
| 972 |
+
}
|
| 973 |
+
}
|
| 974 |
+
},
|
| 975 |
+
{
|
| 976 |
+
"part_name": "inner side pads",
|
| 977 |
+
"mask_color": "Purple",
|
| 978 |
+
"graspable": false,
|
| 979 |
+
"grasp_scenarios": [],
|
| 980 |
+
"functional_labels": [
|
| 981 |
+
"cushion stored remote",
|
| 982 |
+
"increase friction",
|
| 983 |
+
"center and stabilize contents",
|
| 984 |
+
"reduce rattling"
|
| 985 |
+
],
|
| 986 |
+
"semantic_description": "Small paired dark gray inner pads with a ribbed soft-looking texture, mounted on the interior side walls near the opening to contact and hold a remote securely.",
|
| 987 |
+
"id": 5,
|
| 988 |
+
"grasp_group": {}
|
| 989 |
+
}
|
| 990 |
+
],
|
| 991 |
+
"quality_check": {
|
| 992 |
+
"success": true,
|
| 993 |
+
"message": "YES"
|
| 994 |
+
}
|
| 995 |
+
}
|
dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cba69ff6933300a1bf0c4c50290ea0b0f2fc8184304ce03cfb118bbe6f2dbac8
|
| 3 |
+
size 3815884
|
dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|