xinjjj commited on
Commit
98bd85f
·
verified ·
1 Parent(s): 780b5af

Add asset livingroom_supplies/ornaments/0a036d6f7f435454af02db283320c269

Browse files
.gitattributes CHANGED
@@ -8530,3 +8530,4 @@ dataset/livingroom_supplies/ornaments/04de8729d6d6562f9291789ac01d222b/affordanc
8530
  dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8531
  dataset/livingroom_supplies/ornaments/087452d638c5501494acc3483a641c6e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8532
  dataset/livingroom_supplies/ornaments/08589d16ba255384b6bae89f3597ed58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8530
  dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8531
  dataset/livingroom_supplies/ornaments/087452d638c5501494acc3483a641c6e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8532
  dataset/livingroom_supplies/ornaments/08589d16ba255384b6bae89f3597ed58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8533
+ dataset/livingroom_supplies/ornaments/0a036d6f7f435454af02db283320c269/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/0a036d6f7f435454af02db283320c269/affordance/affordance_annot.json ADDED
@@ -0,0 +1,1047 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 diffuser bottle",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body steady while removing or placing the cap",
14
+ "confidence": 0.91
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain diffuser liquid",
19
+ "main grasp surface",
20
+ "support upright placement",
21
+ "support attached neck and cap"
22
+ ],
23
+ "semantic_description": "Large rounded off-white bottle body made of opaque glass or ceramic-like material with a smooth matte-to-satin hard surface, forming the main lower vessel with a plain unmarked appearance.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9553141593933105,
28
+ "position": [
29
+ 0.01750025001820177,
30
+ -0.10590101621346548,
31
+ 0.04945338238030672
32
+ ],
33
+ "orientation": {
34
+ "w": 0.7115647282044897,
35
+ "xyz": [
36
+ -0.696429938410355,
37
+ -0.07503512113820465,
38
+ 0.05505187605155048
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9536882042884827,
44
+ "position": [
45
+ 0.036694940528832376,
46
+ -0.09895376703934744,
47
+ 0.05109747964888811
48
+ ],
49
+ "orientation": {
50
+ "w": 0.7031811072536979,
51
+ "xyz": [
52
+ -0.6887094868285863,
53
+ -0.13095287681596157,
54
+ 0.11860403537566687
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9453860521316528,
60
+ "position": [
61
+ -0.032482545473612845,
62
+ -0.10169974557356909,
63
+ 0.04850757960230112
64
+ ],
65
+ "orientation": {
66
+ "w": 0.7028026514645219,
67
+ "xyz": [
68
+ -0.6946890136174613,
69
+ 0.07909680950923748,
70
+ -0.13122233871980832
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9439897537231445,
76
+ "position": [
77
+ 0.03359538351651281,
78
+ 0.09959855832858011,
79
+ 0.05089396331459284
80
+ ],
81
+ "orientation": {
82
+ "w": 0.10670165921320339,
83
+ "xyz": [
84
+ -0.13111857338532729,
85
+ -0.694110637072939,
86
+ 0.6997378788780443
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.9411362409591675,
92
+ "position": [
93
+ 0.057823449722491205,
94
+ 0.08588171162409708,
95
+ 0.04713818524032831
96
+ ],
97
+ "orientation": {
98
+ "w": 0.6797365828230016,
99
+ "xyz": [
100
+ 0.6793373060187313,
101
+ -0.17815984323459633,
102
+ -0.2114664816985083
103
+ ]
104
+ }
105
+ },
106
+ "grasp_5": {
107
+ "confidence": 0.9394350051879883,
108
+ "position": [
109
+ -0.10228182340506464,
110
+ -0.009721772104967386,
111
+ 0.040740915574133396
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5183320104653579,
115
+ "xyz": [
116
+ 0.43660056212396725,
117
+ 0.5053802379171779,
118
+ 0.5341373336537644
119
+ ]
120
+ }
121
+ },
122
+ "grasp_6": {
123
+ "confidence": 0.9392027854919434,
124
+ "position": [
125
+ -0.04823742771986872,
126
+ -0.09482046804623678,
127
+ 0.05132089275866747
128
+ ],
129
+ "orientation": {
130
+ "w": 0.20389428001955245,
131
+ "xyz": [
132
+ 0.12202365160932441,
133
+ 0.7017612544645019,
134
+ 0.6716163285356034
135
+ ]
136
+ }
137
+ },
138
+ "grasp_7": {
139
+ "confidence": 0.9391725063323975,
140
+ "position": [
141
+ 0.10386032646056265,
142
+ -0.007192682765889913,
143
+ 0.05344484839588404
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5067636867780446,
147
+ "xyz": [
148
+ -0.5183152945739748,
149
+ -0.4923466891572581,
150
+ 0.48180344420697535
151
+ ]
152
+ }
153
+ },
154
+ "grasp_8": {
155
+ "confidence": 0.9373170733451843,
156
+ "position": [
157
+ 0.0494885373627767,
158
+ 0.08793097146553919,
159
+ 0.04515422787517309
160
+ ],
161
+ "orientation": {
162
+ "w": 0.6986885483989613,
163
+ "xyz": [
164
+ 0.6751202652546318,
165
+ -0.15504077739385502,
166
+ -0.17891142256372974
167
+ ]
168
+ }
169
+ },
170
+ "grasp_9": {
171
+ "confidence": 0.9365845918655396,
172
+ "position": [
173
+ 0.10248057579156011,
174
+ 0.00967359048081562,
175
+ 0.03874483611434698
176
+ ],
177
+ "orientation": {
178
+ "w": 0.552940408785993,
179
+ "xyz": [
180
+ 0.5132342885381319,
181
+ -0.43778867470683824,
182
+ -0.48906906025505853
183
+ ]
184
+ }
185
+ },
186
+ "grasp_10": {
187
+ "confidence": 0.9347118735313416,
188
+ "position": [
189
+ 0.013357719755731523,
190
+ -0.10186939529376104,
191
+ 0.04490849655121565
192
+ ],
193
+ "orientation": {
194
+ "w": 0.7165616729586641,
195
+ "xyz": [
196
+ -0.6941299438891934,
197
+ -0.047578006606636136,
198
+ 0.04959156309700158
199
+ ]
200
+ }
201
+ },
202
+ "grasp_11": {
203
+ "confidence": 0.9325695633888245,
204
+ "position": [
205
+ 0.049779598019085824,
206
+ -0.09078917495207861,
207
+ 0.04553696978837252
208
+ ],
209
+ "orientation": {
210
+ "w": 0.6900144033443658,
211
+ "xyz": [
212
+ -0.6779751085803505,
213
+ -0.1765364593988259,
214
+ 0.18183716293900962
215
+ ]
216
+ }
217
+ },
218
+ "grasp_12": {
219
+ "confidence": 0.93254554271698,
220
+ "position": [
221
+ -0.02813605184201151,
222
+ -0.10019026539521292,
223
+ 0.04549024347215891
224
+ ],
225
+ "orientation": {
226
+ "w": 0.11178608111836565,
227
+ "xyz": [
228
+ 0.0857696585026171,
229
+ 0.6944473387586573,
230
+ 0.705613443352351
231
+ ]
232
+ }
233
+ },
234
+ "grasp_13": {
235
+ "confidence": 0.9312267899513245,
236
+ "position": [
237
+ -0.005318694864399731,
238
+ -0.10562348953681067,
239
+ 0.043145555071532726
240
+ ],
241
+ "orientation": {
242
+ "w": 0.7186328174421933,
243
+ "xyz": [
244
+ -0.6944666493563749,
245
+ -0.015190374091120673,
246
+ -0.032437619545779256
247
+ ]
248
+ }
249
+ },
250
+ "grasp_14": {
251
+ "confidence": 0.9311333298683167,
252
+ "position": [
253
+ -0.03209507430437952,
254
+ -0.09780476830201223,
255
+ 0.04383223783224821
256
+ ],
257
+ "orientation": {
258
+ "w": 0.7167554359584378,
259
+ "xyz": [
260
+ -0.6774507686243402,
261
+ 0.06988572615453481,
262
+ -0.1497934791443639
263
+ ]
264
+ }
265
+ },
266
+ "grasp_15": {
267
+ "confidence": 0.9303522109985352,
268
+ "position": [
269
+ -0.10547543282154948,
270
+ -0.00996789924101904,
271
+ 0.047940523363649845
272
+ ],
273
+ "orientation": {
274
+ "w": 0.5302478807869659,
275
+ "xyz": [
276
+ -0.49830470278430744,
277
+ 0.4820330194321948,
278
+ -0.4880305075310924
279
+ ]
280
+ }
281
+ },
282
+ "grasp_16": {
283
+ "confidence": 0.9295372366905212,
284
+ "position": [
285
+ -0.10465934092644602,
286
+ 0.018159648112487048,
287
+ 0.04764621425420046
288
+ ],
289
+ "orientation": {
290
+ "w": 0.5516629600023194,
291
+ "xyz": [
292
+ 0.5465881680400202,
293
+ 0.4285031637718766,
294
+ 0.4618380579354913
295
+ ]
296
+ }
297
+ },
298
+ "grasp_17": {
299
+ "confidence": 0.9291073083877563,
300
+ "position": [
301
+ 0.10543371771927923,
302
+ -0.0001786498469300568,
303
+ 0.04264089744538069
304
+ ],
305
+ "orientation": {
306
+ "w": 0.5098818541810328,
307
+ "xyz": [
308
+ -0.4781624127274086,
309
+ -0.485222895929584,
310
+ 0.5252998601725717
311
+ ]
312
+ }
313
+ },
314
+ "grasp_18": {
315
+ "confidence": 0.9281611442565918,
316
+ "position": [
317
+ -0.10342966730240732,
318
+ -0.00925960234599188,
319
+ 0.048115563578903675
320
+ ],
321
+ "orientation": {
322
+ "w": 0.5334684169404815,
323
+ "xyz": [
324
+ -0.48285191760685087,
325
+ 0.5029152009951691,
326
+ -0.4788964130147472
327
+ ]
328
+ }
329
+ },
330
+ "grasp_19": {
331
+ "confidence": 0.9281209707260132,
332
+ "position": [
333
+ 0.03941956942435354,
334
+ 0.09281623520655558,
335
+ 0.03878041636198759
336
+ ],
337
+ "orientation": {
338
+ "w": 0.1404343248452241,
339
+ "xyz": [
340
+ -0.15787656984464887,
341
+ -0.6525292575510645,
342
+ 0.7277078789866237
343
+ ]
344
+ }
345
+ }
346
+ }
347
+ },
348
+ {
349
+ "part_name": "neck of diffuser bottle",
350
+ "mask_color": "Blue",
351
+ "graspable": true,
352
+ "grasp_scenarios": [
353
+ {
354
+ "scenario": "grasp the neck to stabilize the bottle during cap manipulation",
355
+ "confidence": 0.62
356
+ },
357
+ {
358
+ "scenario": "pinch the neck for careful short-distance repositioning",
359
+ "confidence": 0.49
360
+ }
361
+ ],
362
+ "functional_labels": [
363
+ "connect body to cap",
364
+ "provide opening support",
365
+ "align cap placement",
366
+ "support diffuser closure"
367
+ ],
368
+ "semantic_description": "Short narrow white neck section with a smooth hard satin finish, cylindrical and positioned between the rounded body and top closure as a small transition piece.",
369
+ "id": 2,
370
+ "grasp_group": {
371
+ "grasp_40": {
372
+ "confidence": 0.9672515392303467,
373
+ "position": [
374
+ 0.034577701590023935,
375
+ -0.0989516883273609,
376
+ 0.058850192464888096
377
+ ],
378
+ "orientation": {
379
+ "w": 0.6956251756154231,
380
+ "xyz": [
381
+ -0.6973401453249891,
382
+ -0.12499622240622854,
383
+ 0.11915654053516284
384
+ ]
385
+ }
386
+ },
387
+ "grasp_41": {
388
+ "confidence": 0.9648029804229736,
389
+ "position": [
390
+ 0.009765750146470964,
391
+ -0.10377023956971243,
392
+ 0.059422348625957966
393
+ ],
394
+ "orientation": {
395
+ "w": 0.7036336067543424,
396
+ "xyz": [
397
+ -0.708631858808401,
398
+ -0.02927343952419359,
399
+ 0.04340163437072058
400
+ ]
401
+ }
402
+ },
403
+ "grasp_42": {
404
+ "confidence": 0.9641927480697632,
405
+ "position": [
406
+ 0.04643402656074613,
407
+ -0.09135448030428961,
408
+ 0.061263264156877995
409
+ ],
410
+ "orientation": {
411
+ "w": 0.6751541719416659,
412
+ "xyz": [
413
+ -0.6987037773243382,
414
+ -0.16677890366824044,
415
+ 0.16782333852502393
416
+ ]
417
+ }
418
+ },
419
+ "grasp_43": {
420
+ "confidence": 0.9602615833282471,
421
+ "position": [
422
+ 0.031750075868330896,
423
+ -0.09820418647723272,
424
+ 0.06748340744525194
425
+ ],
426
+ "orientation": {
427
+ "w": 0.6908221130652721,
428
+ "xyz": [
429
+ -0.7020565353076959,
430
+ -0.13095249098768358,
431
+ 0.11284003915236211
432
+ ]
433
+ }
434
+ },
435
+ "grasp_44": {
436
+ "confidence": 0.9575102925300598,
437
+ "position": [
438
+ -0.10336252267006785,
439
+ -0.002723744430113584,
440
+ 0.061838180758059025
441
+ ],
442
+ "orientation": {
443
+ "w": 0.5157543747343538,
444
+ "xyz": [
445
+ 0.4906019903112767,
446
+ 0.49859100620505037,
447
+ 0.4946858807126246
448
+ ]
449
+ }
450
+ },
451
+ "grasp_45": {
452
+ "confidence": 0.9573534727096558,
453
+ "position": [
454
+ -0.10369969124440104,
455
+ -0.008693341456819326,
456
+ 0.06080085504800081
457
+ ],
458
+ "orientation": {
459
+ "w": 0.49855196157346743,
460
+ "xyz": [
461
+ 0.47379727618680123,
462
+ 0.49619267030164016,
463
+ 0.5298631112166083
464
+ ]
465
+ }
466
+ },
467
+ "grasp_46": {
468
+ "confidence": 0.9566032886505127,
469
+ "position": [
470
+ 0.031960215768776834,
471
+ -0.09891829482512549,
472
+ 0.060457476414740086
473
+ ],
474
+ "orientation": {
475
+ "w": 0.7019825472493387,
476
+ "xyz": [
477
+ -0.6967685348029017,
478
+ -0.11259426316312005,
479
+ 0.09516640252054116
480
+ ]
481
+ }
482
+ },
483
+ "grasp_47": {
484
+ "confidence": 0.9558696746826172,
485
+ "position": [
486
+ -0.019839275279082358,
487
+ -0.10286800406174734,
488
+ 0.061102827079594135
489
+ ],
490
+ "orientation": {
491
+ "w": 0.6989385853115309,
492
+ "xyz": [
493
+ -0.7094137654325589,
494
+ 0.046493054524940236,
495
+ -0.07781618892271086
496
+ ]
497
+ }
498
+ },
499
+ "grasp_48": {
500
+ "confidence": 0.9553110003471375,
501
+ "position": [
502
+ 0.0037111345445737243,
503
+ -0.10687399498419836,
504
+ 0.06018220353871584
505
+ ],
506
+ "orientation": {
507
+ "w": 0.7065041180253754,
508
+ "xyz": [
509
+ -0.7074810290306188,
510
+ -0.015166186149606742,
511
+ 0.009618293644846431
512
+ ]
513
+ }
514
+ },
515
+ "grasp_49": {
516
+ "confidence": 0.9546401500701904,
517
+ "position": [
518
+ -0.021241219365037978,
519
+ -0.10269077710108832,
520
+ 0.0531349228695035
521
+ ],
522
+ "orientation": {
523
+ "w": 0.7119958580387726,
524
+ "xyz": [
525
+ -0.6955613348107423,
526
+ 0.054264018067361586,
527
+ -0.07944648510233397
528
+ ]
529
+ }
530
+ },
531
+ "grasp_50": {
532
+ "confidence": 0.9540022015571594,
533
+ "position": [
534
+ -0.1024146523559466,
535
+ 0.009970211132895201,
536
+ 0.05767568666487932
537
+ ],
538
+ "orientation": {
539
+ "w": 0.5561389575211058,
540
+ "xyz": [
541
+ 0.5092683933396174,
542
+ 0.4560517083086797,
543
+ 0.47262247388519046
544
+ ]
545
+ }
546
+ },
547
+ "grasp_51": {
548
+ "confidence": 0.9536623954772949,
549
+ "position": [
550
+ -0.0008945387089625001,
551
+ -0.10619564197259024,
552
+ 0.06410909909754992
553
+ ],
554
+ "orientation": {
555
+ "w": 0.7101371576761624,
556
+ "xyz": [
557
+ -0.7038086005723793,
558
+ -0.017488383273556507,
559
+ -0.007268252778226919
560
+ ]
561
+ }
562
+ },
563
+ "grasp_52": {
564
+ "confidence": 0.9535805583000183,
565
+ "position": [
566
+ -0.01024300477001816,
567
+ -0.10559424600796774,
568
+ 0.06296204496175051
569
+ ],
570
+ "orientation": {
571
+ "w": 0.7013354973698813,
572
+ "xyz": [
573
+ -0.7111731366562885,
574
+ 0.02484646731117146,
575
+ -0.04176054225644436
576
+ ]
577
+ }
578
+ },
579
+ "grasp_53": {
580
+ "confidence": 0.9535130262374878,
581
+ "position": [
582
+ -0.09445895964745432,
583
+ 0.03601751261157915,
584
+ 0.09363322053104639
585
+ ],
586
+ "orientation": {
587
+ "w": 0.49768047026092155,
588
+ "xyz": [
589
+ 0.6584728322797891,
590
+ 0.46775151237389045,
591
+ 0.3161268753874607
592
+ ]
593
+ }
594
+ },
595
+ "grasp_54": {
596
+ "confidence": 0.9532198309898376,
597
+ "position": [
598
+ -0.05740115384105593,
599
+ -0.0873138367314823,
600
+ 0.05785151291638613
601
+ ],
602
+ "orientation": {
603
+ "w": 0.21301047692184388,
604
+ "xyz": [
605
+ 0.1896390994975405,
606
+ 0.6901314558185325,
607
+ 0.6651181266159298
608
+ ]
609
+ }
610
+ },
611
+ "grasp_55": {
612
+ "confidence": 0.9532137513160706,
613
+ "position": [
614
+ 0.04743128304835409,
615
+ 0.08667445339960977,
616
+ 0.0641481401398778
617
+ ],
618
+ "orientation": {
619
+ "w": 0.1606919557425847,
620
+ "xyz": [
621
+ -0.19741591487332558,
622
+ -0.6780745504624365,
623
+ 0.6895070383466115
624
+ ]
625
+ }
626
+ },
627
+ "grasp_56": {
628
+ "confidence": 0.9531115293502808,
629
+ "position": [
630
+ -0.10162732715252787,
631
+ 0.008284169889520854,
632
+ 0.05541278887540102
633
+ ],
634
+ "orientation": {
635
+ "w": 0.543921211493698,
636
+ "xyz": [
637
+ 0.5043772989046368,
638
+ 0.4673904773551165,
639
+ 0.4809359600972324
640
+ ]
641
+ }
642
+ },
643
+ "grasp_57": {
644
+ "confidence": 0.9530065655708313,
645
+ "position": [
646
+ -0.03153530473355204,
647
+ -0.10031206003623083,
648
+ 0.06347195897251368
649
+ ],
650
+ "orientation": {
651
+ "w": 0.12076637682286742,
652
+ "xyz": [
653
+ 0.09584341342418075,
654
+ 0.7010506881891659,
655
+ 0.6962452548648185
656
+ ]
657
+ }
658
+ },
659
+ "grasp_58": {
660
+ "confidence": 0.9528709650039673,
661
+ "position": [
662
+ 0.10123901104088873,
663
+ 0.011022784456145018,
664
+ 0.06802257616072893
665
+ ],
666
+ "orientation": {
667
+ "w": 0.5121480502344073,
668
+ "xyz": [
669
+ 0.556436823717731,
670
+ -0.45866238169637485,
671
+ -0.4665953873203496
672
+ ]
673
+ }
674
+ },
675
+ "grasp_59": {
676
+ "confidence": 0.9526193737983704,
677
+ "position": [
678
+ 0.10240375285502523,
679
+ -0.01500890898751095,
680
+ 0.07089683134108782
681
+ ],
682
+ "orientation": {
683
+ "w": 0.5020562940640708,
684
+ "xyz": [
685
+ -0.5654277907586647,
686
+ -0.4673220940922075,
687
+ 0.45808400037733343
688
+ ]
689
+ }
690
+ }
691
+ }
692
+ },
693
+ {
694
+ "part_name": "cap",
695
+ "mask_color": "Green",
696
+ "graspable": true,
697
+ "grasp_scenarios": [
698
+ {
699
+ "scenario": "grasp the cap to remove or place it on the bottle",
700
+ "confidence": 0.88
701
+ },
702
+ {
703
+ "scenario": "hold the cap to rotate or adjust the closure",
704
+ "confidence": 0.81
705
+ },
706
+ {
707
+ "scenario": "lift the bottle by the cap",
708
+ "confidence": 0.23
709
+ }
710
+ ],
711
+ "functional_labels": [
712
+ "cover the bottle opening",
713
+ "seal the diffuser bottle",
714
+ "provide top grip for opening",
715
+ "protect the neck opening"
716
+ ],
717
+ "semantic_description": "Flat round gold cap, likely metal or metal-finished plastic, with a glossy reflective hard smooth surface and broad disc-like shape sitting on top of the bottle.",
718
+ "id": 1,
719
+ "grasp_group": {
720
+ "grasp_20": {
721
+ "confidence": 0.9609817862510681,
722
+ "position": [
723
+ -0.10050068015698344,
724
+ -0.03643889195518568,
725
+ 0.0886048162356019
726
+ ],
727
+ "orientation": {
728
+ "w": 0.36115625381533123,
729
+ "xyz": [
730
+ 0.4663885211410619,
731
+ 0.6162269137859803,
732
+ 0.52183550895252
733
+ ]
734
+ }
735
+ },
736
+ "grasp_21": {
737
+ "confidence": 0.9567822813987732,
738
+ "position": [
739
+ 0.05609011685010046,
740
+ 0.08329691895050928,
741
+ 0.07175076846033335
742
+ ],
743
+ "orientation": {
744
+ "w": 0.18750595252832222,
745
+ "xyz": [
746
+ -0.22634722915202918,
747
+ -0.6759106367293704,
748
+ 0.6758352319742907
749
+ ]
750
+ }
751
+ },
752
+ "grasp_22": {
753
+ "confidence": 0.954088568687439,
754
+ "position": [
755
+ 0.10333395039197057,
756
+ -0.013273289718199521,
757
+ 0.08171989861875772
758
+ ],
759
+ "orientation": {
760
+ "w": 0.5017177932953117,
761
+ "xyz": [
762
+ -0.5508385424867891,
763
+ -0.4856635098654103,
764
+ 0.4571510813583661
765
+ ]
766
+ }
767
+ },
768
+ "grasp_23": {
769
+ "confidence": 0.9529985785484314,
770
+ "position": [
771
+ 0.10117058490868658,
772
+ -0.016075210936833173,
773
+ 0.07880541775375605
774
+ ],
775
+ "orientation": {
776
+ "w": 0.5236619487251382,
777
+ "xyz": [
778
+ -0.5443058261647121,
779
+ -0.4835537794361052,
780
+ 0.4423630561581744
781
+ ]
782
+ }
783
+ },
784
+ "grasp_24": {
785
+ "confidence": 0.951270341873169,
786
+ "position": [
787
+ 0.09685289149638265,
788
+ -0.032550243951845914,
789
+ 0.07475631777197123
790
+ ],
791
+ "orientation": {
792
+ "w": 0.5546533662358952,
793
+ "xyz": [
794
+ -0.5894436203004615,
795
+ -0.4228933841259491,
796
+ 0.4075255175725533
797
+ ]
798
+ }
799
+ },
800
+ "grasp_25": {
801
+ "confidence": 0.9502211213111877,
802
+ "position": [
803
+ -0.0913968455279246,
804
+ -0.023613823868799955,
805
+ 0.11925254110246897
806
+ ],
807
+ "orientation": {
808
+ "w": 0.32039657168749563,
809
+ "xyz": [
810
+ 0.5410535069232565,
811
+ 0.6667610789402324,
812
+ 0.4000460012391102
813
+ ]
814
+ }
815
+ },
816
+ "grasp_26": {
817
+ "confidence": 0.9500969052314758,
818
+ "position": [
819
+ 0.05977232416626066,
820
+ 0.07949534215731546,
821
+ 0.07542661298066378
822
+ ],
823
+ "orientation": {
824
+ "w": 0.20675326791686893,
825
+ "xyz": [
826
+ -0.2357739019720688,
827
+ -0.6818256416708584,
828
+ 0.6608914795294935
829
+ ]
830
+ }
831
+ },
832
+ "grasp_27": {
833
+ "confidence": 0.9496884942054749,
834
+ "position": [
835
+ 0.10179019754286855,
836
+ 0.016476703516673297,
837
+ 0.07406937424093485
838
+ ],
839
+ "orientation": {
840
+ "w": 0.43643029677021783,
841
+ "xyz": [
842
+ -0.46744824077799296,
843
+ -0.5586380392089367,
844
+ 0.5281517579289239
845
+ ]
846
+ }
847
+ },
848
+ "grasp_28": {
849
+ "confidence": 0.9492935538291931,
850
+ "position": [
851
+ 0.037395034334622324,
852
+ 0.09279818990034983,
853
+ 0.06899155769497156
854
+ ],
855
+ "orientation": {
856
+ "w": 0.11956635956537863,
857
+ "xyz": [
858
+ -0.14492852783081986,
859
+ -0.6940711369839043,
860
+ 0.6949567355504548
861
+ ]
862
+ }
863
+ },
864
+ "grasp_29": {
865
+ "confidence": 0.9479999542236328,
866
+ "position": [
867
+ 0.03909524192567915,
868
+ -0.09464427671628073,
869
+ 0.07298604492098093
870
+ ],
871
+ "orientation": {
872
+ "w": 0.6862254304088717,
873
+ "xyz": [
874
+ -0.6983813057328233,
875
+ -0.14022967232361783,
876
+ 0.14728832086450794
877
+ ]
878
+ }
879
+ },
880
+ "grasp_30": {
881
+ "confidence": 0.9478837251663208,
882
+ "position": [
883
+ 0.09712580626364797,
884
+ -0.03393653250532225,
885
+ 0.0765389995649457
886
+ ],
887
+ "orientation": {
888
+ "w": 0.5654694026059018,
889
+ "xyz": [
890
+ -0.5817043618353674,
891
+ -0.4350928674500276,
892
+ 0.39058748934437865
893
+ ]
894
+ }
895
+ },
896
+ "grasp_31": {
897
+ "confidence": 0.9468541741371155,
898
+ "position": [
899
+ 0.09859816019888967,
900
+ -0.010785897553432733,
901
+ 0.08109594974666834
902
+ ],
903
+ "orientation": {
904
+ "w": 0.4957799630603039,
905
+ "xyz": [
906
+ -0.5523364978786486,
907
+ -0.4872553571816126,
908
+ 0.46011828722285386
909
+ ]
910
+ }
911
+ },
912
+ "grasp_32": {
913
+ "confidence": 0.9431732892990112,
914
+ "position": [
915
+ 0.02430508879479021,
916
+ 0.10001630493206903,
917
+ 0.07295275945216417
918
+ ],
919
+ "orientation": {
920
+ "w": 0.0836567208735934,
921
+ "xyz": [
922
+ -0.10483457769067327,
923
+ -0.7127097347238485,
924
+ 0.6885173188838152
925
+ ]
926
+ }
927
+ },
928
+ "grasp_33": {
929
+ "confidence": 0.9426724910736084,
930
+ "position": [
931
+ 0.03643636067863554,
932
+ 0.09305384912295267,
933
+ 0.0831574285402894
934
+ ],
935
+ "orientation": {
936
+ "w": 0.12201118251060952,
937
+ "xyz": [
938
+ -0.14982520570016453,
939
+ -0.7312726288324908,
940
+ 0.6541452601675593
941
+ ]
942
+ }
943
+ },
944
+ "grasp_34": {
945
+ "confidence": 0.9419604539871216,
946
+ "position": [
947
+ -0.0885238196933642,
948
+ 0.01580940530402586,
949
+ 0.12111051473766565
950
+ ],
951
+ "orientation": {
952
+ "w": 0.38874453733864084,
953
+ "xyz": [
954
+ 0.6579439336606404,
955
+ 0.5640704821223341,
956
+ 0.3127490304490277
957
+ ]
958
+ }
959
+ },
960
+ "grasp_35": {
961
+ "confidence": 0.9418929815292358,
962
+ "position": [
963
+ -0.09790862316731364,
964
+ -0.034284243651200086,
965
+ 0.07033243495970964
966
+ ],
967
+ "orientation": {
968
+ "w": 0.5627158837186246,
969
+ "xyz": [
970
+ -0.5763361263232614,
971
+ 0.41498367337492925,
972
+ -0.4230556163646985
973
+ ]
974
+ }
975
+ },
976
+ "grasp_36": {
977
+ "confidence": 0.9417870044708252,
978
+ "position": [
979
+ 0.10387353633996099,
980
+ -0.010607030533719808,
981
+ 0.07332844007760286
982
+ ],
983
+ "orientation": {
984
+ "w": 0.47259372707548386,
985
+ "xyz": [
986
+ 0.4861202317189109,
987
+ -0.534758959465908,
988
+ -0.5043561685093136
989
+ ]
990
+ }
991
+ },
992
+ "grasp_37": {
993
+ "confidence": 0.9407830834388733,
994
+ "position": [
995
+ 0.08868685399647802,
996
+ 0.0001422053319402039,
997
+ 0.12477036658674479
998
+ ],
999
+ "orientation": {
1000
+ "w": 0.3593605067475422,
1001
+ "xyz": [
1002
+ 0.603699298102366,
1003
+ -0.6295353393826643,
1004
+ -0.33180180850805174
1005
+ ]
1006
+ }
1007
+ },
1008
+ "grasp_38": {
1009
+ "confidence": 0.9406536221504211,
1010
+ "position": [
1011
+ 0.024619622505269945,
1012
+ -0.10292492649750784,
1013
+ 0.07975774351507425
1014
+ ],
1015
+ "orientation": {
1016
+ "w": 0.0754845984268922,
1017
+ "xyz": [
1018
+ 0.09521164920123518,
1019
+ -0.738827618079586,
1020
+ -0.6628503360635469
1021
+ ]
1022
+ }
1023
+ },
1024
+ "grasp_39": {
1025
+ "confidence": 0.9399120807647705,
1026
+ "position": [
1027
+ 0.027415447286330163,
1028
+ 0.09607811429305002,
1029
+ 0.06998048443347216
1030
+ ],
1031
+ "orientation": {
1032
+ "w": 0.09136939406388972,
1033
+ "xyz": [
1034
+ -0.10299594019561378,
1035
+ -0.703640043562816,
1036
+ 0.6970897784550695
1037
+ ]
1038
+ }
1039
+ }
1040
+ }
1041
+ }
1042
+ ],
1043
+ "quality_check": {
1044
+ "success": true,
1045
+ "message": "YES"
1046
+ }
1047
+ }
dataset/livingroom_supplies/ornaments/0a036d6f7f435454af02db283320c269/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03a66c8d101263402935490b21692378c7a000ae380e16b76fa0ba18fa0d6cbd
3
+ size 37306972