Add asset bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f
Browse files
.gitattributes
CHANGED
|
@@ -5592,3 +5592,4 @@ dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/afforda
|
|
| 5592 |
dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5593 |
dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5594 |
dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5592 |
dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5593 |
dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5594 |
dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5595 |
+
dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1033 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top cap",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp or pinch the top cap to pull, twist, or manipulate the closure during opening",
|
| 10 |
+
"confidence": 0.74
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the cap area to orient the bottle during handling",
|
| 14 |
+
"confidence": 0.42
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the dispensing opening",
|
| 19 |
+
"serve as the main closure element",
|
| 20 |
+
"protect the outlet"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Small round yellow plastic cap at the very top of the bottle, glossy and smooth with a flat to slightly domed circular top and short cylindrical sides.",
|
| 23 |
+
"id": 1,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_20": {
|
| 26 |
+
"confidence": 0.9637663960456848,
|
| 27 |
+
"position": [
|
| 28 |
+
0.09105309011647478,
|
| 29 |
+
-0.05033913569059223,
|
| 30 |
+
0.12765241973102093
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.5907484003184367,
|
| 34 |
+
"xyz": [
|
| 35 |
+
-0.6259798237815037,
|
| 36 |
+
-0.3612404843358732,
|
| 37 |
+
0.3587072625644348
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_21": {
|
| 42 |
+
"confidence": 0.9630191922187805,
|
| 43 |
+
"position": [
|
| 44 |
+
-0.08020331797888502,
|
| 45 |
+
0.034276825026609004,
|
| 46 |
+
0.16751725785434246
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.4325056874474368,
|
| 50 |
+
"xyz": [
|
| 51 |
+
0.7017138734129148,
|
| 52 |
+
0.4880161899537967,
|
| 53 |
+
0.28701335949471773
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_22": {
|
| 58 |
+
"confidence": 0.9617432951927185,
|
| 59 |
+
"position": [
|
| 60 |
+
0.03916690038749948,
|
| 61 |
+
0.09201842977199703,
|
| 62 |
+
0.12453027628362179
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.162356855653335,
|
| 66 |
+
"xyz": [
|
| 67 |
+
-0.10973045064114198,
|
| 68 |
+
-0.7101579771875449,
|
| 69 |
+
0.676221211632221
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_23": {
|
| 74 |
+
"confidence": 0.9599462151527405,
|
| 75 |
+
"position": [
|
| 76 |
+
0.051222718378994614,
|
| 77 |
+
-0.08587361441459507,
|
| 78 |
+
0.14046107046306133
|
| 79 |
+
],
|
| 80 |
+
"orientation": {
|
| 81 |
+
"w": 0.1555643050124021,
|
| 82 |
+
"xyz": [
|
| 83 |
+
0.19614482918612014,
|
| 84 |
+
-0.7435777027542209,
|
| 85 |
+
-0.6200154457401134
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_24": {
|
| 90 |
+
"confidence": 0.9595212936401367,
|
| 91 |
+
"position": [
|
| 92 |
+
0.09978983463952318,
|
| 93 |
+
-0.029407161637209356,
|
| 94 |
+
0.12884034030139446
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
+
"w": 0.5574734616962062,
|
| 98 |
+
"xyz": [
|
| 99 |
+
-0.5702905011754358,
|
| 100 |
+
-0.4381558237793407,
|
| 101 |
+
0.4147427610721693
|
| 102 |
+
]
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"grasp_25": {
|
| 106 |
+
"confidence": 0.9576713442802429,
|
| 107 |
+
"position": [
|
| 108 |
+
-0.05711089534452185,
|
| 109 |
+
0.06639801396522671,
|
| 110 |
+
0.16703207604587078
|
| 111 |
+
],
|
| 112 |
+
"orientation": {
|
| 113 |
+
"w": 0.4934117822631051,
|
| 114 |
+
"xyz": [
|
| 115 |
+
0.8047013034958383,
|
| 116 |
+
0.28460122315576686,
|
| 117 |
+
0.16734027923451741
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"grasp_26": {
|
| 122 |
+
"confidence": 0.957598865032196,
|
| 123 |
+
"position": [
|
| 124 |
+
0.09663026692578569,
|
| 125 |
+
-0.03172440396156162,
|
| 126 |
+
0.12407863698899746
|
| 127 |
+
],
|
| 128 |
+
"orientation": {
|
| 129 |
+
"w": 0.5712541109066036,
|
| 130 |
+
"xyz": [
|
| 131 |
+
-0.583609933589084,
|
| 132 |
+
-0.42202354196576564,
|
| 133 |
+
0.39365507263989363
|
| 134 |
+
]
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"grasp_27": {
|
| 138 |
+
"confidence": 0.956697404384613,
|
| 139 |
+
"position": [
|
| 140 |
+
0.09522442432353273,
|
| 141 |
+
-0.04516633169259876,
|
| 142 |
+
0.1257306169718504
|
| 143 |
+
],
|
| 144 |
+
"orientation": {
|
| 145 |
+
"w": 0.5732393420680812,
|
| 146 |
+
"xyz": [
|
| 147 |
+
-0.6156763477389708,
|
| 148 |
+
-0.3848345914260253,
|
| 149 |
+
0.37979155965097444
|
| 150 |
+
]
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
"grasp_28": {
|
| 154 |
+
"confidence": 0.9551937580108643,
|
| 155 |
+
"position": [
|
| 156 |
+
-0.028363260382320732,
|
| 157 |
+
0.09353986813221127,
|
| 158 |
+
0.13086323253810406
|
| 159 |
+
],
|
| 160 |
+
"orientation": {
|
| 161 |
+
"w": 0.6685334348113497,
|
| 162 |
+
"xyz": [
|
| 163 |
+
0.7294759561865248,
|
| 164 |
+
0.1118391702508581,
|
| 165 |
+
0.09175988166237922
|
| 166 |
+
]
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"grasp_29": {
|
| 170 |
+
"confidence": 0.9548355937004089,
|
| 171 |
+
"position": [
|
| 172 |
+
0.09991393150994554,
|
| 173 |
+
-0.01964474970009178,
|
| 174 |
+
0.12793211452662945
|
| 175 |
+
],
|
| 176 |
+
"orientation": {
|
| 177 |
+
"w": 0.5334290625421695,
|
| 178 |
+
"xyz": [
|
| 179 |
+
-0.5575400053350988,
|
| 180 |
+
-0.46271901673624094,
|
| 181 |
+
0.43645582736053257
|
| 182 |
+
]
|
| 183 |
+
}
|
| 184 |
+
},
|
| 185 |
+
"grasp_30": {
|
| 186 |
+
"confidence": 0.9546175599098206,
|
| 187 |
+
"position": [
|
| 188 |
+
-0.048184488841798156,
|
| 189 |
+
0.07052334828767926,
|
| 190 |
+
0.16911370866000652
|
| 191 |
+
],
|
| 192 |
+
"orientation": {
|
| 193 |
+
"w": 0.48361479097475535,
|
| 194 |
+
"xyz": [
|
| 195 |
+
0.8153999417119294,
|
| 196 |
+
0.27546697212921645,
|
| 197 |
+
0.15924074940977698
|
| 198 |
+
]
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
"grasp_31": {
|
| 202 |
+
"confidence": 0.9535106420516968,
|
| 203 |
+
"position": [
|
| 204 |
+
0.002394139941316098,
|
| 205 |
+
0.08763394190464169,
|
| 206 |
+
0.16981792263686657
|
| 207 |
+
],
|
| 208 |
+
"orientation": {
|
| 209 |
+
"w": 0.0076339262232041705,
|
| 210 |
+
"xyz": [
|
| 211 |
+
-0.0010004832214585218,
|
| 212 |
+
-0.8620660900389997,
|
| 213 |
+
0.5067373862353299
|
| 214 |
+
]
|
| 215 |
+
}
|
| 216 |
+
},
|
| 217 |
+
"grasp_32": {
|
| 218 |
+
"confidence": 0.9521391987800598,
|
| 219 |
+
"position": [
|
| 220 |
+
-0.10194239852717146,
|
| 221 |
+
-0.019297532155178487,
|
| 222 |
+
0.12362114153802395
|
| 223 |
+
],
|
| 224 |
+
"orientation": {
|
| 225 |
+
"w": 0.544078847899505,
|
| 226 |
+
"xyz": [
|
| 227 |
+
-0.5313560966972758,
|
| 228 |
+
0.4586287287403876,
|
| 229 |
+
-0.4596722690623806
|
| 230 |
+
]
|
| 231 |
+
}
|
| 232 |
+
},
|
| 233 |
+
"grasp_33": {
|
| 234 |
+
"confidence": 0.951299250125885,
|
| 235 |
+
"position": [
|
| 236 |
+
-0.0451522440998815,
|
| 237 |
+
0.08393116726074368,
|
| 238 |
+
0.13578158430755138
|
| 239 |
+
],
|
| 240 |
+
"orientation": {
|
| 241 |
+
"w": 0.15261790649599682,
|
| 242 |
+
"xyz": [
|
| 243 |
+
-0.178362848886812,
|
| 244 |
+
0.726990541667361,
|
| 245 |
+
-0.6452745315599844
|
| 246 |
+
]
|
| 247 |
+
}
|
| 248 |
+
},
|
| 249 |
+
"grasp_34": {
|
| 250 |
+
"confidence": 0.9509541392326355,
|
| 251 |
+
"position": [
|
| 252 |
+
0.0027328230789862573,
|
| 253 |
+
-0.10440782771911472,
|
| 254 |
+
0.1277634035795927
|
| 255 |
+
],
|
| 256 |
+
"orientation": {
|
| 257 |
+
"w": 0.6966659236476003,
|
| 258 |
+
"xyz": [
|
| 259 |
+
-0.7169153271871871,
|
| 260 |
+
-0.025977739724472038,
|
| 261 |
+
-0.0037631783285310126
|
| 262 |
+
]
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
"grasp_35": {
|
| 266 |
+
"confidence": 0.9508397579193115,
|
| 267 |
+
"position": [
|
| 268 |
+
-0.09742888895561919,
|
| 269 |
+
0.0039065355667844415,
|
| 270 |
+
0.1363839339464903
|
| 271 |
+
],
|
| 272 |
+
"orientation": {
|
| 273 |
+
"w": 0.46180471242927945,
|
| 274 |
+
"xyz": [
|
| 275 |
+
-0.5129468128115198,
|
| 276 |
+
0.5472850548700563,
|
| 277 |
+
-0.47339311731423944
|
| 278 |
+
]
|
| 279 |
+
}
|
| 280 |
+
},
|
| 281 |
+
"grasp_36": {
|
| 282 |
+
"confidence": 0.9507800936698914,
|
| 283 |
+
"position": [
|
| 284 |
+
0.10575268330285326,
|
| 285 |
+
-0.009935140027664602,
|
| 286 |
+
0.12553524784743786
|
| 287 |
+
],
|
| 288 |
+
"orientation": {
|
| 289 |
+
"w": 0.5148212802835239,
|
| 290 |
+
"xyz": [
|
| 291 |
+
-0.533277164008884,
|
| 292 |
+
-0.4937419362659158,
|
| 293 |
+
0.45474544097358405
|
| 294 |
+
]
|
| 295 |
+
}
|
| 296 |
+
},
|
| 297 |
+
"grasp_37": {
|
| 298 |
+
"confidence": 0.9492825865745544,
|
| 299 |
+
"position": [
|
| 300 |
+
0.10400185646722093,
|
| 301 |
+
-0.01659519725944847,
|
| 302 |
+
0.12708266638219357
|
| 303 |
+
],
|
| 304 |
+
"orientation": {
|
| 305 |
+
"w": 0.4485418876471426,
|
| 306 |
+
"xyz": [
|
| 307 |
+
0.46874980394742,
|
| 308 |
+
-0.5410626094845701,
|
| 309 |
+
-0.5351028395952887
|
| 310 |
+
]
|
| 311 |
+
}
|
| 312 |
+
},
|
| 313 |
+
"grasp_38": {
|
| 314 |
+
"confidence": 0.948752760887146,
|
| 315 |
+
"position": [
|
| 316 |
+
-0.10251131741097197,
|
| 317 |
+
-0.0016568246064707637,
|
| 318 |
+
0.11672120355069637
|
| 319 |
+
],
|
| 320 |
+
"orientation": {
|
| 321 |
+
"w": 0.5115444424296649,
|
| 322 |
+
"xyz": [
|
| 323 |
+
0.47614091426894634,
|
| 324 |
+
0.4856325639910216,
|
| 325 |
+
0.5251410534037133
|
| 326 |
+
]
|
| 327 |
+
}
|
| 328 |
+
},
|
| 329 |
+
"grasp_39": {
|
| 330 |
+
"confidence": 0.9486092925071716,
|
| 331 |
+
"position": [
|
| 332 |
+
-0.10339471040060744,
|
| 333 |
+
-0.006233612424694002,
|
| 334 |
+
0.11368167959153652
|
| 335 |
+
],
|
| 336 |
+
"orientation": {
|
| 337 |
+
"w": 0.5021664084642272,
|
| 338 |
+
"xyz": [
|
| 339 |
+
0.4664954367117176,
|
| 340 |
+
0.5034504089495818,
|
| 341 |
+
0.5260689987689651
|
| 342 |
+
]
|
| 343 |
+
}
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
{
|
| 348 |
+
"part_name": "cap collar",
|
| 349 |
+
"mask_color": "Red",
|
| 350 |
+
"graspable": true,
|
| 351 |
+
"grasp_scenarios": [
|
| 352 |
+
{
|
| 353 |
+
"scenario": "grasp the collar to hold and orient the bottle near the neck",
|
| 354 |
+
"confidence": 0.58
|
| 355 |
+
},
|
| 356 |
+
{
|
| 357 |
+
"scenario": "pinch the collar area to stabilize the bottle while manipulating the top cap",
|
| 358 |
+
"confidence": 0.63
|
| 359 |
+
}
|
| 360 |
+
],
|
| 361 |
+
"functional_labels": [
|
| 362 |
+
"connect the top cap to the bottle neck",
|
| 363 |
+
"support the closure assembly",
|
| 364 |
+
"stabilize the neck area",
|
| 365 |
+
"provide structure below the cap"
|
| 366 |
+
],
|
| 367 |
+
"semantic_description": "Short cylindrical yellow plastic collar directly below the top cap, glossy and smooth, wrapping around the narrow neck region above the bottle shoulders.",
|
| 368 |
+
"id": 0,
|
| 369 |
+
"grasp_group": {
|
| 370 |
+
"grasp_0": {
|
| 371 |
+
"confidence": 0.9429081678390503,
|
| 372 |
+
"position": [
|
| 373 |
+
-0.09461520699551329,
|
| 374 |
+
0.037794236675836146,
|
| 375 |
+
0.11279860697686672
|
| 376 |
+
],
|
| 377 |
+
"orientation": {
|
| 378 |
+
"w": 0.5974762886548165,
|
| 379 |
+
"xyz": [
|
| 380 |
+
0.5668902392220329,
|
| 381 |
+
0.39175559477122834,
|
| 382 |
+
0.4101037614256839
|
| 383 |
+
]
|
| 384 |
+
}
|
| 385 |
+
},
|
| 386 |
+
"grasp_1": {
|
| 387 |
+
"confidence": 0.9428797960281372,
|
| 388 |
+
"position": [
|
| 389 |
+
-0.0939820641069673,
|
| 390 |
+
0.04211638926062733,
|
| 391 |
+
0.11289001815021038
|
| 392 |
+
],
|
| 393 |
+
"orientation": {
|
| 394 |
+
"w": 0.5988100558385322,
|
| 395 |
+
"xyz": [
|
| 396 |
+
0.5947454051779407,
|
| 397 |
+
0.3567759630029709,
|
| 398 |
+
0.40051882885787515
|
| 399 |
+
]
|
| 400 |
+
}
|
| 401 |
+
},
|
| 402 |
+
"grasp_2": {
|
| 403 |
+
"confidence": 0.9422580599784851,
|
| 404 |
+
"position": [
|
| 405 |
+
-0.08097860304405913,
|
| 406 |
+
0.039867569343186915,
|
| 407 |
+
0.15783551149070263
|
| 408 |
+
],
|
| 409 |
+
"orientation": {
|
| 410 |
+
"w": 0.4448410541470028,
|
| 411 |
+
"xyz": [
|
| 412 |
+
0.7099501850804236,
|
| 413 |
+
0.46630823393363874,
|
| 414 |
+
0.28397852421503006
|
| 415 |
+
]
|
| 416 |
+
}
|
| 417 |
+
},
|
| 418 |
+
"grasp_3": {
|
| 419 |
+
"confidence": 0.9415869116783142,
|
| 420 |
+
"position": [
|
| 421 |
+
0.014977782091591507,
|
| 422 |
+
-0.09443047957029194,
|
| 423 |
+
0.16180419735610485
|
| 424 |
+
],
|
| 425 |
+
"orientation": {
|
| 426 |
+
"w": 0.4892851911240457,
|
| 427 |
+
"xyz": [
|
| 428 |
+
-0.868148512870529,
|
| 429 |
+
-0.07755513699162914,
|
| 430 |
+
0.03005598232639603
|
| 431 |
+
]
|
| 432 |
+
}
|
| 433 |
+
},
|
| 434 |
+
"grasp_4": {
|
| 435 |
+
"confidence": 0.9414474964141846,
|
| 436 |
+
"position": [
|
| 437 |
+
-0.08526302961399779,
|
| 438 |
+
0.04021180851850659,
|
| 439 |
+
0.15245444886386395
|
| 440 |
+
],
|
| 441 |
+
"orientation": {
|
| 442 |
+
"w": 0.2793779542256252,
|
| 443 |
+
"xyz": [
|
| 444 |
+
-0.4633924494760212,
|
| 445 |
+
0.7045429872977952,
|
| 446 |
+
-0.45916726310878947
|
| 447 |
+
]
|
| 448 |
+
}
|
| 449 |
+
},
|
| 450 |
+
"grasp_5": {
|
| 451 |
+
"confidence": 0.9411211609840393,
|
| 452 |
+
"position": [
|
| 453 |
+
0.034568208327982575,
|
| 454 |
+
-0.08733003900852054,
|
| 455 |
+
0.16188879124820232
|
| 456 |
+
],
|
| 457 |
+
"orientation": {
|
| 458 |
+
"w": 0.4682013237429074,
|
| 459 |
+
"xyz": [
|
| 460 |
+
-0.869376773625767,
|
| 461 |
+
-0.12981278394366025,
|
| 462 |
+
0.0901120804900085
|
| 463 |
+
]
|
| 464 |
+
}
|
| 465 |
+
},
|
| 466 |
+
"grasp_6": {
|
| 467 |
+
"confidence": 0.9410561323165894,
|
| 468 |
+
"position": [
|
| 469 |
+
-0.014419769810047,
|
| 470 |
+
0.0909504113951698,
|
| 471 |
+
0.15846139006316662
|
| 472 |
+
],
|
| 473 |
+
"orientation": {
|
| 474 |
+
"w": 0.5032480324951563,
|
| 475 |
+
"xyz": [
|
| 476 |
+
0.8579941814167724,
|
| 477 |
+
0.09448854578349686,
|
| 478 |
+
0.04073471689403181
|
| 479 |
+
]
|
| 480 |
+
}
|
| 481 |
+
},
|
| 482 |
+
"grasp_7": {
|
| 483 |
+
"confidence": 0.9407458305358887,
|
| 484 |
+
"position": [
|
| 485 |
+
-0.03533171949675307,
|
| 486 |
+
0.08688373549375683,
|
| 487 |
+
0.15840205363929272
|
| 488 |
+
],
|
| 489 |
+
"orientation": {
|
| 490 |
+
"w": 0.08334276584017047,
|
| 491 |
+
"xyz": [
|
| 492 |
+
-0.1592226143231365,
|
| 493 |
+
0.8423629370043342,
|
| 494 |
+
-0.5080618317012683
|
| 495 |
+
]
|
| 496 |
+
}
|
| 497 |
+
},
|
| 498 |
+
"grasp_8": {
|
| 499 |
+
"confidence": 0.9406712651252747,
|
| 500 |
+
"position": [
|
| 501 |
+
0.09977884503314272,
|
| 502 |
+
-0.034693169756792486,
|
| 503 |
+
0.11032756976783276
|
| 504 |
+
],
|
| 505 |
+
"orientation": {
|
| 506 |
+
"w": 0.409487692749172,
|
| 507 |
+
"xyz": [
|
| 508 |
+
0.4141384725339345,
|
| 509 |
+
-0.5735349098052501,
|
| 510 |
+
-0.5760788681152113
|
| 511 |
+
]
|
| 512 |
+
}
|
| 513 |
+
},
|
| 514 |
+
"grasp_9": {
|
| 515 |
+
"confidence": 0.9386690855026245,
|
| 516 |
+
"position": [
|
| 517 |
+
0.09654030861565843,
|
| 518 |
+
-0.036854229285381734,
|
| 519 |
+
0.11356819979846478
|
| 520 |
+
],
|
| 521 |
+
"orientation": {
|
| 522 |
+
"w": 0.3949242789245946,
|
| 523 |
+
"xyz": [
|
| 524 |
+
0.39072411303609955,
|
| 525 |
+
-0.5808158867690508,
|
| 526 |
+
-0.5949978042688252
|
| 527 |
+
]
|
| 528 |
+
}
|
| 529 |
+
},
|
| 530 |
+
"grasp_10": {
|
| 531 |
+
"confidence": 0.9382442235946655,
|
| 532 |
+
"position": [
|
| 533 |
+
0.006631948577705771,
|
| 534 |
+
-0.09216019080486149,
|
| 535 |
+
0.16509342007339
|
| 536 |
+
],
|
| 537 |
+
"orientation": {
|
| 538 |
+
"w": 0.47651948051426596,
|
| 539 |
+
"xyz": [
|
| 540 |
+
-0.8783884068061522,
|
| 541 |
+
-0.03544165784012232,
|
| 542 |
+
0.010338296209124815
|
| 543 |
+
]
|
| 544 |
+
}
|
| 545 |
+
},
|
| 546 |
+
"grasp_11": {
|
| 547 |
+
"confidence": 0.9361801147460938,
|
| 548 |
+
"position": [
|
| 549 |
+
0.00953317346284166,
|
| 550 |
+
-0.10074775235261768,
|
| 551 |
+
0.1506484281271696
|
| 552 |
+
],
|
| 553 |
+
"orientation": {
|
| 554 |
+
"w": 0.5385256729033413,
|
| 555 |
+
"xyz": [
|
| 556 |
+
-0.8413499319042547,
|
| 557 |
+
-0.04058353167574258,
|
| 558 |
+
0.02175703714740532
|
| 559 |
+
]
|
| 560 |
+
}
|
| 561 |
+
},
|
| 562 |
+
"grasp_12": {
|
| 563 |
+
"confidence": 0.9358933568000793,
|
| 564 |
+
"position": [
|
| 565 |
+
0.04819024639436975,
|
| 566 |
+
-0.08535678999032825,
|
| 567 |
+
0.15233388356864452
|
| 568 |
+
],
|
| 569 |
+
"orientation": {
|
| 570 |
+
"w": 0.5029762529720099,
|
| 571 |
+
"xyz": [
|
| 572 |
+
-0.8283002505157477,
|
| 573 |
+
-0.20812181622552994,
|
| 574 |
+
0.1327361802703879
|
| 575 |
+
]
|
| 576 |
+
}
|
| 577 |
+
},
|
| 578 |
+
"grasp_13": {
|
| 579 |
+
"confidence": 0.9355513453483582,
|
| 580 |
+
"position": [
|
| 581 |
+
0.09462458553025499,
|
| 582 |
+
-0.040625184192322195,
|
| 583 |
+
0.11605389229953289
|
| 584 |
+
],
|
| 585 |
+
"orientation": {
|
| 586 |
+
"w": 0.38048364184181366,
|
| 587 |
+
"xyz": [
|
| 588 |
+
0.3958974321299834,
|
| 589 |
+
-0.5970137328473464,
|
| 590 |
+
-0.584869236937072
|
| 591 |
+
]
|
| 592 |
+
}
|
| 593 |
+
},
|
| 594 |
+
"grasp_14": {
|
| 595 |
+
"confidence": 0.9354137182235718,
|
| 596 |
+
"position": [
|
| 597 |
+
-0.1025897198705934,
|
| 598 |
+
-0.011656677699647844,
|
| 599 |
+
0.11635693721473217
|
| 600 |
+
],
|
| 601 |
+
"orientation": {
|
| 602 |
+
"w": 0.47737306245036204,
|
| 603 |
+
"xyz": [
|
| 604 |
+
0.4709012183684887,
|
| 605 |
+
0.5259884310334257,
|
| 606 |
+
0.5231664861254312
|
| 607 |
+
]
|
| 608 |
+
}
|
| 609 |
+
},
|
| 610 |
+
"grasp_15": {
|
| 611 |
+
"confidence": 0.931988000869751,
|
| 612 |
+
"position": [
|
| 613 |
+
-0.010850746126379818,
|
| 614 |
+
0.09078833146486431,
|
| 615 |
+
0.1496948730200529
|
| 616 |
+
],
|
| 617 |
+
"orientation": {
|
| 618 |
+
"w": 0.5401024877948405,
|
| 619 |
+
"xyz": [
|
| 620 |
+
0.8380970837437788,
|
| 621 |
+
0.06757744855206038,
|
| 622 |
+
0.0362749134415345
|
| 623 |
+
]
|
| 624 |
+
}
|
| 625 |
+
},
|
| 626 |
+
"grasp_16": {
|
| 627 |
+
"confidence": 0.9315742254257202,
|
| 628 |
+
"position": [
|
| 629 |
+
-0.034607511886861175,
|
| 630 |
+
0.08295171393547207,
|
| 631 |
+
0.15794840268790722
|
| 632 |
+
],
|
| 633 |
+
"orientation": {
|
| 634 |
+
"w": 0.07565292069052974,
|
| 635 |
+
"xyz": [
|
| 636 |
+
-0.1885456908565186,
|
| 637 |
+
0.841358575959726,
|
| 638 |
+
-0.5008421954163327
|
| 639 |
+
]
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
"grasp_17": {
|
| 643 |
+
"confidence": 0.9309973120689392,
|
| 644 |
+
"position": [
|
| 645 |
+
0.10286366852233186,
|
| 646 |
+
0.003547519794665277,
|
| 647 |
+
0.1225717794150114
|
| 648 |
+
],
|
| 649 |
+
"orientation": {
|
| 650 |
+
"w": 0.4811718030309666,
|
| 651 |
+
"xyz": [
|
| 652 |
+
-0.5025530255373011,
|
| 653 |
+
-0.5267883782342215,
|
| 654 |
+
0.4882705777011273
|
| 655 |
+
]
|
| 656 |
+
}
|
| 657 |
+
},
|
| 658 |
+
"grasp_18": {
|
| 659 |
+
"confidence": 0.9306278824806213,
|
| 660 |
+
"position": [
|
| 661 |
+
-0.08463675616076216,
|
| 662 |
+
0.03770820109639317,
|
| 663 |
+
0.15122210793197155
|
| 664 |
+
],
|
| 665 |
+
"orientation": {
|
| 666 |
+
"w": 0.4463845597964279,
|
| 667 |
+
"xyz": [
|
| 668 |
+
0.7019226390856919,
|
| 669 |
+
0.4725378788143547,
|
| 670 |
+
0.29112434903311846
|
| 671 |
+
]
|
| 672 |
+
}
|
| 673 |
+
},
|
| 674 |
+
"grasp_19": {
|
| 675 |
+
"confidence": 0.9285548329353333,
|
| 676 |
+
"position": [
|
| 677 |
+
-0.10029656527331099,
|
| 678 |
+
0.024231428862549365,
|
| 679 |
+
0.11553223989903927
|
| 680 |
+
],
|
| 681 |
+
"orientation": {
|
| 682 |
+
"w": 0.4315178704916207,
|
| 683 |
+
"xyz": [
|
| 684 |
+
-0.4203959746564311,
|
| 685 |
+
0.5584687358229952,
|
| 686 |
+
-0.5702387421486834
|
| 687 |
+
]
|
| 688 |
+
}
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
},
|
| 692 |
+
{
|
| 693 |
+
"part_name": "neck ring",
|
| 694 |
+
"mask_color": "Yellow",
|
| 695 |
+
"graspable": true,
|
| 696 |
+
"grasp_scenarios": [
|
| 697 |
+
{
|
| 698 |
+
"scenario": "pinch the thin neck ring area to stabilize the bottle while opening or closing the cap",
|
| 699 |
+
"confidence": 0.46
|
| 700 |
+
}
|
| 701 |
+
],
|
| 702 |
+
"functional_labels": [
|
| 703 |
+
"transition between bottle body and cap assembly",
|
| 704 |
+
"provide structural neck support",
|
| 705 |
+
"seat the closure assembly above the body"
|
| 706 |
+
],
|
| 707 |
+
"semantic_description": "Thin yellow ring at the top of the bottle body just below the red collar, glossy and smooth, appearing as a narrow circular band around the neck-shoulder junction.",
|
| 708 |
+
"id": 3,
|
| 709 |
+
"grasp_group": {}
|
| 710 |
+
},
|
| 711 |
+
{
|
| 712 |
+
"part_name": "bottle body",
|
| 713 |
+
"mask_color": "Blue",
|
| 714 |
+
"graspable": true,
|
| 715 |
+
"grasp_scenarios": [
|
| 716 |
+
{
|
| 717 |
+
"scenario": "power grasp the bottle body to pick up and carry the bottle",
|
| 718 |
+
"confidence": 0.96
|
| 719 |
+
},
|
| 720 |
+
{
|
| 721 |
+
"scenario": "grasp the narrow middle section to squeeze and dispense contents",
|
| 722 |
+
"confidence": 0.91
|
| 723 |
+
},
|
| 724 |
+
{
|
| 725 |
+
"scenario": "hold the body upright while opening or closing the cap",
|
| 726 |
+
"confidence": 0.94
|
| 727 |
+
}
|
| 728 |
+
],
|
| 729 |
+
"functional_labels": [
|
| 730 |
+
"contain the liquid product",
|
| 731 |
+
"main grasp surface",
|
| 732 |
+
"support squeezing for dispensing",
|
| 733 |
+
"provide branding and printed information area"
|
| 734 |
+
],
|
| 735 |
+
"semantic_description": "Tall light yellow plastic bottle body with a glossy smooth surface, gently hourglass-shaped with rounded shoulders and a narrower waist, with white printed branding and curved decorative graphics on the front.",
|
| 736 |
+
"id": 2,
|
| 737 |
+
"grasp_group": {
|
| 738 |
+
"grasp_40": {
|
| 739 |
+
"confidence": 0.42261672019958496,
|
| 740 |
+
"position": [
|
| 741 |
+
-0.10581944970181212,
|
| 742 |
+
0.02099105215165764,
|
| 743 |
+
0.07667563669383526
|
| 744 |
+
],
|
| 745 |
+
"orientation": {
|
| 746 |
+
"w": 0.5554148292721816,
|
| 747 |
+
"xyz": [
|
| 748 |
+
0.5311115988541457,
|
| 749 |
+
0.4518804166291518,
|
| 750 |
+
0.45303302976075677
|
| 751 |
+
]
|
| 752 |
+
}
|
| 753 |
+
},
|
| 754 |
+
"grasp_41": {
|
| 755 |
+
"confidence": 0.36912885308265686,
|
| 756 |
+
"position": [
|
| 757 |
+
-0.10459089366486296,
|
| 758 |
+
-0.02259572164621204,
|
| 759 |
+
0.07793867401778698
|
| 760 |
+
],
|
| 761 |
+
"orientation": {
|
| 762 |
+
"w": 0.5367920327185265,
|
| 763 |
+
"xyz": [
|
| 764 |
+
-0.5481170632199773,
|
| 765 |
+
0.45154495242669557,
|
| 766 |
+
-0.45555367911475875
|
| 767 |
+
]
|
| 768 |
+
}
|
| 769 |
+
},
|
| 770 |
+
"grasp_42": {
|
| 771 |
+
"confidence": 0.3415994644165039,
|
| 772 |
+
"position": [
|
| 773 |
+
0.04807215841719881,
|
| 774 |
+
0.10084963275585324,
|
| 775 |
+
-0.09163477458059788
|
| 776 |
+
],
|
| 777 |
+
"orientation": {
|
| 778 |
+
"w": 0.17403959393251373,
|
| 779 |
+
"xyz": [
|
| 780 |
+
-0.14228623390509237,
|
| 781 |
+
-0.6708468144956647,
|
| 782 |
+
0.7067031900776521
|
| 783 |
+
]
|
| 784 |
+
}
|
| 785 |
+
},
|
| 786 |
+
"grasp_43": {
|
| 787 |
+
"confidence": 0.34159067273139954,
|
| 788 |
+
"position": [
|
| 789 |
+
-0.10355511395027861,
|
| 790 |
+
-0.009474953985773027,
|
| 791 |
+
0.07782597653567791
|
| 792 |
+
],
|
| 793 |
+
"orientation": {
|
| 794 |
+
"w": 0.49167227673744535,
|
| 795 |
+
"xyz": [
|
| 796 |
+
0.4796960378906491,
|
| 797 |
+
0.5072992022894485,
|
| 798 |
+
0.5203821700215319
|
| 799 |
+
]
|
| 800 |
+
}
|
| 801 |
+
},
|
| 802 |
+
"grasp_44": {
|
| 803 |
+
"confidence": 0.33968615531921387,
|
| 804 |
+
"position": [
|
| 805 |
+
0.10259260894963518,
|
| 806 |
+
0.0054954873630777,
|
| 807 |
+
0.08136077784001827
|
| 808 |
+
],
|
| 809 |
+
"orientation": {
|
| 810 |
+
"w": 0.5074175725996399,
|
| 811 |
+
"xyz": [
|
| 812 |
+
0.5249432094296503,
|
| 813 |
+
-0.48557480575105283,
|
| 814 |
+
-0.48081092116404234
|
| 815 |
+
]
|
| 816 |
+
}
|
| 817 |
+
},
|
| 818 |
+
"grasp_45": {
|
| 819 |
+
"confidence": 0.32071688771247864,
|
| 820 |
+
"position": [
|
| 821 |
+
-0.04070896370103583,
|
| 822 |
+
0.09705021663103253,
|
| 823 |
+
0.07835175655782223
|
| 824 |
+
],
|
| 825 |
+
"orientation": {
|
| 826 |
+
"w": 0.6970193847739367,
|
| 827 |
+
"xyz": [
|
| 828 |
+
0.6832132801126757,
|
| 829 |
+
0.15299264193570628,
|
| 830 |
+
0.1548445757544454
|
| 831 |
+
]
|
| 832 |
+
}
|
| 833 |
+
},
|
| 834 |
+
"grasp_47": {
|
| 835 |
+
"confidence": 0.31851691007614136,
|
| 836 |
+
"position": [
|
| 837 |
+
0.10733131231972948,
|
| 838 |
+
0.01298364216927439,
|
| 839 |
+
0.07928483746945858
|
| 840 |
+
],
|
| 841 |
+
"orientation": {
|
| 842 |
+
"w": 0.5319220829079953,
|
| 843 |
+
"xyz": [
|
| 844 |
+
0.5436699875701961,
|
| 845 |
+
-0.4652763070850032,
|
| 846 |
+
-0.45276903648061484
|
| 847 |
+
]
|
| 848 |
+
}
|
| 849 |
+
},
|
| 850 |
+
"grasp_48": {
|
| 851 |
+
"confidence": 0.3176121115684509,
|
| 852 |
+
"position": [
|
| 853 |
+
0.05314794840523973,
|
| 854 |
+
0.09957849665079266,
|
| 855 |
+
-0.07613584585487843
|
| 856 |
+
],
|
| 857 |
+
"orientation": {
|
| 858 |
+
"w": 0.1875247858872235,
|
| 859 |
+
"xyz": [
|
| 860 |
+
-0.16039743713183469,
|
| 861 |
+
-0.6834531910346008,
|
| 862 |
+
0.6870217263697797
|
| 863 |
+
]
|
| 864 |
+
}
|
| 865 |
+
},
|
| 866 |
+
"grasp_50": {
|
| 867 |
+
"confidence": 0.3058033287525177,
|
| 868 |
+
"position": [
|
| 869 |
+
-0.10275086847832426,
|
| 870 |
+
0.02762351429555565,
|
| 871 |
+
0.08011006377637386
|
| 872 |
+
],
|
| 873 |
+
"orientation": {
|
| 874 |
+
"w": 0.4207722834442875,
|
| 875 |
+
"xyz": [
|
| 876 |
+
-0.419280011500097,
|
| 877 |
+
0.567356588559812,
|
| 878 |
+
-0.5703169810371526
|
| 879 |
+
]
|
| 880 |
+
}
|
| 881 |
+
},
|
| 882 |
+
"grasp_51": {
|
| 883 |
+
"confidence": 0.3011292815208435,
|
| 884 |
+
"position": [
|
| 885 |
+
-0.09194516477873549,
|
| 886 |
+
0.06862832291517407,
|
| 887 |
+
-0.09890422411262989
|
| 888 |
+
],
|
| 889 |
+
"orientation": {
|
| 890 |
+
"w": 0.36143003069049423,
|
| 891 |
+
"xyz": [
|
| 892 |
+
-0.3235823235682632,
|
| 893 |
+
0.6147998606795031,
|
| 894 |
+
-0.6218391625635168
|
| 895 |
+
]
|
| 896 |
+
}
|
| 897 |
+
},
|
| 898 |
+
"grasp_53": {
|
| 899 |
+
"confidence": 0.28412142395973206,
|
| 900 |
+
"position": [
|
| 901 |
+
0.05128337355563417,
|
| 902 |
+
-0.09076955483760685,
|
| 903 |
+
0.08501852117478848
|
| 904 |
+
],
|
| 905 |
+
"orientation": {
|
| 906 |
+
"w": 0.6636792792818399,
|
| 907 |
+
"xyz": [
|
| 908 |
+
-0.7003937750060851,
|
| 909 |
+
-0.19402246160907755,
|
| 910 |
+
0.17701315932951522
|
| 911 |
+
]
|
| 912 |
+
}
|
| 913 |
+
},
|
| 914 |
+
"grasp_54": {
|
| 915 |
+
"confidence": 0.28399986028671265,
|
| 916 |
+
"position": [
|
| 917 |
+
-0.10076663730433211,
|
| 918 |
+
0.049621131853200495,
|
| 919 |
+
-0.09506994672119617
|
| 920 |
+
],
|
| 921 |
+
"orientation": {
|
| 922 |
+
"w": 0.38761119639084396,
|
| 923 |
+
"xyz": [
|
| 924 |
+
-0.3686310985132177,
|
| 925 |
+
0.577349124689767,
|
| 926 |
+
-0.6168765369677767
|
| 927 |
+
]
|
| 928 |
+
}
|
| 929 |
+
},
|
| 930 |
+
"grasp_57": {
|
| 931 |
+
"confidence": 0.2786767780780792,
|
| 932 |
+
"position": [
|
| 933 |
+
-0.032506958523299545,
|
| 934 |
+
-0.11374027596320957,
|
| 935 |
+
-0.08820646442472935
|
| 936 |
+
],
|
| 937 |
+
"orientation": {
|
| 938 |
+
"w": 0.14334701081208343,
|
| 939 |
+
"xyz": [
|
| 940 |
+
0.08021730692180676,
|
| 941 |
+
0.7116647680391409,
|
| 942 |
+
0.6830447101714857
|
| 943 |
+
]
|
| 944 |
+
}
|
| 945 |
+
},
|
| 946 |
+
"grasp_58": {
|
| 947 |
+
"confidence": 0.2764991223812103,
|
| 948 |
+
"position": [
|
| 949 |
+
-0.10373126802733168,
|
| 950 |
+
-0.004691503359936178,
|
| 951 |
+
0.0698328074067831
|
| 952 |
+
],
|
| 953 |
+
"orientation": {
|
| 954 |
+
"w": 0.5194164359203316,
|
| 955 |
+
"xyz": [
|
| 956 |
+
0.46591237412239817,
|
| 957 |
+
0.4833531934135149,
|
| 958 |
+
0.5286794077249536
|
| 959 |
+
]
|
| 960 |
+
}
|
| 961 |
+
}
|
| 962 |
+
}
|
| 963 |
+
},
|
| 964 |
+
{
|
| 965 |
+
"part_name": "base",
|
| 966 |
+
"mask_color": "Purple",
|
| 967 |
+
"graspable": true,
|
| 968 |
+
"grasp_scenarios": [
|
| 969 |
+
{
|
| 970 |
+
"scenario": "grasp the lower base area to lift the bottle from a surface",
|
| 971 |
+
"confidence": 0.61
|
| 972 |
+
},
|
| 973 |
+
{
|
| 974 |
+
"scenario": "hold the bottom end to invert or reorient the bottle",
|
| 975 |
+
"confidence": 0.68
|
| 976 |
+
}
|
| 977 |
+
],
|
| 978 |
+
"functional_labels": [
|
| 979 |
+
"support upright standing",
|
| 980 |
+
"stabilize the container",
|
| 981 |
+
"form the bottom closure"
|
| 982 |
+
],
|
| 983 |
+
"semantic_description": "Broad circular yellow plastic bottom at the base of the bottle, glossy and smooth with a slightly flattened underside wider than the waist for standing stability.",
|
| 984 |
+
"id": 5,
|
| 985 |
+
"grasp_group": {}
|
| 986 |
+
},
|
| 987 |
+
{
|
| 988 |
+
"part_name": "front label text",
|
| 989 |
+
"mask_color": "Magenta",
|
| 990 |
+
"graspable": false,
|
| 991 |
+
"grasp_scenarios": [],
|
| 992 |
+
"functional_labels": [
|
| 993 |
+
"display branding",
|
| 994 |
+
"identify the product",
|
| 995 |
+
"provide visual decoration"
|
| 996 |
+
],
|
| 997 |
+
"semantic_description": "White printed brand lettering on the front upper body, flat and smooth as part of the bottle's exterior graphics.",
|
| 998 |
+
"id": 7,
|
| 999 |
+
"grasp_group": {}
|
| 1000 |
+
},
|
| 1001 |
+
{
|
| 1002 |
+
"part_name": "front accent graphic",
|
| 1003 |
+
"mask_color": "Lime Green",
|
| 1004 |
+
"graspable": false,
|
| 1005 |
+
"grasp_scenarios": [],
|
| 1006 |
+
"functional_labels": [
|
| 1007 |
+
"provide visual decoration",
|
| 1008 |
+
"indicate product styling",
|
| 1009 |
+
"differentiate variant appearance"
|
| 1010 |
+
],
|
| 1011 |
+
"semantic_description": "Thin curved decorative line graphic on the front body, printed over the yellow bottle surface as a smooth flat accent.",
|
| 1012 |
+
"id": 9,
|
| 1013 |
+
"grasp_group": {}
|
| 1014 |
+
},
|
| 1015 |
+
{
|
| 1016 |
+
"part_name": "volume text",
|
| 1017 |
+
"mask_color": "Cyan",
|
| 1018 |
+
"graspable": false,
|
| 1019 |
+
"grasp_scenarios": [],
|
| 1020 |
+
"functional_labels": [
|
| 1021 |
+
"indicate quantity",
|
| 1022 |
+
"provide product information"
|
| 1023 |
+
],
|
| 1024 |
+
"semantic_description": "Small white printed volume marking near the lower front of the bottle, appearing as flat text on the glossy plastic surface.",
|
| 1025 |
+
"id": 6,
|
| 1026 |
+
"grasp_group": {}
|
| 1027 |
+
}
|
| 1028 |
+
],
|
| 1029 |
+
"quality_check": {
|
| 1030 |
+
"success": false,
|
| 1031 |
+
"message": "Neck ring description and identity are inaccurate; it is a tiny outlet/opening area, not a full ring."
|
| 1032 |
+
}
|
| 1033 |
+
}
|
dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7caf3be2b32a7f29bd46a11e80c56916a7c7d76d5c202bacd29f821ba08f9bab
|
| 3 |
+
size 3789204
|