Add asset bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d
Browse files
.gitattributes
CHANGED
|
@@ -5816,3 +5816,4 @@ dataset/bathroom_supplies/personal_care/ad0105b98e5d5f0f9ec4cbc0e9eeeba1/afforda
|
|
| 5816 |
dataset/bathroom_supplies/personal_care/ad2b0971aaad5bd095b41039d85c5e0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5817 |
dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5818 |
dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5816 |
dataset/bathroom_supplies/personal_care/ad2b0971aaad5bd095b41039d85c5e0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5817 |
dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5818 |
dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5819 |
+
dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,853 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tube body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the tube body at the middle to pick up and move the toothpaste",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "squeeze and hold the tube body to dispense toothpaste through the opening",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tube body while the cap is twisted on or off",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain toothpaste",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"deform to push contents out",
|
| 25 |
+
"support printed branding"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tapered white plastic laminate tube body with a smooth slightly glossy surface, soft squeezable feel, green printed text and graphics, forming the main large section between the crimped top and cap end.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9836381673812866,
|
| 32 |
+
"position": [
|
| 33 |
+
0.018314295797608793,
|
| 34 |
+
-0.10468058064725483,
|
| 35 |
+
-0.030690308194607496
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7051617262996562,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7025917780889646,
|
| 41 |
+
-0.08923353129659573,
|
| 42 |
+
0.033898525280832724
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9835650324821472,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.029109694645740092,
|
| 50 |
+
0.09895162507746136,
|
| 51 |
+
-0.03705036221072078
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.10286575610875782,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.1144763073523674,
|
| 57 |
+
0.6269712702953368,
|
| 58 |
+
-0.763688966464353
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9832097291946411,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.02893524302635342,
|
| 66 |
+
0.09742754921171581,
|
| 67 |
+
-0.021940823178738356
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.11857436755870808,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.10595538085434178,
|
| 73 |
+
0.6584035350231815,
|
| 74 |
+
-0.7356754458965195
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9831668734550476,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.10139643086586148,
|
| 82 |
+
-0.018102848531270865,
|
| 83 |
+
-0.018694992642849684
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.540540505986134,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5397027883724963,
|
| 89 |
+
0.46471104976213606,
|
| 90 |
+
-0.44786214602283625
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9826996326446533,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.019337529898621142,
|
| 98 |
+
0.10200480595085537,
|
| 99 |
+
-0.03528515575453639
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.07623285765989593,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.06686880349304099,
|
| 105 |
+
0.683461635559346,
|
| 106 |
+
-0.7229089204394695
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9824826717376709,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0028552807634696364,
|
| 114 |
+
0.11693551614735043,
|
| 115 |
+
0.09803123446181417
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.06503002106742538,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.017219741179067043,
|
| 121 |
+
0.7349316824010392,
|
| 122 |
+
-0.6747962648658292
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9823242425918579,
|
| 128 |
+
"position": [
|
| 129 |
+
0.08924971835222095,
|
| 130 |
+
-0.05116401389386738,
|
| 131 |
+
-0.01716081378981471
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5852884282348945,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.6247425854725049,
|
| 137 |
+
-0.3614136684178345,
|
| 138 |
+
0.3694784404430396
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9815754890441895,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.08329127414617687,
|
| 146 |
+
0.060280846802925225,
|
| 147 |
+
-0.006637545768171549
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.601816899221329,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.6571115446639023,
|
| 153 |
+
0.37465891501153803,
|
| 154 |
+
0.2562255550943797
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9814147353172302,
|
| 160 |
+
"position": [
|
| 161 |
+
0.09265502856578678,
|
| 162 |
+
-0.042526093871856574,
|
| 163 |
+
-0.021988361608237028
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.5642133867938226,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.6222937381378606,
|
| 169 |
+
-0.3923510453847838,
|
| 170 |
+
0.37479916598428953
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9804177284240723,
|
| 176 |
+
"position": [
|
| 177 |
+
0.008801165386103094,
|
| 178 |
+
0.11688486710045254,
|
| 179 |
+
0.08457287074998021
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.714172141242428,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.6990828457480862,
|
| 185 |
+
0.0019948360064734327,
|
| 186 |
+
-0.03517595888202291
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9802498817443848,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.07366574986372143,
|
| 194 |
+
0.06744531765434658,
|
| 195 |
+
-0.03478011442348361
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.28596129508981183,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.2868410389054703,
|
| 201 |
+
0.6435983714290114,
|
| 202 |
+
-0.649407031378713
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9801597595214844,
|
| 208 |
+
"position": [
|
| 209 |
+
0.0995943279704079,
|
| 210 |
+
-0.0210560705527314,
|
| 211 |
+
-0.028815496247261763
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.5331330798292254,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.5563243111825078,
|
| 217 |
+
-0.4435351465755176,
|
| 218 |
+
0.4577651731306647
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9800333380699158,
|
| 224 |
+
"position": [
|
| 225 |
+
0.10166693793144077,
|
| 226 |
+
-0.01989710293855751,
|
| 227 |
+
-0.022304208483546972
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.5355091842569643,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.5541723669520945,
|
| 233 |
+
-0.4568491165271392,
|
| 234 |
+
0.4443104612897681
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.98002028465271,
|
| 240 |
+
"position": [
|
| 241 |
+
0.10313741432037205,
|
| 242 |
+
-0.005420451612735633,
|
| 243 |
+
-0.023575448896735907
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.49977408484778835,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.5125215182093846,
|
| 249 |
+
-0.4967853360647745,
|
| 250 |
+
0.49066474028394647
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9798707962036133,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.09798579348716885,
|
| 258 |
+
-0.023898059131170157,
|
| 259 |
+
-0.017857929226011038
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.5503437423118568,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.550890085111786,
|
| 265 |
+
0.45068633597659247,
|
| 266 |
+
-0.43649021293461265
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.9798218011856079,
|
| 272 |
+
"position": [
|
| 273 |
+
0.09042024181690067,
|
| 274 |
+
-0.049041742087865714,
|
| 275 |
+
-0.008427777793258429
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.5818587806016216,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.6300509456951233,
|
| 281 |
+
-0.35966668305873795,
|
| 282 |
+
0.3675813411518599
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.9796864986419678,
|
| 288 |
+
"position": [
|
| 289 |
+
0.10085956321563572,
|
| 290 |
+
-0.007849283610994462,
|
| 291 |
+
-0.02924999175593257
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.5143875860910567,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.5224066007928175,
|
| 297 |
+
-0.48770835419255176,
|
| 298 |
+
0.47395919230910843
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.9795907735824585,
|
| 304 |
+
"position": [
|
| 305 |
+
0.008686471148394048,
|
| 306 |
+
0.11386294886324322,
|
| 307 |
+
0.09205197962000966
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.06036194045721194,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.07341759962932609,
|
| 313 |
+
0.7271302058327941,
|
| 314 |
+
-0.6798881937307542
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.979550838470459,
|
| 320 |
+
"position": [
|
| 321 |
+
-0.05021396337542683,
|
| 322 |
+
0.08879403993341839,
|
| 323 |
+
-0.002415966708213091
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.19565868031186137,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.194830460551749,
|
| 329 |
+
0.6959391655363568,
|
| 330 |
+
-0.6628932420325113
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_19": {
|
| 335 |
+
"confidence": 0.9793899655342102,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.09184813185129315,
|
| 338 |
+
0.04186537340137875,
|
| 339 |
+
-0.03610455570742488
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.3870734656984372,
|
| 343 |
+
"xyz": [
|
| 344 |
+
-0.3791479825566853,
|
| 345 |
+
0.586937770486148,
|
| 346 |
+
-0.601602022147654
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "cap",
|
| 354 |
+
"mask_color": "Blue",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "grasp the cap to twist it open or closed",
|
| 359 |
+
"confidence": 0.91
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "hold the cap end to reorient or pick up the tube when space is limited",
|
| 363 |
+
"confidence": 0.58
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"cover the dispensing opening",
|
| 368 |
+
"seal contents",
|
| 369 |
+
"enable opening and closing",
|
| 370 |
+
"provide standing base"
|
| 371 |
+
],
|
| 372 |
+
"semantic_description": "Short round white plastic cap with a hard smooth slightly glossy finish, wider than the neck and located at the bottom dispensing end as a flat cylindrical closure.",
|
| 373 |
+
"id": 2,
|
| 374 |
+
"grasp_group": {
|
| 375 |
+
"grasp_40": {
|
| 376 |
+
"confidence": 0.8854602575302124,
|
| 377 |
+
"position": [
|
| 378 |
+
0.0939941288670525,
|
| 379 |
+
0.0007442693095072173,
|
| 380 |
+
-0.1192760500125587
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.6114403701203822,
|
| 384 |
+
"xyz": [
|
| 385 |
+
-0.35690981049631226,
|
| 386 |
+
-0.3687346535857873,
|
| 387 |
+
0.602321190232841
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_42": {
|
| 392 |
+
"confidence": 0.8699703216552734,
|
| 393 |
+
"position": [
|
| 394 |
+
0.07201845513191074,
|
| 395 |
+
-0.05533966198709095,
|
| 396 |
+
-0.1201177123002708
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.7621464232979096,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.4480418976258084,
|
| 402 |
+
-0.22415765796318066,
|
| 403 |
+
0.410054425415127
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_43": {
|
| 408 |
+
"confidence": 0.8395875692367554,
|
| 409 |
+
"position": [
|
| 410 |
+
0.07660123275127262,
|
| 411 |
+
0.024214404074882623,
|
| 412 |
+
-0.1351180407218635
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.5557530605542068,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.22936131160950254,
|
| 418 |
+
-0.35620240880616394,
|
| 419 |
+
0.715298377170036
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_45": {
|
| 424 |
+
"confidence": 0.9449203610420227,
|
| 425 |
+
"position": [
|
| 426 |
+
-0.10629050864372402,
|
| 427 |
+
-0.0038853526129969396,
|
| 428 |
+
-0.08137330738827586
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.5321219252480739,
|
| 432 |
+
"xyz": [
|
| 433 |
+
-0.47553472260706425,
|
| 434 |
+
0.45401990594188524,
|
| 435 |
+
-0.5334593792162875
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_47": {
|
| 440 |
+
"confidence": 0.86690753698349,
|
| 441 |
+
"position": [
|
| 442 |
+
-0.0061591906705871224,
|
| 443 |
+
0.08355407640192425,
|
| 444 |
+
-0.12359577743336558
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.8672148523797132,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.4969094125098951,
|
| 450 |
+
0.025493275901390833,
|
| 451 |
+
0.019223122923149774
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_48": {
|
| 456 |
+
"confidence": 0.852319598197937,
|
| 457 |
+
"position": [
|
| 458 |
+
0.01665712834801525,
|
| 459 |
+
0.07765472903702175,
|
| 460 |
+
-0.13231171993538737
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.8966025666111546,
|
| 464 |
+
"xyz": [
|
| 465 |
+
0.4383388834313997,
|
| 466 |
+
-0.03446293361212971,
|
| 467 |
+
-0.052679854073931644
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_50": {
|
| 472 |
+
"confidence": 0.8274633884429932,
|
| 473 |
+
"position": [
|
| 474 |
+
-0.0016096989857032895,
|
| 475 |
+
0.07925318404886639,
|
| 476 |
+
-0.12390201119706035
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.8775568181616885,
|
| 480 |
+
"xyz": [
|
| 481 |
+
0.47883065547832077,
|
| 482 |
+
0.024730487154309477,
|
| 483 |
+
0.0019071647138944805
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_52": {
|
| 488 |
+
"confidence": 0.702250063419342,
|
| 489 |
+
"position": [
|
| 490 |
+
-0.064757582382299,
|
| 491 |
+
0.04348511844727909,
|
| 492 |
+
-0.14081937400624156
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.8764808131755788,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.3192184539109895,
|
| 498 |
+
0.22174156622879237,
|
| 499 |
+
0.2840979419569167
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_53": {
|
| 504 |
+
"confidence": 0.9451172947883606,
|
| 505 |
+
"position": [
|
| 506 |
+
-0.08927382214460522,
|
| 507 |
+
-0.002448383347655181,
|
| 508 |
+
-0.1191142681054771
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.6347252845824866,
|
| 512 |
+
"xyz": [
|
| 513 |
+
0.35153115136459606,
|
| 514 |
+
0.35380557512065924,
|
| 515 |
+
0.5902298516218083
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_59": {
|
| 520 |
+
"confidence": 0.8593206405639648,
|
| 521 |
+
"position": [
|
| 522 |
+
0.022376346751116216,
|
| 523 |
+
0.09667871370766079,
|
| 524 |
+
-0.09408412454649806
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.10210861150274464,
|
| 528 |
+
"xyz": [
|
| 529 |
+
-0.041085805127661267,
|
| 530 |
+
-0.6084111003960812,
|
| 531 |
+
0.7859527473002574
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
}
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"part_name": "neck",
|
| 539 |
+
"mask_color": "Green",
|
| 540 |
+
"graspable": true,
|
| 541 |
+
"grasp_scenarios": [
|
| 542 |
+
{
|
| 543 |
+
"scenario": "pinch the neck to stabilize the tube while unscrewing the cap",
|
| 544 |
+
"confidence": 0.63
|
| 545 |
+
},
|
| 546 |
+
{
|
| 547 |
+
"scenario": "grasp near the neck for precise orientation during dispensing",
|
| 548 |
+
"confidence": 0.49
|
| 549 |
+
}
|
| 550 |
+
],
|
| 551 |
+
"functional_labels": [
|
| 552 |
+
"connect cap to tube body",
|
| 553 |
+
"support dispensing end",
|
| 554 |
+
"provide transition to opening",
|
| 555 |
+
"help align cap threads"
|
| 556 |
+
],
|
| 557 |
+
"semantic_description": "Small white plastic collar at the bottom of the tube with a smooth glossy hard surface, ring-like shape, and narrow profile connecting the main body to the cap.",
|
| 558 |
+
"id": 1,
|
| 559 |
+
"grasp_group": {
|
| 560 |
+
"grasp_20": {
|
| 561 |
+
"confidence": 0.9678127765655518,
|
| 562 |
+
"position": [
|
| 563 |
+
0.0140289788832888,
|
| 564 |
+
-0.10373782143142307,
|
| 565 |
+
-0.06059018848463893
|
| 566 |
+
],
|
| 567 |
+
"orientation": {
|
| 568 |
+
"w": 0.7289333087671708,
|
| 569 |
+
"xyz": [
|
| 570 |
+
-0.6809760475377418,
|
| 571 |
+
-0.05674457936973998,
|
| 572 |
+
0.04132682859561947
|
| 573 |
+
]
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"grasp_22": {
|
| 577 |
+
"confidence": 0.9641678929328918,
|
| 578 |
+
"position": [
|
| 579 |
+
-0.09563102258834988,
|
| 580 |
+
0.0009984580319724046,
|
| 581 |
+
-0.10759037313982844
|
| 582 |
+
],
|
| 583 |
+
"orientation": {
|
| 584 |
+
"w": 0.5973143328519583,
|
| 585 |
+
"xyz": [
|
| 586 |
+
-0.37107357861739254,
|
| 587 |
+
0.3652942901423998,
|
| 588 |
+
-0.6099836625771728
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"grasp_23": {
|
| 593 |
+
"confidence": 0.960328221321106,
|
| 594 |
+
"position": [
|
| 595 |
+
-0.10228106810245663,
|
| 596 |
+
0.01204004082683241,
|
| 597 |
+
-0.058891701977699995
|
| 598 |
+
],
|
| 599 |
+
"orientation": {
|
| 600 |
+
"w": 0.48554143119304344,
|
| 601 |
+
"xyz": [
|
| 602 |
+
-0.45068685056304986,
|
| 603 |
+
0.5140231743922808,
|
| 604 |
+
-0.5448954555804744
|
| 605 |
+
]
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"grasp_24": {
|
| 609 |
+
"confidence": 0.9600483775138855,
|
| 610 |
+
"position": [
|
| 611 |
+
0.100049446686171,
|
| 612 |
+
0.004219223184918519,
|
| 613 |
+
-0.057624641340225935
|
| 614 |
+
],
|
| 615 |
+
"orientation": {
|
| 616 |
+
"w": 0.49746838789150144,
|
| 617 |
+
"xyz": [
|
| 618 |
+
-0.4754046172534317,
|
| 619 |
+
-0.5054014161080148,
|
| 620 |
+
0.520658296331444
|
| 621 |
+
]
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
"grasp_25": {
|
| 625 |
+
"confidence": 0.9596344232559204,
|
| 626 |
+
"position": [
|
| 627 |
+
0.010758617310784757,
|
| 628 |
+
-0.10733254775550449,
|
| 629 |
+
-0.054889082442969084
|
| 630 |
+
],
|
| 631 |
+
"orientation": {
|
| 632 |
+
"w": 0.7134876807966981,
|
| 633 |
+
"xyz": [
|
| 634 |
+
-0.6991248015172113,
|
| 635 |
+
-0.04081820393238711,
|
| 636 |
+
0.022219709327590445
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
"grasp_26": {
|
| 641 |
+
"confidence": 0.9595850706100464,
|
| 642 |
+
"position": [
|
| 643 |
+
-0.10536860360298306,
|
| 644 |
+
-0.004123912753129844,
|
| 645 |
+
-0.07778372196480632
|
| 646 |
+
],
|
| 647 |
+
"orientation": {
|
| 648 |
+
"w": 0.5360838486962474,
|
| 649 |
+
"xyz": [
|
| 650 |
+
0.4595227193251278,
|
| 651 |
+
0.4637022106271158,
|
| 652 |
+
0.5351945790556787
|
| 653 |
+
]
|
| 654 |
+
}
|
| 655 |
+
},
|
| 656 |
+
"grasp_27": {
|
| 657 |
+
"confidence": 0.9575134515762329,
|
| 658 |
+
"position": [
|
| 659 |
+
-0.09397870732937008,
|
| 660 |
+
0.014348445831274148,
|
| 661 |
+
-0.10094227222725749
|
| 662 |
+
],
|
| 663 |
+
"orientation": {
|
| 664 |
+
"w": 0.5506436824038953,
|
| 665 |
+
"xyz": [
|
| 666 |
+
-0.33874633601628446,
|
| 667 |
+
0.40439175135466676,
|
| 668 |
+
-0.6469233078971003
|
| 669 |
+
]
|
| 670 |
+
}
|
| 671 |
+
},
|
| 672 |
+
"grasp_28": {
|
| 673 |
+
"confidence": 0.9569883942604065,
|
| 674 |
+
"position": [
|
| 675 |
+
-0.09300042374525219,
|
| 676 |
+
0.006952788586204406,
|
| 677 |
+
-0.10473434953019023
|
| 678 |
+
],
|
| 679 |
+
"orientation": {
|
| 680 |
+
"w": 0.6398890180442242,
|
| 681 |
+
"xyz": [
|
| 682 |
+
0.37698309611267056,
|
| 683 |
+
0.3506126660506196,
|
| 684 |
+
0.5705230479451114
|
| 685 |
+
]
|
| 686 |
+
}
|
| 687 |
+
},
|
| 688 |
+
"grasp_29": {
|
| 689 |
+
"confidence": 0.9569597840309143,
|
| 690 |
+
"position": [
|
| 691 |
+
0.0012849109480157495,
|
| 692 |
+
-0.10878730341937626,
|
| 693 |
+
-0.05044570891186595
|
| 694 |
+
],
|
| 695 |
+
"orientation": {
|
| 696 |
+
"w": 0.7023483458652762,
|
| 697 |
+
"xyz": [
|
| 698 |
+
-0.7117706932407036,
|
| 699 |
+
-0.008024849682834456,
|
| 700 |
+
-0.004988295453015015
|
| 701 |
+
]
|
| 702 |
+
}
|
| 703 |
+
},
|
| 704 |
+
"grasp_30": {
|
| 705 |
+
"confidence": 0.9566246271133423,
|
| 706 |
+
"position": [
|
| 707 |
+
-0.09079583419952542,
|
| 708 |
+
0.00869243163469946,
|
| 709 |
+
-0.11153029976412654
|
| 710 |
+
],
|
| 711 |
+
"orientation": {
|
| 712 |
+
"w": 0.6554443395944438,
|
| 713 |
+
"xyz": [
|
| 714 |
+
0.365567902543653,
|
| 715 |
+
0.3366204928081957,
|
| 716 |
+
0.5687173904014233
|
| 717 |
+
]
|
| 718 |
+
}
|
| 719 |
+
},
|
| 720 |
+
"grasp_31": {
|
| 721 |
+
"confidence": 0.9556870460510254,
|
| 722 |
+
"position": [
|
| 723 |
+
-0.002148842322640121,
|
| 724 |
+
-0.10115786418464268,
|
| 725 |
+
-0.057137984316796064
|
| 726 |
+
],
|
| 727 |
+
"orientation": {
|
| 728 |
+
"w": 0.7282059355494557,
|
| 729 |
+
"xyz": [
|
| 730 |
+
-0.685039923224612,
|
| 731 |
+
0.002193323293005367,
|
| 732 |
+
-0.020775185965270948
|
| 733 |
+
]
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
"grasp_32": {
|
| 737 |
+
"confidence": 0.955617368221283,
|
| 738 |
+
"position": [
|
| 739 |
+
0.09268528537359089,
|
| 740 |
+
-0.03903658464696491,
|
| 741 |
+
-0.057921457570046186
|
| 742 |
+
],
|
| 743 |
+
"orientation": {
|
| 744 |
+
"w": 0.5928656906807073,
|
| 745 |
+
"xyz": [
|
| 746 |
+
-0.5762313518627289,
|
| 747 |
+
-0.37262779159936354,
|
| 748 |
+
0.42144540675148046
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
},
|
| 752 |
+
"grasp_33": {
|
| 753 |
+
"confidence": 0.955345630645752,
|
| 754 |
+
"position": [
|
| 755 |
+
0.10552068368997425,
|
| 756 |
+
-0.001593556000443641,
|
| 757 |
+
-0.052605177741497755
|
| 758 |
+
],
|
| 759 |
+
"orientation": {
|
| 760 |
+
"w": 0.49911244383278236,
|
| 761 |
+
"xyz": [
|
| 762 |
+
-0.5048812665948441,
|
| 763 |
+
-0.4946423896741784,
|
| 764 |
+
0.5013088682541653
|
| 765 |
+
]
|
| 766 |
+
}
|
| 767 |
+
},
|
| 768 |
+
"grasp_34": {
|
| 769 |
+
"confidence": 0.9547896385192871,
|
| 770 |
+
"position": [
|
| 771 |
+
-0.1043759478488937,
|
| 772 |
+
-0.005401056354457978,
|
| 773 |
+
-0.07215841440483928
|
| 774 |
+
],
|
| 775 |
+
"orientation": {
|
| 776 |
+
"w": 0.5091198566912354,
|
| 777 |
+
"xyz": [
|
| 778 |
+
0.4713676134760712,
|
| 779 |
+
0.48913124659169693,
|
| 780 |
+
0.5285453321109
|
| 781 |
+
]
|
| 782 |
+
}
|
| 783 |
+
},
|
| 784 |
+
"grasp_36": {
|
| 785 |
+
"confidence": 0.9533742070198059,
|
| 786 |
+
"position": [
|
| 787 |
+
0.10425687150564045,
|
| 788 |
+
-7.887620449764654e-05,
|
| 789 |
+
-0.05782524822279811
|
| 790 |
+
],
|
| 791 |
+
"orientation": {
|
| 792 |
+
"w": 0.4922278823211424,
|
| 793 |
+
"xyz": [
|
| 794 |
+
-0.49604599639102315,
|
| 795 |
+
-0.49489436898751904,
|
| 796 |
+
0.5164587542820109
|
| 797 |
+
]
|
| 798 |
+
}
|
| 799 |
+
},
|
| 800 |
+
"grasp_37": {
|
| 801 |
+
"confidence": 0.9531489610671997,
|
| 802 |
+
"position": [
|
| 803 |
+
0.012092680088244379,
|
| 804 |
+
-0.10623259619023884,
|
| 805 |
+
-0.06516599236056209
|
| 806 |
+
],
|
| 807 |
+
"orientation": {
|
| 808 |
+
"w": 0.7495377099458812,
|
| 809 |
+
"xyz": [
|
| 810 |
+
-0.6595641933420642,
|
| 811 |
+
-0.03657666816117022,
|
| 812 |
+
0.04278368352940034
|
| 813 |
+
]
|
| 814 |
+
}
|
| 815 |
+
},
|
| 816 |
+
"grasp_38": {
|
| 817 |
+
"confidence": 0.9529066681861877,
|
| 818 |
+
"position": [
|
| 819 |
+
0.09299803839530796,
|
| 820 |
+
-0.025363802538777236,
|
| 821 |
+
-0.09971165237948298
|
| 822 |
+
],
|
| 823 |
+
"orientation": {
|
| 824 |
+
"w": 0.5308006139685336,
|
| 825 |
+
"xyz": [
|
| 826 |
+
0.29722265024632866,
|
| 827 |
+
-0.4331139064857237,
|
| 828 |
+
-0.6650727391795966
|
| 829 |
+
]
|
| 830 |
+
}
|
| 831 |
+
}
|
| 832 |
+
}
|
| 833 |
+
},
|
| 834 |
+
{
|
| 835 |
+
"part_name": "crimped seal",
|
| 836 |
+
"mask_color": "Yellow",
|
| 837 |
+
"graspable": false,
|
| 838 |
+
"grasp_scenarios": [],
|
| 839 |
+
"functional_labels": [
|
| 840 |
+
"seal the filled tube end",
|
| 841 |
+
"retain toothpaste inside",
|
| 842 |
+
"indicate tube end orientation"
|
| 843 |
+
],
|
| 844 |
+
"semantic_description": "Thin flattened sealed strip at the top end of the tube, appearing green in print, with a hard pressed plastic-laminate edge and slight ribbed crimp marks along the seam.",
|
| 845 |
+
"id": 3,
|
| 846 |
+
"grasp_group": {}
|
| 847 |
+
}
|
| 848 |
+
],
|
| 849 |
+
"quality_check": {
|
| 850 |
+
"success": true,
|
| 851 |
+
"message": "YES"
|
| 852 |
+
}
|
| 853 |
+
}
|
dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5d7de30e30ef6e41eb07835eeace2582dbe7a3f4243f06ab773e6063aec7eab2
|
| 3 |
+
size 3784496
|