Add asset bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3
Browse files
.gitattributes
CHANGED
|
@@ -5582,3 +5582,4 @@ dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/afforda
|
|
| 5582 |
dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5583 |
dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5584 |
dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5582 |
dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5583 |
dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5584 |
dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5585 |
+
dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,874 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pump nozzle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pump nozzle lightly to rotate or align the dispenser head",
|
| 10 |
+
"confidence": 0.45
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the nozzle gently to stabilize the top during manipulation",
|
| 14 |
+
"confidence": 0.32
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense liquid",
|
| 19 |
+
"direct output flow",
|
| 20 |
+
"provide pressable pump head surface",
|
| 21 |
+
"indicate dispensing direction"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small curved black plastic pump head with a matte to satin finish, smooth hard surface, and short spout-like shape positioned at the very top of the bottle.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_5": {
|
| 27 |
+
"confidence": 0.9358080625534058,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.027043567970395088,
|
| 30 |
+
-0.08675742242485285,
|
| 31 |
+
0.11076206201687455
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.4983173527319566,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.8497748168810437,
|
| 37 |
+
0.16390730088334882,
|
| 38 |
+
-0.051932391415557375
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_6": {
|
| 43 |
+
"confidence": 0.8351246118545532,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.07701941765844822,
|
| 46 |
+
-0.0122038833796978,
|
| 47 |
+
0.1236255788244307
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.35875636213417417,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.5890714845940422,
|
| 53 |
+
0.6778941301773889,
|
| 54 |
+
-0.25445668970861374
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_8": {
|
| 59 |
+
"confidence": 0.8641976714134216,
|
| 60 |
+
"position": [
|
| 61 |
+
0.02717963047325611,
|
| 62 |
+
-0.08152966294437647,
|
| 63 |
+
0.12164180213585496
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.461280140771638,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.861456632684479,
|
| 69 |
+
-0.20849207345661325,
|
| 70 |
+
0.04054820636450416
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_9": {
|
| 75 |
+
"confidence": 0.8164830207824707,
|
| 76 |
+
"position": [
|
| 77 |
+
0.08600619994103909,
|
| 78 |
+
-0.0033715544268488884,
|
| 79 |
+
0.11035035783424973
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.3311799260145087,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.6357003163215235,
|
| 85 |
+
-0.5804912917113246,
|
| 86 |
+
-0.38630923452728566
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_15": {
|
| 91 |
+
"confidence": 0.9007396101951599,
|
| 92 |
+
"position": [
|
| 93 |
+
0.01266324520111084,
|
| 94 |
+
-0.06970294658094645,
|
| 95 |
+
0.13245859974995255
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.07253501698636314,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.012298455493018147,
|
| 101 |
+
-0.930329698624299,
|
| 102 |
+
-0.3592688007062327
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_16": {
|
| 107 |
+
"confidence": 0.8991996049880981,
|
| 108 |
+
"position": [
|
| 109 |
+
0.00978726428002119,
|
| 110 |
+
-0.08970373217016459,
|
| 111 |
+
0.11459958041086793
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.483676465575955,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.8732498374374824,
|
| 117 |
+
-0.05689583466059389,
|
| 118 |
+
0.01595813465404623
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_17": {
|
| 123 |
+
"confidence": 0.8882469534873962,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.05266955308616161,
|
| 126 |
+
-0.0293968478217721,
|
| 127 |
+
0.1414997004903853
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.13157036064705319,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.6162866616849466,
|
| 133 |
+
0.7310390854043594,
|
| 134 |
+
0.26165214778324786
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"part_name": "pump stem",
|
| 142 |
+
"mask_color": "Cyan",
|
| 143 |
+
"graspable": false,
|
| 144 |
+
"grasp_scenarios": [],
|
| 145 |
+
"functional_labels": [
|
| 146 |
+
"connect pump head to collar",
|
| 147 |
+
"transmit pumping motion",
|
| 148 |
+
"support dispenser head"
|
| 149 |
+
],
|
| 150 |
+
"semantic_description": "Short narrow dark plastic stem section with a smooth hard surface and cylindrical shape between the pump head and collar at the bottle top.",
|
| 151 |
+
"id": 6,
|
| 152 |
+
"grasp_group": {}
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"part_name": "pump collar",
|
| 156 |
+
"mask_color": "Red",
|
| 157 |
+
"graspable": false,
|
| 158 |
+
"grasp_scenarios": [],
|
| 159 |
+
"functional_labels": [
|
| 160 |
+
"secure the pump assembly",
|
| 161 |
+
"join pump to bottle",
|
| 162 |
+
"stabilize top components"
|
| 163 |
+
],
|
| 164 |
+
"semantic_description": "Thin dark plastic ring below the pump head, with a hard surface and slightly ridged appearance around the upper neck.",
|
| 165 |
+
"id": 0,
|
| 166 |
+
"grasp_group": {}
|
| 167 |
+
},
|
| 168 |
+
{
|
| 169 |
+
"part_name": "bottle shoulder",
|
| 170 |
+
"mask_color": "Yellow",
|
| 171 |
+
"graspable": true,
|
| 172 |
+
"grasp_scenarios": [
|
| 173 |
+
{
|
| 174 |
+
"scenario": "grasp the upper bottle near the shoulder to pick up the bottle",
|
| 175 |
+
"confidence": 0.71
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"scenario": "hold the shoulder area to stabilize the bottle while pressing the pump",
|
| 179 |
+
"confidence": 0.66
|
| 180 |
+
}
|
| 181 |
+
],
|
| 182 |
+
"functional_labels": [
|
| 183 |
+
"transition to bottle body",
|
| 184 |
+
"support pump assembly",
|
| 185 |
+
"provide upper grasp area"
|
| 186 |
+
],
|
| 187 |
+
"semantic_description": "Short rounded shoulder section below the pump assembly, appearing dark with strong bright reflections, smooth glossy finish, and a tapered cylindrical form.",
|
| 188 |
+
"id": 3,
|
| 189 |
+
"grasp_group": {
|
| 190 |
+
"grasp_20": {
|
| 191 |
+
"confidence": 0.9795709848403931,
|
| 192 |
+
"position": [
|
| 193 |
+
0.057436516508460045,
|
| 194 |
+
-0.08094047848135233,
|
| 195 |
+
0.03207108238711953
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.208948380745773,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.2339418366081067,
|
| 201 |
+
-0.663704143406073,
|
| 202 |
+
-0.6790497782149377
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_21": {
|
| 207 |
+
"confidence": 0.9785770177841187,
|
| 208 |
+
"position": [
|
| 209 |
+
0.060991739854216576,
|
| 210 |
+
-0.08017007354646921,
|
| 211 |
+
0.03359681228175759
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.21277191348541022,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.23758606354449835,
|
| 217 |
+
-0.6604467214213521,
|
| 218 |
+
-0.679772832205711
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_22": {
|
| 223 |
+
"confidence": 0.9777788519859314,
|
| 224 |
+
"position": [
|
| 225 |
+
0.03763038106262684,
|
| 226 |
+
-0.09299820754677057,
|
| 227 |
+
0.03240426490083337
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.7031465289449372,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.6840317972085076,
|
| 233 |
+
-0.12691429158026657,
|
| 234 |
+
0.1468952750535712
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_23": {
|
| 239 |
+
"confidence": 0.9764437675476074,
|
| 240 |
+
"position": [
|
| 241 |
+
0.02718592993915081,
|
| 242 |
+
-0.09603631589561701,
|
| 243 |
+
0.030241882894188166
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.7099554829832461,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.689657945254535,
|
| 249 |
+
-0.08391377642467301,
|
| 250 |
+
0.11529791349139046
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_25": {
|
| 255 |
+
"confidence": 0.9757760167121887,
|
| 256 |
+
"position": [
|
| 257 |
+
0.07086065970361233,
|
| 258 |
+
-0.07163768354803324,
|
| 259 |
+
0.03612232068553567
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.2567273839343312,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.28385962745507015,
|
| 265 |
+
-0.6442893853563074,
|
| 266 |
+
-0.6621223075508751
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_26": {
|
| 271 |
+
"confidence": 0.9748632907867432,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.03481726907193661,
|
| 274 |
+
0.09497211780399084,
|
| 275 |
+
0.031272991094738245
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.14139703730880052,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.10723936754749815,
|
| 281 |
+
0.697801013110405,
|
| 282 |
+
-0.6939598994109084
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_27": {
|
| 287 |
+
"confidence": 0.9739426374435425,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.033946143463253975,
|
| 290 |
+
-0.09331117663532495,
|
| 291 |
+
0.03187362337484956
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.13755823488623659,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.1237556906766086,
|
| 297 |
+
0.693215305848901,
|
| 298 |
+
0.6965736147579472
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_28": {
|
| 303 |
+
"confidence": 0.9738678932189941,
|
| 304 |
+
"position": [
|
| 305 |
+
0.09718788973987103,
|
| 306 |
+
0.027458270080387592,
|
| 307 |
+
0.045734184328466654
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.42245390754901185,
|
| 311 |
+
"xyz": [
|
| 312 |
+
-0.43608175333127785,
|
| 313 |
+
-0.5638925935153154,
|
| 314 |
+
0.5598129539289544
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_29": {
|
| 319 |
+
"confidence": 0.9735206961631775,
|
| 320 |
+
"position": [
|
| 321 |
+
0.024561705067753792,
|
| 322 |
+
0.09818784799426794,
|
| 323 |
+
0.031492980662733316
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.08991830474432179,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.09923490701743685,
|
| 329 |
+
-0.684885393742803,
|
| 330 |
+
0.7162395752392583
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_30": {
|
| 335 |
+
"confidence": 0.9734589457511902,
|
| 336 |
+
"position": [
|
| 337 |
+
0.06574772112071514,
|
| 338 |
+
-0.07363318745046854,
|
| 339 |
+
0.032193286810070276
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.6771520623855228,
|
| 343 |
+
"xyz": [
|
| 344 |
+
-0.6397702062959192,
|
| 345 |
+
-0.27633346272716786,
|
| 346 |
+
0.2362180876231189
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
},
|
| 350 |
+
"grasp_31": {
|
| 351 |
+
"confidence": 0.9732481837272644,
|
| 352 |
+
"position": [
|
| 353 |
+
0.056447288021445274,
|
| 354 |
+
0.08327417727559805,
|
| 355 |
+
0.029136294964700937
|
| 356 |
+
],
|
| 357 |
+
"orientation": {
|
| 358 |
+
"w": 0.22347339189106047,
|
| 359 |
+
"xyz": [
|
| 360 |
+
-0.21321467974654396,
|
| 361 |
+
-0.6593975993271272,
|
| 362 |
+
0.6854151657637175
|
| 363 |
+
]
|
| 364 |
+
}
|
| 365 |
+
},
|
| 366 |
+
"grasp_32": {
|
| 367 |
+
"confidence": 0.9731549024581909,
|
| 368 |
+
"position": [
|
| 369 |
+
-0.0907644797116518,
|
| 370 |
+
-0.038189773447811604,
|
| 371 |
+
0.03527891496196389
|
| 372 |
+
],
|
| 373 |
+
"orientation": {
|
| 374 |
+
"w": 0.6112289398394855,
|
| 375 |
+
"xyz": [
|
| 376 |
+
-0.569172459204125,
|
| 377 |
+
0.4071825243243582,
|
| 378 |
+
-0.36965427993068123
|
| 379 |
+
]
|
| 380 |
+
}
|
| 381 |
+
},
|
| 382 |
+
"grasp_33": {
|
| 383 |
+
"confidence": 0.9728346467018127,
|
| 384 |
+
"position": [
|
| 385 |
+
0.07204443030059338,
|
| 386 |
+
-0.07000877801328897,
|
| 387 |
+
0.03618236118927598
|
| 388 |
+
],
|
| 389 |
+
"orientation": {
|
| 390 |
+
"w": 0.6566204265152822,
|
| 391 |
+
"xyz": [
|
| 392 |
+
-0.6447588499626283,
|
| 393 |
+
-0.26840191161364546,
|
| 394 |
+
0.2847736903576224
|
| 395 |
+
]
|
| 396 |
+
}
|
| 397 |
+
},
|
| 398 |
+
"grasp_34": {
|
| 399 |
+
"confidence": 0.9725154638290405,
|
| 400 |
+
"position": [
|
| 401 |
+
0.007206764072179794,
|
| 402 |
+
-0.10028862301260233,
|
| 403 |
+
0.03076078975573182
|
| 404 |
+
],
|
| 405 |
+
"orientation": {
|
| 406 |
+
"w": 0.7136177015273482,
|
| 407 |
+
"xyz": [
|
| 408 |
+
-0.699579349309825,
|
| 409 |
+
-0.01633330405572675,
|
| 410 |
+
0.032737337470989974
|
| 411 |
+
]
|
| 412 |
+
}
|
| 413 |
+
},
|
| 414 |
+
"grasp_35": {
|
| 415 |
+
"confidence": 0.9722023606300354,
|
| 416 |
+
"position": [
|
| 417 |
+
0.026439381763339043,
|
| 418 |
+
0.09699636604636908,
|
| 419 |
+
0.03953840071335435
|
| 420 |
+
],
|
| 421 |
+
"orientation": {
|
| 422 |
+
"w": 0.7147311363198615,
|
| 423 |
+
"xyz": [
|
| 424 |
+
0.6851582755938265,
|
| 425 |
+
-0.04735335184860345,
|
| 426 |
+
-0.1321937979971682
|
| 427 |
+
]
|
| 428 |
+
}
|
| 429 |
+
},
|
| 430 |
+
"grasp_36": {
|
| 431 |
+
"confidence": 0.9719833731651306,
|
| 432 |
+
"position": [
|
| 433 |
+
-0.03102239780128002,
|
| 434 |
+
0.0938864042982459,
|
| 435 |
+
0.03948642173781991
|
| 436 |
+
],
|
| 437 |
+
"orientation": {
|
| 438 |
+
"w": 0.12341870540450788,
|
| 439 |
+
"xyz": [
|
| 440 |
+
-0.11679350145814962,
|
| 441 |
+
0.7001029805100293,
|
| 442 |
+
-0.6935293201115537
|
| 443 |
+
]
|
| 444 |
+
}
|
| 445 |
+
},
|
| 446 |
+
"grasp_37": {
|
| 447 |
+
"confidence": 0.9719821214675903,
|
| 448 |
+
"position": [
|
| 449 |
+
-0.015712267719209194,
|
| 450 |
+
-0.10092815104871988,
|
| 451 |
+
0.040181020740419626
|
| 452 |
+
],
|
| 453 |
+
"orientation": {
|
| 454 |
+
"w": 0.06790553267357323,
|
| 455 |
+
"xyz": [
|
| 456 |
+
0.0412964685093719,
|
| 457 |
+
0.6969763149913341,
|
| 458 |
+
0.7126762635741938
|
| 459 |
+
]
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
"grasp_38": {
|
| 463 |
+
"confidence": 0.9718847274780273,
|
| 464 |
+
"position": [
|
| 465 |
+
-0.049395570531487465,
|
| 466 |
+
0.08432502951472998,
|
| 467 |
+
0.0415081181563437
|
| 468 |
+
],
|
| 469 |
+
"orientation": {
|
| 470 |
+
"w": 0.20915846157979318,
|
| 471 |
+
"xyz": [
|
| 472 |
+
-0.16777259069690734,
|
| 473 |
+
0.7001070670944393,
|
| 474 |
+
-0.661781829884173
|
| 475 |
+
]
|
| 476 |
+
}
|
| 477 |
+
},
|
| 478 |
+
"grasp_39": {
|
| 479 |
+
"confidence": 0.9713602662086487,
|
| 480 |
+
"position": [
|
| 481 |
+
-0.025319481268525124,
|
| 482 |
+
0.09724887367337942,
|
| 483 |
+
0.03459672862663865
|
| 484 |
+
],
|
| 485 |
+
"orientation": {
|
| 486 |
+
"w": 0.09030130294912038,
|
| 487 |
+
"xyz": [
|
| 488 |
+
-0.09766445481739036,
|
| 489 |
+
0.7031327398409766,
|
| 490 |
+
-0.6985067495125834
|
| 491 |
+
]
|
| 492 |
+
}
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
},
|
| 496 |
+
{
|
| 497 |
+
"part_name": "bottle body",
|
| 498 |
+
"mask_color": "Teal",
|
| 499 |
+
"graspable": true,
|
| 500 |
+
"grasp_scenarios": [
|
| 501 |
+
{
|
| 502 |
+
"scenario": "grasp the bottle body to pick up and transport the bottle",
|
| 503 |
+
"confidence": 0.95
|
| 504 |
+
},
|
| 505 |
+
{
|
| 506 |
+
"scenario": "hold the bottle body while another manipulator presses the pump",
|
| 507 |
+
"confidence": 0.9
|
| 508 |
+
},
|
| 509 |
+
{
|
| 510 |
+
"scenario": "grasp the body to reposition the bottle on a surface",
|
| 511 |
+
"confidence": 0.92
|
| 512 |
+
}
|
| 513 |
+
],
|
| 514 |
+
"functional_labels": [
|
| 515 |
+
"contain liquid",
|
| 516 |
+
"main grasp surface",
|
| 517 |
+
"support printed branding",
|
| 518 |
+
"stabilize object upright"
|
| 519 |
+
],
|
| 520 |
+
"semantic_description": "Large black cylindrical bottle body with a matte to satin finish, smooth hard surface, and white printed logo graphics on the front.",
|
| 521 |
+
"id": 10,
|
| 522 |
+
"grasp_group": {
|
| 523 |
+
"grasp_40": {
|
| 524 |
+
"confidence": 0.9798750281333923,
|
| 525 |
+
"position": [
|
| 526 |
+
0.09618077240884304,
|
| 527 |
+
0.029876534827053547,
|
| 528 |
+
-0.031599083449691534
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.5607123959280508,
|
| 532 |
+
"xyz": [
|
| 533 |
+
0.5718785472105314,
|
| 534 |
+
-0.42557405480623867,
|
| 535 |
+
-0.4212401454856517
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
"grasp_41": {
|
| 540 |
+
"confidence": 0.9797998070716858,
|
| 541 |
+
"position": [
|
| 542 |
+
0.09338551573455334,
|
| 543 |
+
0.04158944543451071,
|
| 544 |
+
-0.030217188876122236
|
| 545 |
+
],
|
| 546 |
+
"orientation": {
|
| 547 |
+
"w": 0.5940388507230453,
|
| 548 |
+
"xyz": [
|
| 549 |
+
0.5907043875013737,
|
| 550 |
+
-0.38585846817972136,
|
| 551 |
+
-0.38639282207653647
|
| 552 |
+
]
|
| 553 |
+
}
|
| 554 |
+
},
|
| 555 |
+
"grasp_42": {
|
| 556 |
+
"confidence": 0.9785969257354736,
|
| 557 |
+
"position": [
|
| 558 |
+
0.09720375947654247,
|
| 559 |
+
0.029643465764820576,
|
| 560 |
+
-0.02475300384685397
|
| 561 |
+
],
|
| 562 |
+
"orientation": {
|
| 563 |
+
"w": 0.5647382750034563,
|
| 564 |
+
"xyz": [
|
| 565 |
+
0.5701519014065667,
|
| 566 |
+
-0.42624888675722794,
|
| 567 |
+
-0.4175037444225156
|
| 568 |
+
]
|
| 569 |
+
}
|
| 570 |
+
},
|
| 571 |
+
"grasp_43": {
|
| 572 |
+
"confidence": 0.978312611579895,
|
| 573 |
+
"position": [
|
| 574 |
+
0.09796001575887203,
|
| 575 |
+
0.03220221679657698,
|
| 576 |
+
-0.034452231135219336
|
| 577 |
+
],
|
| 578 |
+
"orientation": {
|
| 579 |
+
"w": 0.41645901888684156,
|
| 580 |
+
"xyz": [
|
| 581 |
+
-0.41139713107243436,
|
| 582 |
+
-0.5870690360183767,
|
| 583 |
+
0.5591638696139378
|
| 584 |
+
]
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"grasp_44": {
|
| 588 |
+
"confidence": 0.9780470728874207,
|
| 589 |
+
"position": [
|
| 590 |
+
0.0979978870600462,
|
| 591 |
+
0.0264993691816926,
|
| 592 |
+
-0.042730388697236776
|
| 593 |
+
],
|
| 594 |
+
"orientation": {
|
| 595 |
+
"w": 0.5577078943950536,
|
| 596 |
+
"xyz": [
|
| 597 |
+
0.559448736793556,
|
| 598 |
+
-0.44042300836179704,
|
| 599 |
+
-0.4266223026695568
|
| 600 |
+
]
|
| 601 |
+
}
|
| 602 |
+
},
|
| 603 |
+
"grasp_45": {
|
| 604 |
+
"confidence": 0.9777389168739319,
|
| 605 |
+
"position": [
|
| 606 |
+
-0.08829416520893574,
|
| 607 |
+
-0.05890627671033144,
|
| 608 |
+
-0.026958379428833723
|
| 609 |
+
],
|
| 610 |
+
"orientation": {
|
| 611 |
+
"w": 0.3227633046416878,
|
| 612 |
+
"xyz": [
|
| 613 |
+
0.3442149360278984,
|
| 614 |
+
0.6333271345136198,
|
| 615 |
+
0.6133813395277474
|
| 616 |
+
]
|
| 617 |
+
}
|
| 618 |
+
},
|
| 619 |
+
"grasp_46": {
|
| 620 |
+
"confidence": 0.9769589304924011,
|
| 621 |
+
"position": [
|
| 622 |
+
0.10123523883521557,
|
| 623 |
+
-0.011987936682999134,
|
| 624 |
+
-0.0196393602527678
|
| 625 |
+
],
|
| 626 |
+
"orientation": {
|
| 627 |
+
"w": 0.5258554449512027,
|
| 628 |
+
"xyz": [
|
| 629 |
+
-0.5311774167734784,
|
| 630 |
+
-0.47862021287462775,
|
| 631 |
+
0.4607052145926644
|
| 632 |
+
]
|
| 633 |
+
}
|
| 634 |
+
},
|
| 635 |
+
"grasp_47": {
|
| 636 |
+
"confidence": 0.9767555594444275,
|
| 637 |
+
"position": [
|
| 638 |
+
-0.08514550514519215,
|
| 639 |
+
-0.05971160251647234,
|
| 640 |
+
-0.01592971058562398
|
| 641 |
+
],
|
| 642 |
+
"orientation": {
|
| 643 |
+
"w": 0.623749013756517,
|
| 644 |
+
"xyz": [
|
| 645 |
+
-0.6196754170784254,
|
| 646 |
+
0.3447407533061224,
|
| 647 |
+
-0.3287755439754896
|
| 648 |
+
]
|
| 649 |
+
}
|
| 650 |
+
},
|
| 651 |
+
"grasp_48": {
|
| 652 |
+
"confidence": 0.976746678352356,
|
| 653 |
+
"position": [
|
| 654 |
+
-0.07819263823330402,
|
| 655 |
+
-0.06797511968761683,
|
| 656 |
+
-0.03798360703513026
|
| 657 |
+
],
|
| 658 |
+
"orientation": {
|
| 659 |
+
"w": 0.6379327897571682,
|
| 660 |
+
"xyz": [
|
| 661 |
+
-0.6460918483494044,
|
| 662 |
+
0.3093640663809355,
|
| 663 |
+
-0.2826675674380412
|
| 664 |
+
]
|
| 665 |
+
}
|
| 666 |
+
},
|
| 667 |
+
"grasp_49": {
|
| 668 |
+
"confidence": 0.9767374396324158,
|
| 669 |
+
"position": [
|
| 670 |
+
0.09238566271960735,
|
| 671 |
+
-0.043814570643007755,
|
| 672 |
+
-0.028342594858258963
|
| 673 |
+
],
|
| 674 |
+
"orientation": {
|
| 675 |
+
"w": 0.5761244185727945,
|
| 676 |
+
"xyz": [
|
| 677 |
+
-0.6122374084644804,
|
| 678 |
+
-0.37182987910876986,
|
| 679 |
+
0.393685853191112
|
| 680 |
+
]
|
| 681 |
+
}
|
| 682 |
+
},
|
| 683 |
+
"grasp_51": {
|
| 684 |
+
"confidence": 0.9763652682304382,
|
| 685 |
+
"position": [
|
| 686 |
+
0.09342716448009014,
|
| 687 |
+
0.037666927091777325,
|
| 688 |
+
-0.028078803326934576
|
| 689 |
+
],
|
| 690 |
+
"orientation": {
|
| 691 |
+
"w": 0.4013974592352546,
|
| 692 |
+
"xyz": [
|
| 693 |
+
-0.39122739077534086,
|
| 694 |
+
-0.5992596059856071,
|
| 695 |
+
0.571584755797927
|
| 696 |
+
]
|
| 697 |
+
}
|
| 698 |
+
},
|
| 699 |
+
"grasp_52": {
|
| 700 |
+
"confidence": 0.9762619733810425,
|
| 701 |
+
"position": [
|
| 702 |
+
0.09730335138738155,
|
| 703 |
+
0.028608388267457485,
|
| 704 |
+
0.0033912961371243
|
| 705 |
+
],
|
| 706 |
+
"orientation": {
|
| 707 |
+
"w": 0.558199298801741,
|
| 708 |
+
"xyz": [
|
| 709 |
+
0.5722301468883242,
|
| 710 |
+
-0.41606232134841936,
|
| 711 |
+
-0.4334262873471981
|
| 712 |
+
]
|
| 713 |
+
}
|
| 714 |
+
},
|
| 715 |
+
"grasp_53": {
|
| 716 |
+
"confidence": 0.9762088060379028,
|
| 717 |
+
"position": [
|
| 718 |
+
0.09429584257304668,
|
| 719 |
+
0.033532097004354,
|
| 720 |
+
-0.024924523662775755
|
| 721 |
+
],
|
| 722 |
+
"orientation": {
|
| 723 |
+
"w": 0.573608809979328,
|
| 724 |
+
"xyz": [
|
| 725 |
+
0.5777830189888032,
|
| 726 |
+
-0.4008284019865689,
|
| 727 |
+
-0.4200908333243855
|
| 728 |
+
]
|
| 729 |
+
}
|
| 730 |
+
},
|
| 731 |
+
"grasp_55": {
|
| 732 |
+
"confidence": 0.9758121371269226,
|
| 733 |
+
"position": [
|
| 734 |
+
0.08905008994042873,
|
| 735 |
+
-0.048749216832220554,
|
| 736 |
+
-0.03481378173455596
|
| 737 |
+
],
|
| 738 |
+
"orientation": {
|
| 739 |
+
"w": 0.6154205531662919,
|
| 740 |
+
"xyz": [
|
| 741 |
+
-0.6061514628755686,
|
| 742 |
+
-0.36585678824969337,
|
| 743 |
+
0.3463910467750617
|
| 744 |
+
]
|
| 745 |
+
}
|
| 746 |
+
},
|
| 747 |
+
"grasp_56": {
|
| 748 |
+
"confidence": 0.9755276441574097,
|
| 749 |
+
"position": [
|
| 750 |
+
0.08768109045922756,
|
| 751 |
+
0.04958455543965101,
|
| 752 |
+
-0.035867712926119566
|
| 753 |
+
],
|
| 754 |
+
"orientation": {
|
| 755 |
+
"w": 0.607960040704357,
|
| 756 |
+
"xyz": [
|
| 757 |
+
0.6095338882140675,
|
| 758 |
+
-0.3644593290617627,
|
| 759 |
+
-0.3549963739043639
|
| 760 |
+
]
|
| 761 |
+
}
|
| 762 |
+
},
|
| 763 |
+
"grasp_57": {
|
| 764 |
+
"confidence": 0.9755131006240845,
|
| 765 |
+
"position": [
|
| 766 |
+
-0.04339236952364445,
|
| 767 |
+
-0.09373688790947199,
|
| 768 |
+
-0.021572201047092676
|
| 769 |
+
],
|
| 770 |
+
"orientation": {
|
| 771 |
+
"w": 0.6960327248362801,
|
| 772 |
+
"xyz": [
|
| 773 |
+
-0.6833297950972805,
|
| 774 |
+
0.1603778059171065,
|
| 775 |
+
-0.15125407914666716
|
| 776 |
+
]
|
| 777 |
+
}
|
| 778 |
+
},
|
| 779 |
+
"grasp_58": {
|
| 780 |
+
"confidence": 0.9754212498664856,
|
| 781 |
+
"position": [
|
| 782 |
+
0.09344382397830486,
|
| 783 |
+
0.03646806161850691,
|
| 784 |
+
-0.01905025029554963
|
| 785 |
+
],
|
| 786 |
+
"orientation": {
|
| 787 |
+
"w": 0.5787873372874485,
|
| 788 |
+
"xyz": [
|
| 789 |
+
0.5861180687074519,
|
| 790 |
+
-0.399877020239631,
|
| 791 |
+
-0.4019567096275741
|
| 792 |
+
]
|
| 793 |
+
}
|
| 794 |
+
},
|
| 795 |
+
"grasp_59": {
|
| 796 |
+
"confidence": 0.975390613079071,
|
| 797 |
+
"position": [
|
| 798 |
+
0.0911929290741682,
|
| 799 |
+
0.0382623253390193,
|
| 800 |
+
-0.03018017252907157
|
| 801 |
+
],
|
| 802 |
+
"orientation": {
|
| 803 |
+
"w": 0.5798473081580169,
|
| 804 |
+
"xyz": [
|
| 805 |
+
0.5900861083054589,
|
| 806 |
+
-0.3985498379556722,
|
| 807 |
+
-0.3958958331080637
|
| 808 |
+
]
|
| 809 |
+
}
|
| 810 |
+
}
|
| 811 |
+
}
|
| 812 |
+
},
|
| 813 |
+
{
|
| 814 |
+
"part_name": "base rim",
|
| 815 |
+
"mask_color": "Purple",
|
| 816 |
+
"graspable": false,
|
| 817 |
+
"grasp_scenarios": [],
|
| 818 |
+
"functional_labels": [
|
| 819 |
+
"support standing",
|
| 820 |
+
"protect bottom edge",
|
| 821 |
+
"stabilize contact with surface"
|
| 822 |
+
],
|
| 823 |
+
"semantic_description": "Thin black ring at the lower edge of the bottle, appearing as a narrow circular base border with a smooth hard finish.",
|
| 824 |
+
"id": 5,
|
| 825 |
+
"grasp_group": {}
|
| 826 |
+
},
|
| 827 |
+
{
|
| 828 |
+
"part_name": "bottom surface",
|
| 829 |
+
"mask_color": "Pink",
|
| 830 |
+
"graspable": false,
|
| 831 |
+
"grasp_scenarios": [],
|
| 832 |
+
"functional_labels": [
|
| 833 |
+
"support standing",
|
| 834 |
+
"provide resting surface",
|
| 835 |
+
"close the bottle base"
|
| 836 |
+
],
|
| 837 |
+
"semantic_description": "Flat circular bottom panel in black plastic with a smooth hard surface, forming the bottle's underside.",
|
| 838 |
+
"id": 8,
|
| 839 |
+
"grasp_group": {}
|
| 840 |
+
},
|
| 841 |
+
{
|
| 842 |
+
"part_name": "printed logo patch",
|
| 843 |
+
"mask_color": "Blue",
|
| 844 |
+
"graspable": false,
|
| 845 |
+
"grasp_scenarios": [],
|
| 846 |
+
"functional_labels": [
|
| 847 |
+
"brand identification",
|
| 848 |
+
"visual decoration",
|
| 849 |
+
"indicate front side"
|
| 850 |
+
],
|
| 851 |
+
"semantic_description": "Small white printed Adidas logo area on the upper front body, flat and nonstructural with a smooth printed finish integrated into the bottle exterior.",
|
| 852 |
+
"id": 2,
|
| 853 |
+
"grasp_group": {}
|
| 854 |
+
},
|
| 855 |
+
{
|
| 856 |
+
"part_name": "printed athlete graphic",
|
| 857 |
+
"mask_color": "Brown",
|
| 858 |
+
"graspable": false,
|
| 859 |
+
"grasp_scenarios": [],
|
| 860 |
+
"functional_labels": [
|
| 861 |
+
"visual decoration",
|
| 862 |
+
"brand styling",
|
| 863 |
+
"indicate front side"
|
| 864 |
+
],
|
| 865 |
+
"semantic_description": "White printed athlete figure on the front lower body, appearing flat and nonstructural with a smooth printed finish integrated into the bottle exterior.",
|
| 866 |
+
"id": 11,
|
| 867 |
+
"grasp_group": {}
|
| 868 |
+
}
|
| 869 |
+
],
|
| 870 |
+
"quality_check": {
|
| 871 |
+
"success": false,
|
| 872 |
+
"message": "Several mask colors and visual descriptions mismatch images; shoulder/collar colors wrong, body finish wrong, logo patch not small upper logo only."
|
| 873 |
+
}
|
| 874 |
+
}
|
dataset/bathroom_supplies/bath_products/334bd5b5d6f75b1ab73d178eccde58b3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:26495b33ed377322a9a86462583ba59eafb542b20545963860cfc6bc5dd2f45e
|
| 3 |
+
size 3765896
|