Add asset kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44
Browse files
.gitattributes
CHANGED
|
@@ -7576,3 +7576,4 @@ dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/affordance/mesh_p
|
|
| 7576 |
dataset/kitchen_supplies/ware/6691f420da4a59ad910a57488483b9bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7577 |
dataset/kitchen_supplies/ware/6835485fe5f559dbb64ae2f38e3b9868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7578 |
dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7576 |
dataset/kitchen_supplies/ware/6691f420da4a59ad910a57488483b9bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7577 |
dataset/kitchen_supplies/ware/6835485fe5f559dbb64ae2f38e3b9868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7578 |
dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7579 |
+
dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,920 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid to unscrew and open the bottle",
|
| 10 |
+
"confidence": 0.83
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the lid to stabilize the bottle during handling",
|
| 14 |
+
"confidence": 0.51
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the bottle opening",
|
| 19 |
+
"seal the contents",
|
| 20 |
+
"enable opening and closing",
|
| 21 |
+
"provide a twisting interface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small dark gray to black cap at the top, likely plastic or coated metal, with a smooth slightly matte finish, hard texture, and short rounded cylindrical shape.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9522346258163452,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.0076008233590982854,
|
| 30 |
+
0.08963433292228729,
|
| 31 |
+
0.1715902304276824
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5082623162564426,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.8560096735834521,
|
| 37 |
+
0.09433614151333569,
|
| 38 |
+
-0.004189153800383274
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.9464920163154602,
|
| 44 |
+
"position": [
|
| 45 |
+
0.01831277838209644,
|
| 46 |
+
0.08784582104999572,
|
| 47 |
+
0.17107350286096334
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.031986458480617944,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.12738060831336143,
|
| 53 |
+
-0.8580485011627172,
|
| 54 |
+
0.49649150723048624
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_22": {
|
| 59 |
+
"confidence": 0.9457039833068848,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.09306934842607006,
|
| 62 |
+
0.035531316068954766,
|
| 63 |
+
0.165322489105165
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4441242274082474,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.6734559494875085,
|
| 69 |
+
0.5136938064908844,
|
| 70 |
+
0.2921120125941623
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_23": {
|
| 75 |
+
"confidence": 0.941270649433136,
|
| 76 |
+
"position": [
|
| 77 |
+
0.015073918795678765,
|
| 78 |
+
-0.09127764019649476,
|
| 79 |
+
0.17102583404630423
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.4916976362399026,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.8685380041631363,
|
| 85 |
+
-0.04320621688698234,
|
| 86 |
+
0.044815094139397875
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_24": {
|
| 91 |
+
"confidence": 0.9412116408348083,
|
| 92 |
+
"position": [
|
| 93 |
+
0.09706771007040516,
|
| 94 |
+
-0.03599121037404984,
|
| 95 |
+
0.13274612184613943
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.5390335125401259,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.6178070251298098,
|
| 101 |
+
-0.3990165552981896,
|
| 102 |
+
0.41054005974676266
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_25": {
|
| 107 |
+
"confidence": 0.941020131111145,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.04384557896992192,
|
| 110 |
+
0.02027399663347751,
|
| 111 |
+
0.21189293917268515
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.15042987444331046,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.4936247047151408,
|
| 117 |
+
0.830053143862166,
|
| 118 |
+
-0.21146461201438502
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_26": {
|
| 123 |
+
"confidence": 0.9410021901130676,
|
| 124 |
+
"position": [
|
| 125 |
+
0.0010690806666389108,
|
| 126 |
+
0.08760113653261214,
|
| 127 |
+
0.17454422172158957
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.5071562458604586,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.8615102835599096,
|
| 133 |
+
0.0205237889101193,
|
| 134 |
+
-0.013089984492851613
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_27": {
|
| 139 |
+
"confidence": 0.9400241374969482,
|
| 140 |
+
"position": [
|
| 141 |
+
0.06712328275898471,
|
| 142 |
+
-0.06164481851737946,
|
| 143 |
+
0.18018811102956533
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.42520451206087245,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.8284808845747611,
|
| 149 |
+
-0.28601980560646056,
|
| 150 |
+
0.22586105821530963
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_28": {
|
| 155 |
+
"confidence": 0.9393149018287659,
|
| 156 |
+
"position": [
|
| 157 |
+
0.013353462389204651,
|
| 158 |
+
0.08816069748718292,
|
| 159 |
+
0.16782096680253744
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.5150962258718671,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.8552623849169338,
|
| 165 |
+
-0.0183058989757654,
|
| 166 |
+
-0.053544608518936526
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_29": {
|
| 171 |
+
"confidence": 0.9392170906066895,
|
| 172 |
+
"position": [
|
| 173 |
+
0.045882612525019795,
|
| 174 |
+
-0.0759569964138791,
|
| 175 |
+
0.1763371741399169
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.1177134487927936,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.2744434126896983,
|
| 181 |
+
-0.8248459550808465,
|
| 182 |
+
-0.4800557338385877
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_30": {
|
| 187 |
+
"confidence": 0.9388121962547302,
|
| 188 |
+
"position": [
|
| 189 |
+
0.10244241735199466,
|
| 190 |
+
-0.01560456573497504,
|
| 191 |
+
0.12764308508485556
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.49518964780840946,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.565285218199502,
|
| 197 |
+
-0.4663581292148,
|
| 198 |
+
0.46663682891923247
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_31": {
|
| 203 |
+
"confidence": 0.9378604888916016,
|
| 204 |
+
"position": [
|
| 205 |
+
0.06468470027903095,
|
| 206 |
+
-0.07267129782121629,
|
| 207 |
+
0.16822224017232656
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.16635063268462735,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.3230646236557212,
|
| 213 |
+
-0.790633597877006,
|
| 214 |
+
-0.49280343937078186
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_32": {
|
| 219 |
+
"confidence": 0.9370760321617126,
|
| 220 |
+
"position": [
|
| 221 |
+
0.03909972688416019,
|
| 222 |
+
-0.08006586495321244,
|
| 223 |
+
0.17498267348855734
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.4777627233472597,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.8500388758890659,
|
| 229 |
+
-0.19022997163529698,
|
| 230 |
+
0.11397038013754791
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_33": {
|
| 235 |
+
"confidence": 0.935045063495636,
|
| 236 |
+
"position": [
|
| 237 |
+
0.0888772719190456,
|
| 238 |
+
-0.057572267833165824,
|
| 239 |
+
0.12893041130155325
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.5819301295359515,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.6556292383804385,
|
| 245 |
+
-0.32399314893566955,
|
| 246 |
+
0.3557190823693683
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_34": {
|
| 251 |
+
"confidence": 0.9348427057266235,
|
| 252 |
+
"position": [
|
| 253 |
+
-0.033238716365303844,
|
| 254 |
+
0.04694413405377418,
|
| 255 |
+
0.2118526017293334
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.274052621065502,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.8849306773677892,
|
| 261 |
+
0.3704166407033144,
|
| 262 |
+
0.067707971691564
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_35": {
|
| 267 |
+
"confidence": 0.9345603585243225,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.09598305443068966,
|
| 270 |
+
-0.018345968681387603,
|
| 271 |
+
0.1652856981381774
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.3564620713434943,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.5101305087942726,
|
| 277 |
+
0.678943011602085,
|
| 278 |
+
0.3895356757570397
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_36": {
|
| 283 |
+
"confidence": 0.9345580339431763,
|
| 284 |
+
"position": [
|
| 285 |
+
-0.04575776302954182,
|
| 286 |
+
0.07559062179643661,
|
| 287 |
+
0.17700772639364004
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.15584152328317782,
|
| 291 |
+
"xyz": [
|
| 292 |
+
-0.19973816934469993,
|
| 293 |
+
0.8493595252884041,
|
| 294 |
+
-0.46304047353278244
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_37": {
|
| 299 |
+
"confidence": 0.9344035387039185,
|
| 300 |
+
"position": [
|
| 301 |
+
0.04212598508456722,
|
| 302 |
+
-0.07480074826162308,
|
| 303 |
+
0.1831539487466216
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.46351207443011505,
|
| 307 |
+
"xyz": [
|
| 308 |
+
-0.8417602404420955,
|
| 309 |
+
-0.25150575630318817,
|
| 310 |
+
0.11550371861857191
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
"grasp_38": {
|
| 315 |
+
"confidence": 0.9342280030250549,
|
| 316 |
+
"position": [
|
| 317 |
+
-0.08669681468745694,
|
| 318 |
+
0.05483934294898063,
|
| 319 |
+
0.1326538985595107
|
| 320 |
+
],
|
| 321 |
+
"orientation": {
|
| 322 |
+
"w": 0.3301460741136327,
|
| 323 |
+
"xyz": [
|
| 324 |
+
-0.35261355027797403,
|
| 325 |
+
0.6485142061182183,
|
| 326 |
+
-0.5882997351440634
|
| 327 |
+
]
|
| 328 |
+
}
|
| 329 |
+
},
|
| 330 |
+
"grasp_39": {
|
| 331 |
+
"confidence": 0.934091329574585,
|
| 332 |
+
"position": [
|
| 333 |
+
0.011220697371754795,
|
| 334 |
+
0.0835777634056285,
|
| 335 |
+
0.1778037315234542
|
| 336 |
+
],
|
| 337 |
+
"orientation": {
|
| 338 |
+
"w": 0.02827846902266469,
|
| 339 |
+
"xyz": [
|
| 340 |
+
-0.06783528029451412,
|
| 341 |
+
-0.8706717900636949,
|
| 342 |
+
0.48634281831274084
|
| 343 |
+
]
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"part_name": "bottle body",
|
| 350 |
+
"mask_color": "Blue",
|
| 351 |
+
"graspable": true,
|
| 352 |
+
"grasp_scenarios": [
|
| 353 |
+
{
|
| 354 |
+
"scenario": "grasp the bottle body to pick up and carry the bottle",
|
| 355 |
+
"confidence": 0.97
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"scenario": "hold the bottle body while pouring or repositioning it",
|
| 359 |
+
"confidence": 0.93
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "secure the body while another gripper twists the lid",
|
| 363 |
+
"confidence": 0.89
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"contain liquid",
|
| 368 |
+
"provide the main grasp surface",
|
| 369 |
+
"support lifting and carrying",
|
| 370 |
+
"support pouring",
|
| 371 |
+
"protect contents"
|
| 372 |
+
],
|
| 373 |
+
"semantic_description": "Large tapered dark charcoal bottle body, likely painted metal, with a smooth matte finish, hard texture, rounded cylindrical form, and a small white logo near the lower side.",
|
| 374 |
+
"id": 2,
|
| 375 |
+
"grasp_group": {
|
| 376 |
+
"grasp_40": {
|
| 377 |
+
"confidence": 0.9621503353118896,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.056487560214009136,
|
| 380 |
+
0.09071351971942931,
|
| 381 |
+
0.110749333165586
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.19385541857307778,
|
| 385 |
+
"xyz": [
|
| 386 |
+
-0.18261863025778827,
|
| 387 |
+
0.6844474848180969,
|
| 388 |
+
-0.6786767662877572
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_41": {
|
| 393 |
+
"confidence": 0.9547133445739746,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.05816993856569752,
|
| 396 |
+
0.0866164603503421,
|
| 397 |
+
0.09099931176751852
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.2153871592870724,
|
| 401 |
+
"xyz": [
|
| 402 |
+
-0.20301779710359402,
|
| 403 |
+
0.6659676688967624,
|
| 404 |
+
-0.6847475517719372
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_42": {
|
| 409 |
+
"confidence": 0.9504780769348145,
|
| 410 |
+
"position": [
|
| 411 |
+
-0.0686251632287167,
|
| 412 |
+
0.08104315784294158,
|
| 413 |
+
0.10650260653346777
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.24869916755155164,
|
| 417 |
+
"xyz": [
|
| 418 |
+
-0.2319737449542116,
|
| 419 |
+
0.6643744422367897,
|
| 420 |
+
-0.6655400109787827
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_43": {
|
| 425 |
+
"confidence": 0.9481228590011597,
|
| 426 |
+
"position": [
|
| 427 |
+
0.08495267858961597,
|
| 428 |
+
0.06200211506802589,
|
| 429 |
+
0.11108110006898642
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.6290152466025342,
|
| 433 |
+
"xyz": [
|
| 434 |
+
0.6381292425882215,
|
| 435 |
+
-0.29374083607010015,
|
| 436 |
+
-0.33293724712049744
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_44": {
|
| 441 |
+
"confidence": 0.9455037117004395,
|
| 442 |
+
"position": [
|
| 443 |
+
0.083877723722253,
|
| 444 |
+
0.06334150966722518,
|
| 445 |
+
0.112017004750669
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.29568911953778454,
|
| 449 |
+
"xyz": [
|
| 450 |
+
-0.3396377965355752,
|
| 451 |
+
-0.6316796358535927,
|
| 452 |
+
0.6310269006938627
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_45": {
|
| 457 |
+
"confidence": 0.9454014897346497,
|
| 458 |
+
"position": [
|
| 459 |
+
0.10263939580181614,
|
| 460 |
+
-0.021218389156274498,
|
| 461 |
+
0.10503441747277975
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.4337032985732358,
|
| 465 |
+
"xyz": [
|
| 466 |
+
0.46545082090136397,
|
| 467 |
+
-0.5336993358734631,
|
| 468 |
+
-0.5571552754997168
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"grasp_46": {
|
| 473 |
+
"confidence": 0.9437592625617981,
|
| 474 |
+
"position": [
|
| 475 |
+
-0.04868922749301419,
|
| 476 |
+
0.09014949586708099,
|
| 477 |
+
0.09425963368266821
|
| 478 |
+
],
|
| 479 |
+
"orientation": {
|
| 480 |
+
"w": 0.17989669876233444,
|
| 481 |
+
"xyz": [
|
| 482 |
+
-0.1579936606962514,
|
| 483 |
+
0.6825306534064406,
|
| 484 |
+
-0.6905266744411757
|
| 485 |
+
]
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"grasp_47": {
|
| 489 |
+
"confidence": 0.9394349455833435,
|
| 490 |
+
"position": [
|
| 491 |
+
0.10160880914190784,
|
| 492 |
+
-0.02006736386101693,
|
| 493 |
+
0.11888301279395819
|
| 494 |
+
],
|
| 495 |
+
"orientation": {
|
| 496 |
+
"w": 0.5061092384273829,
|
| 497 |
+
"xyz": [
|
| 498 |
+
-0.5804834475785787,
|
| 499 |
+
-0.44571451330377887,
|
| 500 |
+
0.45632332670609455
|
| 501 |
+
]
|
| 502 |
+
}
|
| 503 |
+
},
|
| 504 |
+
"grasp_48": {
|
| 505 |
+
"confidence": 0.9393998980522156,
|
| 506 |
+
"position": [
|
| 507 |
+
0.04186467087129131,
|
| 508 |
+
-0.10136498871725053,
|
| 509 |
+
0.10631208028644323
|
| 510 |
+
],
|
| 511 |
+
"orientation": {
|
| 512 |
+
"w": 0.11902262134902018,
|
| 513 |
+
"xyz": [
|
| 514 |
+
0.1516369593137022,
|
| 515 |
+
-0.6927924846290208,
|
| 516 |
+
-0.6948945397820093
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"grasp_49": {
|
| 521 |
+
"confidence": 0.9375680685043335,
|
| 522 |
+
"position": [
|
| 523 |
+
-0.0395176894380711,
|
| 524 |
+
-0.10607417288701981,
|
| 525 |
+
0.0803659250959754
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.1456231244185464,
|
| 529 |
+
"xyz": [
|
| 530 |
+
0.1287276578055415,
|
| 531 |
+
0.6928899266594647,
|
| 532 |
+
0.6943534008589011
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_50": {
|
| 537 |
+
"confidence": 0.9360715746879578,
|
| 538 |
+
"position": [
|
| 539 |
+
0.0938632675097324,
|
| 540 |
+
-0.045888103428296745,
|
| 541 |
+
0.11248768772929907
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.363335713306814,
|
| 545 |
+
"xyz": [
|
| 546 |
+
0.3899764442850671,
|
| 547 |
+
-0.5982512411925814,
|
| 548 |
+
-0.598331834979671
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"grasp_51": {
|
| 553 |
+
"confidence": 0.9356092810630798,
|
| 554 |
+
"position": [
|
| 555 |
+
0.10789417853811756,
|
| 556 |
+
0.00018549588276073337,
|
| 557 |
+
0.092866494320333
|
| 558 |
+
],
|
| 559 |
+
"orientation": {
|
| 560 |
+
"w": 0.49387213892870796,
|
| 561 |
+
"xyz": [
|
| 562 |
+
0.5133629837276846,
|
| 563 |
+
-0.47575183265696896,
|
| 564 |
+
-0.5159544079196604
|
| 565 |
+
]
|
| 566 |
+
}
|
| 567 |
+
},
|
| 568 |
+
"grasp_52": {
|
| 569 |
+
"confidence": 0.9349241852760315,
|
| 570 |
+
"position": [
|
| 571 |
+
-0.05304398381849751,
|
| 572 |
+
-0.09546348813455552,
|
| 573 |
+
0.10598817374557257
|
| 574 |
+
],
|
| 575 |
+
"orientation": {
|
| 576 |
+
"w": 0.6954914685474111,
|
| 577 |
+
"xyz": [
|
| 578 |
+
-0.6709651140314105,
|
| 579 |
+
0.1891700861438017,
|
| 580 |
+
-0.17410373757886136
|
| 581 |
+
]
|
| 582 |
+
}
|
| 583 |
+
},
|
| 584 |
+
"grasp_53": {
|
| 585 |
+
"confidence": 0.9335712194442749,
|
| 586 |
+
"position": [
|
| 587 |
+
0.05120314290979877,
|
| 588 |
+
-0.09778403851669282,
|
| 589 |
+
0.1047918563708663
|
| 590 |
+
],
|
| 591 |
+
"orientation": {
|
| 592 |
+
"w": 0.6653274823592006,
|
| 593 |
+
"xyz": [
|
| 594 |
+
-0.7068754127300281,
|
| 595 |
+
-0.1577015174165135,
|
| 596 |
+
0.18109865681403856
|
| 597 |
+
]
|
| 598 |
+
}
|
| 599 |
+
},
|
| 600 |
+
"grasp_54": {
|
| 601 |
+
"confidence": 0.933241069316864,
|
| 602 |
+
"position": [
|
| 603 |
+
-0.04000611224910244,
|
| 604 |
+
0.09518131997901946,
|
| 605 |
+
0.11149591114372015
|
| 606 |
+
],
|
| 607 |
+
"orientation": {
|
| 608 |
+
"w": 0.151903083212662,
|
| 609 |
+
"xyz": [
|
| 610 |
+
-0.12047337493832586,
|
| 611 |
+
0.6884284934452967,
|
| 612 |
+
-0.6989118890490388
|
| 613 |
+
]
|
| 614 |
+
}
|
| 615 |
+
},
|
| 616 |
+
"grasp_55": {
|
| 617 |
+
"confidence": 0.9331423044204712,
|
| 618 |
+
"position": [
|
| 619 |
+
0.07533103605965152,
|
| 620 |
+
0.07400753733236343,
|
| 621 |
+
0.09715037699788809
|
| 622 |
+
],
|
| 623 |
+
"orientation": {
|
| 624 |
+
"w": 0.6465667159298291,
|
| 625 |
+
"xyz": [
|
| 626 |
+
0.6601427638288738,
|
| 627 |
+
-0.25681399788569637,
|
| 628 |
+
-0.28321296528594425
|
| 629 |
+
]
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
"grasp_56": {
|
| 633 |
+
"confidence": 0.9329449534416199,
|
| 634 |
+
"position": [
|
| 635 |
+
0.10389938583830371,
|
| 636 |
+
0.01946024235803634,
|
| 637 |
+
0.09953898098319769
|
| 638 |
+
],
|
| 639 |
+
"orientation": {
|
| 640 |
+
"w": 0.5493691517437224,
|
| 641 |
+
"xyz": [
|
| 642 |
+
0.5514741583434133,
|
| 643 |
+
-0.4369598804307091,
|
| 644 |
+
-0.45070594702731304
|
| 645 |
+
]
|
| 646 |
+
}
|
| 647 |
+
},
|
| 648 |
+
"grasp_57": {
|
| 649 |
+
"confidence": 0.9312846660614014,
|
| 650 |
+
"position": [
|
| 651 |
+
0.09723049780586734,
|
| 652 |
+
-0.0301923657534644,
|
| 653 |
+
0.11988418456166983
|
| 654 |
+
],
|
| 655 |
+
"orientation": {
|
| 656 |
+
"w": 0.5263286675046398,
|
| 657 |
+
"xyz": [
|
| 658 |
+
-0.60459466930733,
|
| 659 |
+
-0.4161944737658503,
|
| 660 |
+
0.42921507384377516
|
| 661 |
+
]
|
| 662 |
+
}
|
| 663 |
+
},
|
| 664 |
+
"grasp_58": {
|
| 665 |
+
"confidence": 0.9311323761940002,
|
| 666 |
+
"position": [
|
| 667 |
+
-0.07949193188687786,
|
| 668 |
+
0.07193570223171264,
|
| 669 |
+
0.08778085466474295
|
| 670 |
+
],
|
| 671 |
+
"orientation": {
|
| 672 |
+
"w": 0.6549335069877606,
|
| 673 |
+
"xyz": [
|
| 674 |
+
0.6334402349507693,
|
| 675 |
+
0.30043616080978086,
|
| 676 |
+
0.2820526253168135
|
| 677 |
+
]
|
| 678 |
+
}
|
| 679 |
+
},
|
| 680 |
+
"grasp_59": {
|
| 681 |
+
"confidence": 0.9279585480690002,
|
| 682 |
+
"position": [
|
| 683 |
+
0.05497783800819889,
|
| 684 |
+
0.08361009147483855,
|
| 685 |
+
0.1009703716263175
|
| 686 |
+
],
|
| 687 |
+
"orientation": {
|
| 688 |
+
"w": 0.1938744953092042,
|
| 689 |
+
"xyz": [
|
| 690 |
+
-0.20885997754340874,
|
| 691 |
+
-0.6817922025196135,
|
| 692 |
+
0.6737578069548605
|
| 693 |
+
]
|
| 694 |
+
}
|
| 695 |
+
}
|
| 696 |
+
}
|
| 697 |
+
},
|
| 698 |
+
{
|
| 699 |
+
"part_name": "base of bottle",
|
| 700 |
+
"mask_color": "Red",
|
| 701 |
+
"graspable": true,
|
| 702 |
+
"grasp_scenarios": [
|
| 703 |
+
{
|
| 704 |
+
"scenario": "grasp the bottom end to reorient the bottle from a bin or shelf",
|
| 705 |
+
"confidence": 0.56
|
| 706 |
+
},
|
| 707 |
+
{
|
| 708 |
+
"scenario": "hold the base to stabilize the bottle upside down during manipulation",
|
| 709 |
+
"confidence": 0.42
|
| 710 |
+
}
|
| 711 |
+
],
|
| 712 |
+
"functional_labels": [
|
| 713 |
+
"support upright standing",
|
| 714 |
+
"protect the lower end",
|
| 715 |
+
"provide a stable contact surface",
|
| 716 |
+
"aid orientation"
|
| 717 |
+
],
|
| 718 |
+
"semantic_description": "Rounded dark gray bottom section at the bottle base, likely metal with possible protective coating, featuring a smooth matte hard surface and slightly thicker circular profile than the sidewall.",
|
| 719 |
+
"id": 0,
|
| 720 |
+
"grasp_group": {
|
| 721 |
+
"grasp_0": {
|
| 722 |
+
"confidence": 0.8771622776985168,
|
| 723 |
+
"position": [
|
| 724 |
+
0.057130642293486744,
|
| 725 |
+
-0.09513996902387589,
|
| 726 |
+
-0.11537657026201487
|
| 727 |
+
],
|
| 728 |
+
"orientation": {
|
| 729 |
+
"w": 0.2011447318810487,
|
| 730 |
+
"xyz": [
|
| 731 |
+
0.1822427808736554,
|
| 732 |
+
-0.675033532488031,
|
| 733 |
+
-0.6860452577437356
|
| 734 |
+
]
|
| 735 |
+
}
|
| 736 |
+
},
|
| 737 |
+
"grasp_1": {
|
| 738 |
+
"confidence": 0.8730129599571228,
|
| 739 |
+
"position": [
|
| 740 |
+
0.05868097400525585,
|
| 741 |
+
-0.09084149065893143,
|
| 742 |
+
-0.11517752055078745
|
| 743 |
+
],
|
| 744 |
+
"orientation": {
|
| 745 |
+
"w": 0.2020372677406065,
|
| 746 |
+
"xyz": [
|
| 747 |
+
0.1941372262778901,
|
| 748 |
+
-0.6707886056879181,
|
| 749 |
+
-0.6866835707196559
|
| 750 |
+
]
|
| 751 |
+
}
|
| 752 |
+
},
|
| 753 |
+
"grasp_2": {
|
| 754 |
+
"confidence": 0.8696639537811279,
|
| 755 |
+
"position": [
|
| 756 |
+
0.04608310019830242,
|
| 757 |
+
-0.10130031022708863,
|
| 758 |
+
-0.11058262828737497
|
| 759 |
+
],
|
| 760 |
+
"orientation": {
|
| 761 |
+
"w": 0.6870085846955588,
|
| 762 |
+
"xyz": [
|
| 763 |
+
-0.6921919667336,
|
| 764 |
+
-0.16462922954809167,
|
| 765 |
+
0.14760319279229028
|
| 766 |
+
]
|
| 767 |
+
}
|
| 768 |
+
},
|
| 769 |
+
"grasp_4": {
|
| 770 |
+
"confidence": 0.860536515712738,
|
| 771 |
+
"position": [
|
| 772 |
+
-0.0005422046524472535,
|
| 773 |
+
-0.009604405495338142,
|
| 774 |
+
-0.21725804451853037
|
| 775 |
+
],
|
| 776 |
+
"orientation": {
|
| 777 |
+
"w": 0.2395021778332693,
|
| 778 |
+
"xyz": [
|
| 779 |
+
-0.011226093779033948,
|
| 780 |
+
-0.03246610371171288,
|
| 781 |
+
-0.9702879128080317
|
| 782 |
+
]
|
| 783 |
+
}
|
| 784 |
+
},
|
| 785 |
+
"grasp_5": {
|
| 786 |
+
"confidence": 0.8479517698287964,
|
| 787 |
+
"position": [
|
| 788 |
+
0.05807764834025875,
|
| 789 |
+
-0.08594338211696595,
|
| 790 |
+
-0.15163954440504313
|
| 791 |
+
],
|
| 792 |
+
"orientation": {
|
| 793 |
+
"w": 0.7818973244627193,
|
| 794 |
+
"xyz": [
|
| 795 |
+
-0.5415592681024329,
|
| 796 |
+
-0.16874446198012627,
|
| 797 |
+
0.25860286093049245
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
"grasp_8": {
|
| 802 |
+
"confidence": 0.8368522524833679,
|
| 803 |
+
"position": [
|
| 804 |
+
0.060087163059506565,
|
| 805 |
+
-0.08848850789945573,
|
| 806 |
+
-0.11846803966909647
|
| 807 |
+
],
|
| 808 |
+
"orientation": {
|
| 809 |
+
"w": 0.21639542022951527,
|
| 810 |
+
"xyz": [
|
| 811 |
+
0.19822761871668437,
|
| 812 |
+
-0.6796208724014964,
|
| 813 |
+
-0.6723052157151799
|
| 814 |
+
]
|
| 815 |
+
}
|
| 816 |
+
},
|
| 817 |
+
"grasp_13": {
|
| 818 |
+
"confidence": 0.8315138220787048,
|
| 819 |
+
"position": [
|
| 820 |
+
0.04661785071948543,
|
| 821 |
+
-0.09955682966392487,
|
| 822 |
+
-0.12262650672346354
|
| 823 |
+
],
|
| 824 |
+
"orientation": {
|
| 825 |
+
"w": 0.703159173328992,
|
| 826 |
+
"xyz": [
|
| 827 |
+
-0.6739990359112207,
|
| 828 |
+
-0.16494814990865891,
|
| 829 |
+
0.15519208870217624
|
| 830 |
+
]
|
| 831 |
+
}
|
| 832 |
+
},
|
| 833 |
+
"grasp_14": {
|
| 834 |
+
"confidence": 0.8289681673049927,
|
| 835 |
+
"position": [
|
| 836 |
+
0.0508354083285667,
|
| 837 |
+
-0.09552641573827714,
|
| 838 |
+
-0.11898494604974985
|
| 839 |
+
],
|
| 840 |
+
"orientation": {
|
| 841 |
+
"w": 0.6917927962127973,
|
| 842 |
+
"xyz": [
|
| 843 |
+
-0.6750036312858416,
|
| 844 |
+
-0.18271193111688622,
|
| 845 |
+
0.18002548454745226
|
| 846 |
+
]
|
| 847 |
+
}
|
| 848 |
+
},
|
| 849 |
+
"grasp_15": {
|
| 850 |
+
"confidence": 0.8285832405090332,
|
| 851 |
+
"position": [
|
| 852 |
+
0.0013953200541436672,
|
| 853 |
+
-0.0033899362897500396,
|
| 854 |
+
-0.21797808352857828
|
| 855 |
+
],
|
| 856 |
+
"orientation": {
|
| 857 |
+
"w": 0.9838254529420256,
|
| 858 |
+
"xyz": [
|
| 859 |
+
-0.026156090461198243,
|
| 860 |
+
-0.000756061292055743,
|
| 861 |
+
0.17720825445369687
|
| 862 |
+
]
|
| 863 |
+
}
|
| 864 |
+
},
|
| 865 |
+
"grasp_17": {
|
| 866 |
+
"confidence": 0.8273053169250488,
|
| 867 |
+
"position": [
|
| 868 |
+
0.05137830233434215,
|
| 869 |
+
-0.08556580904405564,
|
| 870 |
+
-0.16323090437799692
|
| 871 |
+
],
|
| 872 |
+
"orientation": {
|
| 873 |
+
"w": 0.24593396207059376,
|
| 874 |
+
"xyz": [
|
| 875 |
+
0.12137934159635864,
|
| 876 |
+
-0.4892144096652421,
|
| 877 |
+
-0.8279207710341513
|
| 878 |
+
]
|
| 879 |
+
}
|
| 880 |
+
},
|
| 881 |
+
"grasp_18": {
|
| 882 |
+
"confidence": 0.825850784778595,
|
| 883 |
+
"position": [
|
| 884 |
+
0.05861833697417751,
|
| 885 |
+
-0.08973247173707932,
|
| 886 |
+
-0.11740262899547815
|
| 887 |
+
],
|
| 888 |
+
"orientation": {
|
| 889 |
+
"w": 0.6819980406582604,
|
| 890 |
+
"xyz": [
|
| 891 |
+
-0.6699373524347244,
|
| 892 |
+
-0.2110280659409407,
|
| 893 |
+
0.20378854662682191
|
| 894 |
+
]
|
| 895 |
+
}
|
| 896 |
+
},
|
| 897 |
+
"grasp_19": {
|
| 898 |
+
"confidence": 0.8247279524803162,
|
| 899 |
+
"position": [
|
| 900 |
+
0.0640519522712566,
|
| 901 |
+
-0.08637529972475022,
|
| 902 |
+
-0.1134231248870492
|
| 903 |
+
],
|
| 904 |
+
"orientation": {
|
| 905 |
+
"w": 0.6789058860644187,
|
| 906 |
+
"xyz": [
|
| 907 |
+
-0.6618640766360823,
|
| 908 |
+
-0.22353065575762687,
|
| 909 |
+
0.2259574912728457
|
| 910 |
+
]
|
| 911 |
+
}
|
| 912 |
+
}
|
| 913 |
+
}
|
| 914 |
+
}
|
| 915 |
+
],
|
| 916 |
+
"quality_check": {
|
| 917 |
+
"success": true,
|
| 918 |
+
"message": "YES"
|
| 919 |
+
}
|
| 920 |
+
}
|
dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5fe2cb4495f200c80034f9af1dc91777f03c90c228f2ce4915218855ecbc051f
|
| 3 |
+
size 1150796
|