Add asset bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199
Browse files
.gitattributes
CHANGED
|
@@ -5940,3 +5940,4 @@ dataset/bedroom_supplies/small_electronics/dc9c8b200e3c5bdbb13fa0a46a49ac3b/affo
|
|
| 5940 |
dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5941 |
dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5942 |
dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5940 |
dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5941 |
dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5942 |
dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5943 |
+
dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1068 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "flashlight body tube",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and carry the flashlight",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while aiming the light direction",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the flashlight body while pressing the side switch",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"houses internal batteries",
|
| 24 |
+
"support one-handed holding",
|
| 25 |
+
"connect head and tail sections"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long cylindrical purple body section with a mostly matte smooth hard surface, medium thickness, forming the central handle between the wider head and tail.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9838382005691528,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.003399716690182686,
|
| 34 |
+
0.049428773010731675,
|
| 35 |
+
0.08761729259276763
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.18013172892942933,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6949048285502325,
|
| 41 |
+
0.6704231760036393,
|
| 42 |
+
-0.1875969204642233
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9809845685958862,
|
| 48 |
+
"position": [
|
| 49 |
+
0.05432760901749134,
|
| 50 |
+
-0.04027172840142157,
|
| 51 |
+
0.0957411002018489
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.1740293765585224,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6910781082640972,
|
| 57 |
+
-0.6917665485232778,
|
| 58 |
+
-0.11654984649050233
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9797318577766418,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.00035005807876586914,
|
| 66 |
+
-0.03816388464474585,
|
| 67 |
+
0.09228385944152251
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.16268669152161785,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6929111791036783,
|
| 73 |
+
-0.69286534936755,
|
| 74 |
+
-0.1155194612205387
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.977299153804779,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0652271006256342,
|
| 82 |
+
-0.023127573644160293,
|
| 83 |
+
0.09763209481025115
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.16172338446419648,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.697222629856955,
|
| 89 |
+
-0.6983617977405253,
|
| 90 |
+
-0.004117133641075651
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9770621061325073,
|
| 96 |
+
"position": [
|
| 97 |
+
0.04772392101585865,
|
| 98 |
+
0.02200428293144796,
|
| 99 |
+
0.10031646449351683
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.08120509460996601,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.7133357658275395,
|
| 105 |
+
0.6903620395710796,
|
| 106 |
+
-0.08920802721663434
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_25": {
|
| 111 |
+
"confidence": 0.9767033457756042,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.004983291029930115,
|
| 114 |
+
0.06268395193910692,
|
| 115 |
+
0.07301604707026854
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.26052133590474374,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.6673239278651258,
|
| 121 |
+
0.6493828559348661,
|
| 122 |
+
-0.2551652704717964
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_26": {
|
| 127 |
+
"confidence": 0.9766537547111511,
|
| 128 |
+
"position": [
|
| 129 |
+
0.017542598769068718,
|
| 130 |
+
-0.09199770084524062,
|
| 131 |
+
0.038974742928985506
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.40311540841345034,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.5962881050860294,
|
| 137 |
+
0.5876192096258873,
|
| 138 |
+
0.36965135967721957
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_27": {
|
| 143 |
+
"confidence": 0.9756598472595215,
|
| 144 |
+
"position": [
|
| 145 |
+
0.05144246108829975,
|
| 146 |
+
-0.027457962845801376,
|
| 147 |
+
0.09821562428260222
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.1351931476790366,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.6879096717957464,
|
| 153 |
+
-0.7091410199920715,
|
| 154 |
+
-0.07498073109210902
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_28": {
|
| 159 |
+
"confidence": 0.9731745719909668,
|
| 160 |
+
"position": [
|
| 161 |
+
0.004338009282946587,
|
| 162 |
+
-0.058674662475823425,
|
| 163 |
+
0.07645605463767424
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.28606969114132047,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.662144664695292,
|
| 169 |
+
-0.6700945493162596,
|
| 170 |
+
-0.17521949036139808
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_29": {
|
| 175 |
+
"confidence": 0.971983790397644,
|
| 176 |
+
"position": [
|
| 177 |
+
0.005206415429711342,
|
| 178 |
+
0.07742652752494905,
|
| 179 |
+
0.06485328782582656
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.3091094936561999,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.6475844866934835,
|
| 185 |
+
-0.62942136834645,
|
| 186 |
+
0.29818516830054975
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_30": {
|
| 191 |
+
"confidence": 0.9717980027198792,
|
| 192 |
+
"position": [
|
| 193 |
+
0.05310136266052723,
|
| 194 |
+
-0.07303412548208144,
|
| 195 |
+
0.0694826390244998
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.3120340127204062,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.6415614672029877,
|
| 201 |
+
-0.649087456461417,
|
| 202 |
+
-0.2640438080516179
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_31": {
|
| 207 |
+
"confidence": 0.9716748595237732,
|
| 208 |
+
"position": [
|
| 209 |
+
0.05023334361612797,
|
| 210 |
+
-0.08326350442075636,
|
| 211 |
+
0.05929771770024672
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.3383329914259183,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.6292937350497078,
|
| 217 |
+
-0.6380623003927057,
|
| 218 |
+
-0.2870482237491567
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_32": {
|
| 223 |
+
"confidence": 0.9711158871650696,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.006409370340406895,
|
| 226 |
+
-0.09389917096996214,
|
| 227 |
+
0.03473464731359854
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.41781914818295274,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.5859344662764516,
|
| 233 |
+
0.5779916861633753,
|
| 234 |
+
0.38475131106601856
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_33": {
|
| 239 |
+
"confidence": 0.9710206985473633,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.00462418794631958,
|
| 242 |
+
-0.09001841685676482,
|
| 243 |
+
0.04509815905475989
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.3720261231574673,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.6143309559130986,
|
| 249 |
+
0.5941318340237555,
|
| 250 |
+
0.3622173437245834
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_34": {
|
| 255 |
+
"confidence": 0.970996618270874,
|
| 256 |
+
"position": [
|
| 257 |
+
0.026916468515992165,
|
| 258 |
+
0.07513899066543672,
|
| 259 |
+
0.06811641860986128
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.30344487691232447,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.6502597488266917,
|
| 265 |
+
0.6360434513570252,
|
| 266 |
+
-0.2837819474831947
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_35": {
|
| 271 |
+
"confidence": 0.9708206653594971,
|
| 272 |
+
"position": [
|
| 273 |
+
0.002423694357275963,
|
| 274 |
+
-0.09634191087388899,
|
| 275 |
+
-0.0005062689306214452
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.4611136766056344,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.5498657704586585,
|
| 281 |
+
-0.43866064234088853,
|
| 282 |
+
-0.5409238879789091
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_36": {
|
| 287 |
+
"confidence": 0.9708006978034973,
|
| 288 |
+
"position": [
|
| 289 |
+
0.0278718713670969,
|
| 290 |
+
0.052502495134831406,
|
| 291 |
+
0.07814106304431334
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.33779783785825607,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.632707667608692,
|
| 297 |
+
-0.6885400519684541,
|
| 298 |
+
0.10717380707400573
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_37": {
|
| 303 |
+
"confidence": 0.9692663550376892,
|
| 304 |
+
"position": [
|
| 305 |
+
0.03448710776865482,
|
| 306 |
+
0.07676024445390794,
|
| 307 |
+
0.06846390623832121
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.3079654631253642,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.6512868769937054,
|
| 313 |
+
-0.632642579604128,
|
| 314 |
+
0.2841584836840184
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_38": {
|
| 319 |
+
"confidence": 0.9691131711006165,
|
| 320 |
+
"position": [
|
| 321 |
+
0.01856168545782566,
|
| 322 |
+
-0.09521623245382216,
|
| 323 |
+
0.030243984947446734
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.4037325315186856,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.608116693334471,
|
| 329 |
+
0.5233381625967765,
|
| 330 |
+
0.43967180697799235
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"part_name": "flashlight head bezel",
|
| 338 |
+
"mask_color": "Green",
|
| 339 |
+
"graspable": true,
|
| 340 |
+
"grasp_scenarios": [
|
| 341 |
+
{
|
| 342 |
+
"scenario": "grasp the head to orient the flashlight during placement or retrieval",
|
| 343 |
+
"confidence": 0.62
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"scenario": "hold the head to stabilize the flashlight while manipulating the body",
|
| 347 |
+
"confidence": 0.55
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"functional_labels": [
|
| 351 |
+
"surround the lens opening",
|
| 352 |
+
"protect the front light assembly",
|
| 353 |
+
"provide front-end structure",
|
| 354 |
+
"indicate the light-emitting end"
|
| 355 |
+
],
|
| 356 |
+
"semantic_description": "Wider purple front head section made of hard plastic with a smooth matte finish, slightly flared around the front opening of the flashlight.",
|
| 357 |
+
"id": 1,
|
| 358 |
+
"grasp_group": {
|
| 359 |
+
"grasp_0": {
|
| 360 |
+
"confidence": 0.963384747505188,
|
| 361 |
+
"position": [
|
| 362 |
+
-0.10784160159528255,
|
| 363 |
+
-0.039323899065493606,
|
| 364 |
+
0.0824606265523471
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.336437710829684,
|
| 368 |
+
"xyz": [
|
| 369 |
+
-0.627874569034117,
|
| 370 |
+
0.7012841962368851,
|
| 371 |
+
-0.02799407795034259
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_1": {
|
| 376 |
+
"confidence": 0.9629776477813721,
|
| 377 |
+
"position": [
|
| 378 |
+
-0.10583210550248623,
|
| 379 |
+
-0.020025842924951576,
|
| 380 |
+
0.08732782263541594
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.2601472929653408,
|
| 384 |
+
"xyz": [
|
| 385 |
+
-0.6691467816851195,
|
| 386 |
+
0.6882261576105912,
|
| 387 |
+
-0.1044544230935884
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_2": {
|
| 392 |
+
"confidence": 0.9621213674545288,
|
| 393 |
+
"position": [
|
| 394 |
+
-0.10519987903535366,
|
| 395 |
+
-0.008220621486543678,
|
| 396 |
+
0.08909811783814803
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.2063678930994955,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.6804860014383253,
|
| 402 |
+
0.6858689610671024,
|
| 403 |
+
-0.15470896156618963
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_3": {
|
| 408 |
+
"confidence": 0.961793839931488,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.10607022605836391,
|
| 411 |
+
-0.034646718864678405,
|
| 412 |
+
0.08067312050843611
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.3213225211675371,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.6368403685687002,
|
| 418 |
+
0.6994585698374535,
|
| 419 |
+
-0.04408958417545237
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_4": {
|
| 424 |
+
"confidence": 0.9612838625907898,
|
| 425 |
+
"position": [
|
| 426 |
+
-0.10753271542489529,
|
| 427 |
+
-0.04509568131470587,
|
| 428 |
+
0.07785203267121688
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.3611713359595941,
|
| 432 |
+
"xyz": [
|
| 433 |
+
-0.6136793928295224,
|
| 434 |
+
0.7021019836936819,
|
| 435 |
+
0.0023818881055921626
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_5": {
|
| 440 |
+
"confidence": 0.957842230796814,
|
| 441 |
+
"position": [
|
| 442 |
+
-0.060353679582476616,
|
| 443 |
+
0.012293270687223412,
|
| 444 |
+
0.10253723670030013
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.06046795811249388,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.710416098608825,
|
| 450 |
+
0.7011269033302076,
|
| 451 |
+
-0.008582441710598389
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_6": {
|
| 456 |
+
"confidence": 0.9578408002853394,
|
| 457 |
+
"position": [
|
| 458 |
+
-0.10575255565345287,
|
| 459 |
+
-0.029532062922953628,
|
| 460 |
+
0.08294181484961882
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.29376137174885203,
|
| 464 |
+
"xyz": [
|
| 465 |
+
-0.6381841387169258,
|
| 466 |
+
0.7092336082788695,
|
| 467 |
+
-0.058420462563243576
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_7": {
|
| 472 |
+
"confidence": 0.9557068347930908,
|
| 473 |
+
"position": [
|
| 474 |
+
-0.055746471509337425,
|
| 475 |
+
-0.013347212327062152,
|
| 476 |
+
0.10048639733577147
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.06278252123201589,
|
| 480 |
+
"xyz": [
|
| 481 |
+
-0.7194364140374883,
|
| 482 |
+
0.6897800246177329,
|
| 483 |
+
0.05170221294094725
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_8": {
|
| 488 |
+
"confidence": 0.9540293216705322,
|
| 489 |
+
"position": [
|
| 490 |
+
-0.05652673356235027,
|
| 491 |
+
0.052029595608473755,
|
| 492 |
+
0.08832155872369185
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.18653170699176927,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.6924963308205084,
|
| 498 |
+
0.6747009192824531,
|
| 499 |
+
-0.1744517801751603
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_9": {
|
| 504 |
+
"confidence": 0.9528357982635498,
|
| 505 |
+
"position": [
|
| 506 |
+
-0.05215977318584919,
|
| 507 |
+
-0.028017451157211326,
|
| 508 |
+
0.10119660903001204
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.10772746937899005,
|
| 512 |
+
"xyz": [
|
| 513 |
+
-0.7136890487591715,
|
| 514 |
+
-0.6868196734853523,
|
| 515 |
+
-0.08556558967190886
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_10": {
|
| 520 |
+
"confidence": 0.948085367679596,
|
| 521 |
+
"position": [
|
| 522 |
+
-0.04865958355367184,
|
| 523 |
+
-0.003781088729738258,
|
| 524 |
+
0.1065404187538661
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.038043094067790544,
|
| 528 |
+
"xyz": [
|
| 529 |
+
-0.7073466680827919,
|
| 530 |
+
-0.7058007784854889,
|
| 531 |
+
-0.0076599761879476164
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_11": {
|
| 536 |
+
"confidence": 0.9465956687927246,
|
| 537 |
+
"position": [
|
| 538 |
+
-0.10778298787772655,
|
| 539 |
+
-0.06538818321132567,
|
| 540 |
+
0.06123401556396857
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.12344485011063094,
|
| 544 |
+
"xyz": [
|
| 545 |
+
-0.7044357931922104,
|
| 546 |
+
-0.5451954819162552,
|
| 547 |
+
-0.4373710881493283
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"grasp_12": {
|
| 552 |
+
"confidence": 0.9461380839347839,
|
| 553 |
+
"position": [
|
| 554 |
+
-0.10611063800752163,
|
| 555 |
+
-0.0619577831675997,
|
| 556 |
+
0.06388136703753844
|
| 557 |
+
],
|
| 558 |
+
"orientation": {
|
| 559 |
+
"w": 0.0914024093721221,
|
| 560 |
+
"xyz": [
|
| 561 |
+
-0.7058496995714226,
|
| 562 |
+
-0.5630032901195761,
|
| 563 |
+
-0.4200584441365701
|
| 564 |
+
]
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"grasp_13": {
|
| 568 |
+
"confidence": 0.9458345770835876,
|
| 569 |
+
"position": [
|
| 570 |
+
-0.14495706371963024,
|
| 571 |
+
-0.02085457659268286,
|
| 572 |
+
0.05426033545518294
|
| 573 |
+
],
|
| 574 |
+
"orientation": {
|
| 575 |
+
"w": 0.23460263095742265,
|
| 576 |
+
"xyz": [
|
| 577 |
+
0.6717557132137628,
|
| 578 |
+
0.5339157202699779,
|
| 579 |
+
0.4567711363047312
|
| 580 |
+
]
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"grasp_14": {
|
| 584 |
+
"confidence": 0.9454345107078552,
|
| 585 |
+
"position": [
|
| 586 |
+
-0.14352047257125378,
|
| 587 |
+
-0.019351230104803108,
|
| 588 |
+
0.053901403734926134
|
| 589 |
+
],
|
| 590 |
+
"orientation": {
|
| 591 |
+
"w": 0.44754449309429484,
|
| 592 |
+
"xyz": [
|
| 593 |
+
-0.5441216800545798,
|
| 594 |
+
0.6704788113600781,
|
| 595 |
+
-0.232580496845132
|
| 596 |
+
]
|
| 597 |
+
}
|
| 598 |
+
},
|
| 599 |
+
"grasp_15": {
|
| 600 |
+
"confidence": 0.94505375623703,
|
| 601 |
+
"position": [
|
| 602 |
+
-0.10090741328895092,
|
| 603 |
+
-0.02187808333837893,
|
| 604 |
+
0.08899043459678069
|
| 605 |
+
],
|
| 606 |
+
"orientation": {
|
| 607 |
+
"w": 0.06536641595777241,
|
| 608 |
+
"xyz": [
|
| 609 |
+
0.7020153676178988,
|
| 610 |
+
0.6599240858663443,
|
| 611 |
+
0.2596186745721728
|
| 612 |
+
]
|
| 613 |
+
}
|
| 614 |
+
},
|
| 615 |
+
"grasp_16": {
|
| 616 |
+
"confidence": 0.9446940422058105,
|
| 617 |
+
"position": [
|
| 618 |
+
-0.056521808728575706,
|
| 619 |
+
-0.01368033244216349,
|
| 620 |
+
0.1064917441108264
|
| 621 |
+
],
|
| 622 |
+
"orientation": {
|
| 623 |
+
"w": 0.059774463455618855,
|
| 624 |
+
"xyz": [
|
| 625 |
+
-0.7119545391018801,
|
| 626 |
+
0.6986031582448213,
|
| 627 |
+
0.03874758135914127
|
| 628 |
+
]
|
| 629 |
+
}
|
| 630 |
+
},
|
| 631 |
+
"grasp_17": {
|
| 632 |
+
"confidence": 0.9443095922470093,
|
| 633 |
+
"position": [
|
| 634 |
+
-0.1429994609206915,
|
| 635 |
+
-0.027249797349213623,
|
| 636 |
+
0.05223406065488234
|
| 637 |
+
],
|
| 638 |
+
"orientation": {
|
| 639 |
+
"w": 0.19726466368381185,
|
| 640 |
+
"xyz": [
|
| 641 |
+
0.6782098066471524,
|
| 642 |
+
0.5229266985326804,
|
| 643 |
+
0.4771433522444343
|
| 644 |
+
]
|
| 645 |
+
}
|
| 646 |
+
},
|
| 647 |
+
"grasp_18": {
|
| 648 |
+
"confidence": 0.9440301060676575,
|
| 649 |
+
"position": [
|
| 650 |
+
-0.10530499182641506,
|
| 651 |
+
-0.004009887677966617,
|
| 652 |
+
0.08619550574803725
|
| 653 |
+
],
|
| 654 |
+
"orientation": {
|
| 655 |
+
"w": 0.19269445389313145,
|
| 656 |
+
"xyz": [
|
| 657 |
+
-0.6875042177310158,
|
| 658 |
+
0.6792043681437315,
|
| 659 |
+
-0.16996536216349128
|
| 660 |
+
]
|
| 661 |
+
}
|
| 662 |
+
},
|
| 663 |
+
"grasp_19": {
|
| 664 |
+
"confidence": 0.9438779950141907,
|
| 665 |
+
"position": [
|
| 666 |
+
-0.10501004569232464,
|
| 667 |
+
-0.08368278584384825,
|
| 668 |
+
0.042979303339961916
|
| 669 |
+
],
|
| 670 |
+
"orientation": {
|
| 671 |
+
"w": 0.19304350619811841,
|
| 672 |
+
"xyz": [
|
| 673 |
+
-0.6812656613406526,
|
| 674 |
+
-0.49214497336929997,
|
| 675 |
+
-0.50636412647437
|
| 676 |
+
]
|
| 677 |
+
}
|
| 678 |
+
}
|
| 679 |
+
}
|
| 680 |
+
},
|
| 681 |
+
{
|
| 682 |
+
"part_name": "front lens or reflector opening",
|
| 683 |
+
"mask_color": "Cyan",
|
| 684 |
+
"graspable": false,
|
| 685 |
+
"grasp_scenarios": [],
|
| 686 |
+
"functional_labels": [
|
| 687 |
+
"light output aperture",
|
| 688 |
+
"transmit and shape emitted light",
|
| 689 |
+
"cover the optical cavity at the front"
|
| 690 |
+
],
|
| 691 |
+
"semantic_description": "Circular pale bluish to silvery optical area visible inside the front head opening, smooth and glossy, recessed within the bezel.",
|
| 692 |
+
"id": 6,
|
| 693 |
+
"grasp_group": {}
|
| 694 |
+
},
|
| 695 |
+
{
|
| 696 |
+
"part_name": "head trim ring",
|
| 697 |
+
"mask_color": "Pink",
|
| 698 |
+
"graspable": false,
|
| 699 |
+
"grasp_scenarios": [],
|
| 700 |
+
"functional_labels": [
|
| 701 |
+
"join head to body",
|
| 702 |
+
"provide structural transition",
|
| 703 |
+
"mark the boundary between body and head"
|
| 704 |
+
],
|
| 705 |
+
"semantic_description": "Thin narrow purple ring with a smooth hard finish encircling the flashlight near the base of the head as a small transition band.",
|
| 706 |
+
"id": 8,
|
| 707 |
+
"grasp_group": {}
|
| 708 |
+
},
|
| 709 |
+
{
|
| 710 |
+
"part_name": "tail cap sidewall",
|
| 711 |
+
"mask_color": "Purple",
|
| 712 |
+
"graspable": true,
|
| 713 |
+
"grasp_scenarios": [
|
| 714 |
+
{
|
| 715 |
+
"scenario": "grasp the tail end to pull the flashlight from a tight space",
|
| 716 |
+
"confidence": 0.47
|
| 717 |
+
},
|
| 718 |
+
{
|
| 719 |
+
"scenario": "hold the tail while reorienting the flashlight",
|
| 720 |
+
"confidence": 0.41
|
| 721 |
+
}
|
| 722 |
+
],
|
| 723 |
+
"functional_labels": [
|
| 724 |
+
"close the rear end",
|
| 725 |
+
"protect the battery compartment end",
|
| 726 |
+
"provide rear-end structure"
|
| 727 |
+
],
|
| 728 |
+
"semantic_description": "Short purple cylindrical rear cap section with a smooth matte hard surface at the back end of the flashlight.",
|
| 729 |
+
"id": 5,
|
| 730 |
+
"grasp_group": {
|
| 731 |
+
"grasp_40": {
|
| 732 |
+
"confidence": 0.9778361320495605,
|
| 733 |
+
"position": [
|
| 734 |
+
0.05907437391579151,
|
| 735 |
+
-0.0293347342958441,
|
| 736 |
+
0.10094782669330016
|
| 737 |
+
],
|
| 738 |
+
"orientation": {
|
| 739 |
+
"w": 0.11571064980310397,
|
| 740 |
+
"xyz": [
|
| 741 |
+
-0.7001152747157926,
|
| 742 |
+
-0.6986097163243444,
|
| 743 |
+
-0.09161938598895507
|
| 744 |
+
]
|
| 745 |
+
}
|
| 746 |
+
},
|
| 747 |
+
"grasp_41": {
|
| 748 |
+
"confidence": 0.9694346189498901,
|
| 749 |
+
"position": [
|
| 750 |
+
0.05421953834593296,
|
| 751 |
+
0.039880235577584244,
|
| 752 |
+
0.0930078174569644
|
| 753 |
+
],
|
| 754 |
+
"orientation": {
|
| 755 |
+
"w": 0.13724544450929912,
|
| 756 |
+
"xyz": [
|
| 757 |
+
0.6961899962913568,
|
| 758 |
+
0.6877855060852023,
|
| 759 |
+
-0.15308257459426058
|
| 760 |
+
]
|
| 761 |
+
}
|
| 762 |
+
},
|
| 763 |
+
"grasp_42": {
|
| 764 |
+
"confidence": 0.9644435048103333,
|
| 765 |
+
"position": [
|
| 766 |
+
0.06300086714327335,
|
| 767 |
+
-0.03613625011348631,
|
| 768 |
+
0.09055129397893324
|
| 769 |
+
],
|
| 770 |
+
"orientation": {
|
| 771 |
+
"w": 0.11084484597301111,
|
| 772 |
+
"xyz": [
|
| 773 |
+
-0.7158657137113199,
|
| 774 |
+
0.6667617469305631,
|
| 775 |
+
0.17515271303609828
|
| 776 |
+
]
|
| 777 |
+
}
|
| 778 |
+
},
|
| 779 |
+
"grasp_43": {
|
| 780 |
+
"confidence": 0.9643183350563049,
|
| 781 |
+
"position": [
|
| 782 |
+
0.10211555100977421,
|
| 783 |
+
-0.013628852655529045,
|
| 784 |
+
0.08507502038264647
|
| 785 |
+
],
|
| 786 |
+
"orientation": {
|
| 787 |
+
"w": 0.23730618979437434,
|
| 788 |
+
"xyz": [
|
| 789 |
+
-0.6597057469353963,
|
| 790 |
+
-0.7011320536685762,
|
| 791 |
+
0.12995361889602106
|
| 792 |
+
]
|
| 793 |
+
}
|
| 794 |
+
},
|
| 795 |
+
"grasp_44": {
|
| 796 |
+
"confidence": 0.9609430432319641,
|
| 797 |
+
"position": [
|
| 798 |
+
0.06225180812180042,
|
| 799 |
+
-0.08594391039514448,
|
| 800 |
+
0.047047491709236056
|
| 801 |
+
],
|
| 802 |
+
"orientation": {
|
| 803 |
+
"w": 0.34168495411279226,
|
| 804 |
+
"xyz": [
|
| 805 |
+
-0.6226985425365689,
|
| 806 |
+
0.5869095056001695,
|
| 807 |
+
0.3886324092145897
|
| 808 |
+
]
|
| 809 |
+
}
|
| 810 |
+
},
|
| 811 |
+
"grasp_45": {
|
| 812 |
+
"confidence": 0.9604198932647705,
|
| 813 |
+
"position": [
|
| 814 |
+
0.1026459876447916,
|
| 815 |
+
-0.00933180759602692,
|
| 816 |
+
0.08763070363784209
|
| 817 |
+
],
|
| 818 |
+
"orientation": {
|
| 819 |
+
"w": 0.21032216091951228,
|
| 820 |
+
"xyz": [
|
| 821 |
+
-0.6715029128025723,
|
| 822 |
+
-0.6936263251362184,
|
| 823 |
+
0.15404852417933976
|
| 824 |
+
]
|
| 825 |
+
}
|
| 826 |
+
},
|
| 827 |
+
"grasp_46": {
|
| 828 |
+
"confidence": 0.958210289478302,
|
| 829 |
+
"position": [
|
| 830 |
+
0.09988642670214176,
|
| 831 |
+
0.005741295302868821,
|
| 832 |
+
0.08983486104989424
|
| 833 |
+
],
|
| 834 |
+
"orientation": {
|
| 835 |
+
"w": 0.1407420390186499,
|
| 836 |
+
"xyz": [
|
| 837 |
+
-0.6920311612811306,
|
| 838 |
+
-0.6784640011041629,
|
| 839 |
+
0.20241331348133562
|
| 840 |
+
]
|
| 841 |
+
}
|
| 842 |
+
},
|
| 843 |
+
"grasp_47": {
|
| 844 |
+
"confidence": 0.9581353068351746,
|
| 845 |
+
"position": [
|
| 846 |
+
0.09811932779848576,
|
| 847 |
+
0.007238732549012639,
|
| 848 |
+
0.09056489873910323
|
| 849 |
+
],
|
| 850 |
+
"orientation": {
|
| 851 |
+
"w": 0.13885708183091122,
|
| 852 |
+
"xyz": [
|
| 853 |
+
-0.6885652125148762,
|
| 854 |
+
-0.6823831832753104,
|
| 855 |
+
0.20236069312690505
|
| 856 |
+
]
|
| 857 |
+
}
|
| 858 |
+
},
|
| 859 |
+
"grasp_48": {
|
| 860 |
+
"confidence": 0.958103597164154,
|
| 861 |
+
"position": [
|
| 862 |
+
0.10421139188110828,
|
| 863 |
+
-0.02291700906062033,
|
| 864 |
+
0.08392575342440978
|
| 865 |
+
],
|
| 866 |
+
"orientation": {
|
| 867 |
+
"w": 0.2748821786037117,
|
| 868 |
+
"xyz": [
|
| 869 |
+
-0.6459483412180291,
|
| 870 |
+
-0.7055730765671766,
|
| 871 |
+
0.0967324246945304
|
| 872 |
+
]
|
| 873 |
+
}
|
| 874 |
+
},
|
| 875 |
+
"grasp_49": {
|
| 876 |
+
"confidence": 0.9545610547065735,
|
| 877 |
+
"position": [
|
| 878 |
+
0.09971083886921406,
|
| 879 |
+
0.014600811424315907,
|
| 880 |
+
0.08414551574969664
|
| 881 |
+
],
|
| 882 |
+
"orientation": {
|
| 883 |
+
"w": 0.08801791229761413,
|
| 884 |
+
"xyz": [
|
| 885 |
+
-0.7135489220435229,
|
| 886 |
+
-0.6506684151750792,
|
| 887 |
+
0.24440007458846355
|
| 888 |
+
]
|
| 889 |
+
}
|
| 890 |
+
},
|
| 891 |
+
"grasp_52": {
|
| 892 |
+
"confidence": 0.9532684683799744,
|
| 893 |
+
"position": [
|
| 894 |
+
0.09817824698984623,
|
| 895 |
+
-0.0027128386864205822,
|
| 896 |
+
0.09221234876895323
|
| 897 |
+
],
|
| 898 |
+
"orientation": {
|
| 899 |
+
"w": 0.17851516774453058,
|
| 900 |
+
"xyz": [
|
| 901 |
+
-0.6779776876991672,
|
| 902 |
+
-0.693898668896948,
|
| 903 |
+
0.16426572122715263
|
| 904 |
+
]
|
| 905 |
+
}
|
| 906 |
+
},
|
| 907 |
+
"grasp_53": {
|
| 908 |
+
"confidence": 0.9531297087669373,
|
| 909 |
+
"position": [
|
| 910 |
+
0.05620359070599079,
|
| 911 |
+
-0.03908812544250395,
|
| 912 |
+
0.09558880288386717
|
| 913 |
+
],
|
| 914 |
+
"orientation": {
|
| 915 |
+
"w": 0.1349402542071097,
|
| 916 |
+
"xyz": [
|
| 917 |
+
-0.7062662621692308,
|
| 918 |
+
0.6768981546334035,
|
| 919 |
+
0.1574419987484808
|
| 920 |
+
]
|
| 921 |
+
}
|
| 922 |
+
},
|
| 923 |
+
"grasp_54": {
|
| 924 |
+
"confidence": 0.9529181718826294,
|
| 925 |
+
"position": [
|
| 926 |
+
0.10377475805580616,
|
| 927 |
+
-0.008242345516919158,
|
| 928 |
+
0.08939909149194136
|
| 929 |
+
],
|
| 930 |
+
"orientation": {
|
| 931 |
+
"w": 0.20999665394374978,
|
| 932 |
+
"xyz": [
|
| 933 |
+
-0.668449994613164,
|
| 934 |
+
-0.6972076468091157,
|
| 935 |
+
0.15158333439064148
|
| 936 |
+
]
|
| 937 |
+
}
|
| 938 |
+
},
|
| 939 |
+
"grasp_55": {
|
| 940 |
+
"confidence": 0.9516924023628235,
|
| 941 |
+
"position": [
|
| 942 |
+
0.05465342290699482,
|
| 943 |
+
0.021104856292367913,
|
| 944 |
+
0.10405365336919203
|
| 945 |
+
],
|
| 946 |
+
"orientation": {
|
| 947 |
+
"w": 0.08275530099871996,
|
| 948 |
+
"xyz": [
|
| 949 |
+
0.7102711147447281,
|
| 950 |
+
-0.696909421405378,
|
| 951 |
+
0.054623823303697285
|
| 952 |
+
]
|
| 953 |
+
}
|
| 954 |
+
},
|
| 955 |
+
"grasp_56": {
|
| 956 |
+
"confidence": 0.9504035711288452,
|
| 957 |
+
"position": [
|
| 958 |
+
0.060341889038681984,
|
| 959 |
+
-0.09513242087268736,
|
| 960 |
+
0.029512753302697092
|
| 961 |
+
],
|
| 962 |
+
"orientation": {
|
| 963 |
+
"w": 0.4121790657068584,
|
| 964 |
+
"xyz": [
|
| 965 |
+
-0.5749848359020613,
|
| 966 |
+
0.5629875058399535,
|
| 967 |
+
0.4272539344977523
|
| 968 |
+
]
|
| 969 |
+
}
|
| 970 |
+
},
|
| 971 |
+
"grasp_57": {
|
| 972 |
+
"confidence": 0.9495278000831604,
|
| 973 |
+
"position": [
|
| 974 |
+
0.051709214225411415,
|
| 975 |
+
-0.03205303019785788,
|
| 976 |
+
-0.09528576623415574
|
| 977 |
+
],
|
| 978 |
+
"orientation": {
|
| 979 |
+
"w": 0.6861389785483891,
|
| 980 |
+
"xyz": [
|
| 981 |
+
-0.1085020425743981,
|
| 982 |
+
-0.0971476318430512,
|
| 983 |
+
-0.7127432542655476
|
| 984 |
+
]
|
| 985 |
+
}
|
| 986 |
+
},
|
| 987 |
+
"grasp_58": {
|
| 988 |
+
"confidence": 0.9494183659553528,
|
| 989 |
+
"position": [
|
| 990 |
+
0.05381285585463047,
|
| 991 |
+
0.05362654187774751,
|
| 992 |
+
0.08711159188533202
|
| 993 |
+
],
|
| 994 |
+
"orientation": {
|
| 995 |
+
"w": 0.19745119439678002,
|
| 996 |
+
"xyz": [
|
| 997 |
+
0.6890595744635835,
|
| 998 |
+
0.6652443951895061,
|
| 999 |
+
-0.2089493319929463
|
| 1000 |
+
]
|
| 1001 |
+
}
|
| 1002 |
+
},
|
| 1003 |
+
"grasp_59": {
|
| 1004 |
+
"confidence": 0.9486578702926636,
|
| 1005 |
+
"position": [
|
| 1006 |
+
0.09859764017164707,
|
| 1007 |
+
0.023807980949641205,
|
| 1008 |
+
0.08888608176494017
|
| 1009 |
+
],
|
| 1010 |
+
"orientation": {
|
| 1011 |
+
"w": 0.07506926665061267,
|
| 1012 |
+
"xyz": [
|
| 1013 |
+
-0.6988724579018515,
|
| 1014 |
+
-0.6628006306906493,
|
| 1015 |
+
0.2581418539230749
|
| 1016 |
+
]
|
| 1017 |
+
}
|
| 1018 |
+
}
|
| 1019 |
+
}
|
| 1020 |
+
},
|
| 1021 |
+
{
|
| 1022 |
+
"part_name": "tail end face",
|
| 1023 |
+
"mask_color": "Yellow",
|
| 1024 |
+
"graspable": false,
|
| 1025 |
+
"grasp_scenarios": [],
|
| 1026 |
+
"functional_labels": [
|
| 1027 |
+
"rear end surface",
|
| 1028 |
+
"close the battery compartment end",
|
| 1029 |
+
"contact surface when set on its rear end"
|
| 1030 |
+
],
|
| 1031 |
+
"semantic_description": "Flat circular purple end face at the very back of the flashlight, hard and smooth with a plain finish.",
|
| 1032 |
+
"id": 3,
|
| 1033 |
+
"grasp_group": {}
|
| 1034 |
+
},
|
| 1035 |
+
{
|
| 1036 |
+
"part_name": "power button",
|
| 1037 |
+
"mask_color": "Magenta",
|
| 1038 |
+
"graspable": false,
|
| 1039 |
+
"grasp_scenarios": [],
|
| 1040 |
+
"functional_labels": [
|
| 1041 |
+
"switch the light on and off",
|
| 1042 |
+
"provide user input",
|
| 1043 |
+
"control operation"
|
| 1044 |
+
],
|
| 1045 |
+
"semantic_description": "Small raised side button in darker purple material with a smooth slightly glossier surface, positioned on the body near the head for thumb pressing.",
|
| 1046 |
+
"id": 7,
|
| 1047 |
+
"grasp_group": {}
|
| 1048 |
+
},
|
| 1049 |
+
{
|
| 1050 |
+
"part_name": "side information label",
|
| 1051 |
+
"mask_color": "Orange",
|
| 1052 |
+
"graspable": false,
|
| 1053 |
+
"grasp_scenarios": [],
|
| 1054 |
+
"functional_labels": [
|
| 1055 |
+
"display product information",
|
| 1056 |
+
"show branding or specifications",
|
| 1057 |
+
"identify the flashlight"
|
| 1058 |
+
],
|
| 1059 |
+
"semantic_description": "Narrow black rectangular label with white printed text on the side of the body, appearing as a smooth applied sticker or printed information panel.",
|
| 1060 |
+
"id": 4,
|
| 1061 |
+
"grasp_group": {}
|
| 1062 |
+
}
|
| 1063 |
+
],
|
| 1064 |
+
"quality_check": {
|
| 1065 |
+
"success": false,
|
| 1066 |
+
"message": "Several semantic descriptions use wrong visible colors; object appears purple overall, not black label or bluish optical area."
|
| 1067 |
+
}
|
| 1068 |
+
}
|
dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4bec82c272e26d2d10fa918c1c7f54364fa17050628edefe3136c5d5e32d5d65
|
| 3 |
+
size 3787360
|