Add asset bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281
Browse files
.gitattributes
CHANGED
|
@@ -5663,3 +5663,4 @@ dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/afforda
|
|
| 5663 |
dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5664 |
dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5665 |
dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5663 |
dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5664 |
dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5665 |
dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5666 |
+
dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,870 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and move the dispenser bottle",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body steady while pressing the pump with another manipulator",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to orient the dispenser for dispensing",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid product",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural enclosure",
|
| 26 |
+
"stabilize the dispenser upright"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large oval white plastic bottle body with a smooth glossy hard surface, rounded sides, and a compact upright form making up most of the container.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9722244143486023,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.040542820061091334,
|
| 35 |
+
0.09733609203249216,
|
| 36 |
+
0.04883925803005695
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.11792284459132918,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.14430408046568657,
|
| 42 |
+
0.7112165726439843,
|
| 43 |
+
-0.6778211577407314
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_5": {
|
| 48 |
+
"confidence": 0.9672631621360779,
|
| 49 |
+
"position": [
|
| 50 |
+
0.028287185763474554,
|
| 51 |
+
-0.07898074295371771,
|
| 52 |
+
-0.09784169681370258
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.894710185274676,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.42181750968982,
|
| 58 |
+
-0.09776013730328159,
|
| 59 |
+
0.10957476187187278
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_6": {
|
| 64 |
+
"confidence": 0.9654083847999573,
|
| 65 |
+
"position": [
|
| 66 |
+
0.030367661674972624,
|
| 67 |
+
-0.11083497013896704,
|
| 68 |
+
0.013872090261429548
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.07733573285260625,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.12792492504236688,
|
| 74 |
+
-0.7052107809814984,
|
| 75 |
+
-0.6930599918942948
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_9": {
|
| 80 |
+
"confidence": 0.9641286730766296,
|
| 81 |
+
"position": [
|
| 82 |
+
0.03577363718068227,
|
| 83 |
+
-0.10128700640052557,
|
| 84 |
+
-0.04714290611445904
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7808774438815105,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.602518741216031,
|
| 90 |
+
-0.13274354533720445,
|
| 91 |
+
0.09788123053904242
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_11": {
|
| 96 |
+
"confidence": 0.963731050491333,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.0032629331690259278,
|
| 99 |
+
0.10981651488691568,
|
| 100 |
+
0.013430203311145306
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.036467286667018206,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.0013969633697651807,
|
| 106 |
+
0.7208664426535255,
|
| 107 |
+
-0.6921125322897576
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_14": {
|
| 112 |
+
"confidence": 0.9633073806762695,
|
| 113 |
+
"position": [
|
| 114 |
+
0.018126354028936476,
|
| 115 |
+
-0.10412108805030584,
|
| 116 |
+
-0.05637338198721409
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.7997711457753566,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.5930590122153558,
|
| 122 |
+
-0.08499744649069851,
|
| 123 |
+
0.03771679341327838
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_15": {
|
| 128 |
+
"confidence": 0.9614980220794678,
|
| 129 |
+
"position": [
|
| 130 |
+
0.06324839073931798,
|
| 131 |
+
-0.08653244283050299,
|
| 132 |
+
-0.03845292888581753
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.7346350398001869,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.5991184792078842,
|
| 138 |
+
-0.24939762336349214,
|
| 139 |
+
0.19791218161106622
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_16": {
|
| 144 |
+
"confidence": 0.9614832997322083,
|
| 145 |
+
"position": [
|
| 146 |
+
0.008007355907466263,
|
| 147 |
+
-0.11098058428615332,
|
| 148 |
+
-0.03702573664486408
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.7456739266388686,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.6645963167306483,
|
| 154 |
+
-0.047086620133866774,
|
| 155 |
+
0.008061086985990293
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_17": {
|
| 160 |
+
"confidence": 0.9614500999450684,
|
| 161 |
+
"position": [
|
| 162 |
+
0.023926493187900633,
|
| 163 |
+
-0.11220125760883093,
|
| 164 |
+
-0.0016473615542054176
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.10536789630490426,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.057632943203094665,
|
| 170 |
+
-0.7023335619552585,
|
| 171 |
+
-0.7016435120752322
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
}
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"part_name": "pump collar",
|
| 179 |
+
"mask_color": "Blue",
|
| 180 |
+
"graspable": true,
|
| 181 |
+
"grasp_scenarios": [
|
| 182 |
+
{
|
| 183 |
+
"scenario": "grasp the neck collar to stabilize the bottle during pump manipulation",
|
| 184 |
+
"confidence": 0.48
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"scenario": "pinch the collar area to slightly reorient the bottle in a constrained space",
|
| 188 |
+
"confidence": 0.35
|
| 189 |
+
}
|
| 190 |
+
],
|
| 191 |
+
"functional_labels": [
|
| 192 |
+
"connect pump to bottle",
|
| 193 |
+
"seal the bottle opening",
|
| 194 |
+
"support the pump head",
|
| 195 |
+
"provide a narrow transition grip area"
|
| 196 |
+
],
|
| 197 |
+
"semantic_description": "Short metallic gold cylindrical neck collar with a reflective glossy finish, positioned between the white bottle body and the white pump head.",
|
| 198 |
+
"id": 2,
|
| 199 |
+
"grasp_group": {
|
| 200 |
+
"grasp_40": {
|
| 201 |
+
"confidence": 0.9826874136924744,
|
| 202 |
+
"position": [
|
| 203 |
+
0.013342868012841791,
|
| 204 |
+
0.10228607896715403,
|
| 205 |
+
0.06377348117530346
|
| 206 |
+
],
|
| 207 |
+
"orientation": {
|
| 208 |
+
"w": 0.7030990703220642,
|
| 209 |
+
"xyz": [
|
| 210 |
+
0.707364387900442,
|
| 211 |
+
0.012345413451559928,
|
| 212 |
+
-0.0716582919779144
|
| 213 |
+
]
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"grasp_41": {
|
| 217 |
+
"confidence": 0.9793378114700317,
|
| 218 |
+
"position": [
|
| 219 |
+
-0.013157861831132323,
|
| 220 |
+
0.10336914006620646,
|
| 221 |
+
0.06880955211818218
|
| 222 |
+
],
|
| 223 |
+
"orientation": {
|
| 224 |
+
"w": 0.06915441111602298,
|
| 225 |
+
"xyz": [
|
| 226 |
+
-0.015557710193536446,
|
| 227 |
+
0.7168504555306057,
|
| 228 |
+
-0.6936144818862228
|
| 229 |
+
]
|
| 230 |
+
}
|
| 231 |
+
},
|
| 232 |
+
"grasp_42": {
|
| 233 |
+
"confidence": 0.9778457283973694,
|
| 234 |
+
"position": [
|
| 235 |
+
-0.005906327220145613,
|
| 236 |
+
0.09626700077205896,
|
| 237 |
+
0.0899782832711935
|
| 238 |
+
],
|
| 239 |
+
"orientation": {
|
| 240 |
+
"w": 0.6005759550513465,
|
| 241 |
+
"xyz": [
|
| 242 |
+
0.7960706114719301,
|
| 243 |
+
0.07468917750886328,
|
| 244 |
+
-0.0012769212662066937
|
| 245 |
+
]
|
| 246 |
+
}
|
| 247 |
+
},
|
| 248 |
+
"grasp_43": {
|
| 249 |
+
"confidence": 0.9777005314826965,
|
| 250 |
+
"position": [
|
| 251 |
+
0.010131374408956617,
|
| 252 |
+
0.09141636732965708,
|
| 253 |
+
0.10342670790851116
|
| 254 |
+
],
|
| 255 |
+
"orientation": {
|
| 256 |
+
"w": 0.5454229769475257,
|
| 257 |
+
"xyz": [
|
| 258 |
+
0.8362127953526799,
|
| 259 |
+
0.023429313715416122,
|
| 260 |
+
-0.052086508473699306
|
| 261 |
+
]
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"grasp_44": {
|
| 265 |
+
"confidence": 0.9753193855285645,
|
| 266 |
+
"position": [
|
| 267 |
+
0.004082445695530623,
|
| 268 |
+
0.09476674441248178,
|
| 269 |
+
0.09672591648995876
|
| 270 |
+
],
|
| 271 |
+
"orientation": {
|
| 272 |
+
"w": 0.5779507222839476,
|
| 273 |
+
"xyz": [
|
| 274 |
+
0.8133844241724796,
|
| 275 |
+
0.05069030538392416,
|
| 276 |
+
-0.04253509216107899
|
| 277 |
+
]
|
| 278 |
+
}
|
| 279 |
+
},
|
| 280 |
+
"grasp_45": {
|
| 281 |
+
"confidence": 0.9746065139770508,
|
| 282 |
+
"position": [
|
| 283 |
+
-0.02503563981736079,
|
| 284 |
+
0.0958900386467576,
|
| 285 |
+
0.06649059616029263
|
| 286 |
+
],
|
| 287 |
+
"orientation": {
|
| 288 |
+
"w": 0.12668339875007623,
|
| 289 |
+
"xyz": [
|
| 290 |
+
-0.03834807615978252,
|
| 291 |
+
0.7054665171293785,
|
| 292 |
+
-0.6962741807257523
|
| 293 |
+
]
|
| 294 |
+
}
|
| 295 |
+
},
|
| 296 |
+
"grasp_46": {
|
| 297 |
+
"confidence": 0.9736189246177673,
|
| 298 |
+
"position": [
|
| 299 |
+
-0.0390238068648614,
|
| 300 |
+
0.09300378058105707,
|
| 301 |
+
0.05697362311184406
|
| 302 |
+
],
|
| 303 |
+
"orientation": {
|
| 304 |
+
"w": 0.10922467336801109,
|
| 305 |
+
"xyz": [
|
| 306 |
+
-0.1594837194203893,
|
| 307 |
+
0.6916053592209879,
|
| 308 |
+
-0.6959288333330479
|
| 309 |
+
]
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"grasp_47": {
|
| 313 |
+
"confidence": 0.9732368588447571,
|
| 314 |
+
"position": [
|
| 315 |
+
-0.031933346355799586,
|
| 316 |
+
0.09329850319772959,
|
| 317 |
+
0.07703117094933987
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.6501695926153053,
|
| 321 |
+
"xyz": [
|
| 322 |
+
0.7248130573893569,
|
| 323 |
+
0.22433119923520606,
|
| 324 |
+
0.04001306944031319
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_48": {
|
| 329 |
+
"confidence": 0.972488284111023,
|
| 330 |
+
"position": [
|
| 331 |
+
0.014139274542685598,
|
| 332 |
+
0.095797517336905,
|
| 333 |
+
0.09030446968972683
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.5821718545982835,
|
| 337 |
+
"xyz": [
|
| 338 |
+
0.8097317083392979,
|
| 339 |
+
0.011257655006859157,
|
| 340 |
+
-0.07268945884558359
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_49": {
|
| 345 |
+
"confidence": 0.97179114818573,
|
| 346 |
+
"position": [
|
| 347 |
+
-0.03557939227903262,
|
| 348 |
+
0.09703604225069284,
|
| 349 |
+
0.06930641643702984
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.14615313769993415,
|
| 353 |
+
"xyz": [
|
| 354 |
+
-0.09294242484325789,
|
| 355 |
+
0.736837432230845,
|
| 356 |
+
-0.6535071265626532
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_50": {
|
| 361 |
+
"confidence": 0.971077561378479,
|
| 362 |
+
"position": [
|
| 363 |
+
0.034930447523947805,
|
| 364 |
+
0.08663407806307077,
|
| 365 |
+
0.0897169541567564
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.09079138363564201,
|
| 369 |
+
"xyz": [
|
| 370 |
+
-0.20377311611167503,
|
| 371 |
+
-0.7818513418042828,
|
| 372 |
+
0.5821871873603081
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_51": {
|
| 377 |
+
"confidence": 0.9702219367027283,
|
| 378 |
+
"position": [
|
| 379 |
+
0.0531695545068942,
|
| 380 |
+
0.08226883504539728,
|
| 381 |
+
0.09073797427117825
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.5565726036010465,
|
| 385 |
+
"xyz": [
|
| 386 |
+
0.779074360417257,
|
| 387 |
+
-0.2260361816886216,
|
| 388 |
+
-0.17938149968383876
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_52": {
|
| 393 |
+
"confidence": 0.9690887928009033,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.04032397415721789,
|
| 396 |
+
0.08880236092954874,
|
| 397 |
+
0.0890739019960165
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.1376190353081014,
|
| 401 |
+
"xyz": [
|
| 402 |
+
-0.1455265563073895,
|
| 403 |
+
0.7997586447526414,
|
| 404 |
+
-0.565923256876406
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_53": {
|
| 409 |
+
"confidence": 0.9686186909675598,
|
| 410 |
+
"position": [
|
| 411 |
+
-0.006745700782630593,
|
| 412 |
+
0.10215929243713617,
|
| 413 |
+
0.05960658751428127
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.7103042243594766,
|
| 417 |
+
"xyz": [
|
| 418 |
+
0.7004996080387553,
|
| 419 |
+
0.06849444201744315,
|
| 420 |
+
0.008758961545265878
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_54": {
|
| 425 |
+
"confidence": 0.9675800204277039,
|
| 426 |
+
"position": [
|
| 427 |
+
0.05564163107192144,
|
| 428 |
+
0.08069767896085978,
|
| 429 |
+
0.09464589320123196
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.562051704612792,
|
| 433 |
+
"xyz": [
|
| 434 |
+
0.7689953008566417,
|
| 435 |
+
-0.24609863571442614,
|
| 436 |
+
-0.17938664973112178
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_55": {
|
| 441 |
+
"confidence": 0.9671744704246521,
|
| 442 |
+
"position": [
|
| 443 |
+
-0.023705834115389735,
|
| 444 |
+
0.09826476220041513,
|
| 445 |
+
0.05596725456416607
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.08966707142288317,
|
| 449 |
+
"xyz": [
|
| 450 |
+
-0.06328892340810452,
|
| 451 |
+
0.7093613342375277,
|
| 452 |
+
-0.696247675734032
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_56": {
|
| 457 |
+
"confidence": 0.9669193029403687,
|
| 458 |
+
"position": [
|
| 459 |
+
-0.021218139270786196,
|
| 460 |
+
0.09293872211128473,
|
| 461 |
+
0.0963416825979948
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.05874106447281659,
|
| 465 |
+
"xyz": [
|
| 466 |
+
-0.1042159997268944,
|
| 467 |
+
0.8276265207711487,
|
| 468 |
+
-0.5483820336788648
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"grasp_58": {
|
| 473 |
+
"confidence": 0.96469646692276,
|
| 474 |
+
"position": [
|
| 475 |
+
-0.052457989717368037,
|
| 476 |
+
0.08367703203111887,
|
| 477 |
+
0.05907926522195339
|
| 478 |
+
],
|
| 479 |
+
"orientation": {
|
| 480 |
+
"w": 0.18230020077582207,
|
| 481 |
+
"xyz": [
|
| 482 |
+
-0.20991949109286895,
|
| 483 |
+
0.6873143337865502,
|
| 484 |
+
-0.6710435534508591
|
| 485 |
+
]
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"grasp_59": {
|
| 489 |
+
"confidence": 0.9642404913902283,
|
| 490 |
+
"position": [
|
| 491 |
+
0.0492628164938651,
|
| 492 |
+
0.08878707233816385,
|
| 493 |
+
0.06694456376135349
|
| 494 |
+
],
|
| 495 |
+
"orientation": {
|
| 496 |
+
"w": 0.6632131238839787,
|
| 497 |
+
"xyz": [
|
| 498 |
+
0.7033246930907683,
|
| 499 |
+
-0.1316539781374213,
|
| 500 |
+
-0.2194309878695856
|
| 501 |
+
]
|
| 502 |
+
}
|
| 503 |
+
}
|
| 504 |
+
}
|
| 505 |
+
},
|
| 506 |
+
{
|
| 507 |
+
"part_name": "pump head and spout",
|
| 508 |
+
"mask_color": "Green",
|
| 509 |
+
"graspable": true,
|
| 510 |
+
"grasp_scenarios": [
|
| 511 |
+
{
|
| 512 |
+
"scenario": "grasp the pump head delicately to rotate or align the spout",
|
| 513 |
+
"confidence": 0.42
|
| 514 |
+
},
|
| 515 |
+
{
|
| 516 |
+
"scenario": "pinch the pump head to unlock or adjust the dispenser if the mechanism supports twisting",
|
| 517 |
+
"confidence": 0.28
|
| 518 |
+
}
|
| 519 |
+
],
|
| 520 |
+
"functional_labels": [
|
| 521 |
+
"dispense liquid",
|
| 522 |
+
"direct liquid flow",
|
| 523 |
+
"provide pump press surface",
|
| 524 |
+
"indicate dispensing direction"
|
| 525 |
+
],
|
| 526 |
+
"semantic_description": "Small white plastic pump head with integrated curved spout, smooth semi-gloss hard surface, mounted on top of the gold collar and shaped to direct liquid outward.",
|
| 527 |
+
"id": 1,
|
| 528 |
+
"grasp_group": {
|
| 529 |
+
"grasp_20": {
|
| 530 |
+
"confidence": 0.9833646416664124,
|
| 531 |
+
"position": [
|
| 532 |
+
-0.038234212959650904,
|
| 533 |
+
0.09081503096967936,
|
| 534 |
+
0.07771999947726727
|
| 535 |
+
],
|
| 536 |
+
"orientation": {
|
| 537 |
+
"w": 0.12521307779716606,
|
| 538 |
+
"xyz": [
|
| 539 |
+
-0.14635227547067012,
|
| 540 |
+
0.722040389139208,
|
| 541 |
+
-0.6645000925995564
|
| 542 |
+
]
|
| 543 |
+
}
|
| 544 |
+
},
|
| 545 |
+
"grasp_21": {
|
| 546 |
+
"confidence": 0.9808921217918396,
|
| 547 |
+
"position": [
|
| 548 |
+
0.05143909755861387,
|
| 549 |
+
0.08229115698486567,
|
| 550 |
+
0.09273682348430157
|
| 551 |
+
],
|
| 552 |
+
"orientation": {
|
| 553 |
+
"w": 0.17134251516109628,
|
| 554 |
+
"xyz": [
|
| 555 |
+
-0.2148280482069566,
|
| 556 |
+
-0.7355933492527952,
|
| 557 |
+
0.6191874326380624
|
| 558 |
+
]
|
| 559 |
+
}
|
| 560 |
+
},
|
| 561 |
+
"grasp_22": {
|
| 562 |
+
"confidence": 0.9792317152023315,
|
| 563 |
+
"position": [
|
| 564 |
+
-0.02448057901347056,
|
| 565 |
+
0.0938702980056405,
|
| 566 |
+
0.07434717379510403
|
| 567 |
+
],
|
| 568 |
+
"orientation": {
|
| 569 |
+
"w": 0.101903587867323,
|
| 570 |
+
"xyz": [
|
| 571 |
+
-0.051120363677424244,
|
| 572 |
+
0.7145751067881383,
|
| 573 |
+
-0.6902063343348677
|
| 574 |
+
]
|
| 575 |
+
}
|
| 576 |
+
},
|
| 577 |
+
"grasp_23": {
|
| 578 |
+
"confidence": 0.9765126705169678,
|
| 579 |
+
"position": [
|
| 580 |
+
0.025061278080102056,
|
| 581 |
+
0.08492821548134089,
|
| 582 |
+
0.1256165113300085
|
| 583 |
+
],
|
| 584 |
+
"orientation": {
|
| 585 |
+
"w": 0.5069401230530455,
|
| 586 |
+
"xyz": [
|
| 587 |
+
0.8552957181898788,
|
| 588 |
+
-0.06328540529068749,
|
| 589 |
+
-0.08646330760626474
|
| 590 |
+
]
|
| 591 |
+
}
|
| 592 |
+
},
|
| 593 |
+
"grasp_24": {
|
| 594 |
+
"confidence": 0.9755276441574097,
|
| 595 |
+
"position": [
|
| 596 |
+
0.01769079308724031,
|
| 597 |
+
0.0911421338096261,
|
| 598 |
+
0.11450540088117123
|
| 599 |
+
],
|
| 600 |
+
"orientation": {
|
| 601 |
+
"w": 0.53688658430377,
|
| 602 |
+
"xyz": [
|
| 603 |
+
0.8385224759754305,
|
| 604 |
+
0.017890199496893078,
|
| 605 |
+
-0.09117452297997325
|
| 606 |
+
]
|
| 607 |
+
}
|
| 608 |
+
},
|
| 609 |
+
"grasp_25": {
|
| 610 |
+
"confidence": 0.9745284914970398,
|
| 611 |
+
"position": [
|
| 612 |
+
0.021639777754899114,
|
| 613 |
+
0.06042827758938074,
|
| 614 |
+
0.15253510884940624
|
| 615 |
+
],
|
| 616 |
+
"orientation": {
|
| 617 |
+
"w": 0.3164865442555959,
|
| 618 |
+
"xyz": [
|
| 619 |
+
0.943120487546393,
|
| 620 |
+
-0.06803362079875241,
|
| 621 |
+
-0.07570627263586863
|
| 622 |
+
]
|
| 623 |
+
}
|
| 624 |
+
},
|
| 625 |
+
"grasp_26": {
|
| 626 |
+
"confidence": 0.9743778705596924,
|
| 627 |
+
"position": [
|
| 628 |
+
-0.013023266161326319,
|
| 629 |
+
0.08757028076797724,
|
| 630 |
+
0.1174511294811964
|
| 631 |
+
],
|
| 632 |
+
"orientation": {
|
| 633 |
+
"w": 0.5333789848071612,
|
| 634 |
+
"xyz": [
|
| 635 |
+
0.8404929723071692,
|
| 636 |
+
0.08785134438208664,
|
| 637 |
+
0.03688581514081636
|
| 638 |
+
]
|
| 639 |
+
}
|
| 640 |
+
},
|
| 641 |
+
"grasp_27": {
|
| 642 |
+
"confidence": 0.9741322994232178,
|
| 643 |
+
"position": [
|
| 644 |
+
0.014276654866989702,
|
| 645 |
+
0.06426742020994425,
|
| 646 |
+
0.15572127513587475
|
| 647 |
+
],
|
| 648 |
+
"orientation": {
|
| 649 |
+
"w": 0.3435581508178312,
|
| 650 |
+
"xyz": [
|
| 651 |
+
0.9375430262689654,
|
| 652 |
+
-0.014741611990626902,
|
| 653 |
+
-0.05256953278259724
|
| 654 |
+
]
|
| 655 |
+
}
|
| 656 |
+
},
|
| 657 |
+
"grasp_28": {
|
| 658 |
+
"confidence": 0.973466157913208,
|
| 659 |
+
"position": [
|
| 660 |
+
-0.01709215674782172,
|
| 661 |
+
0.09681954327970743,
|
| 662 |
+
0.06902001611888409
|
| 663 |
+
],
|
| 664 |
+
"orientation": {
|
| 665 |
+
"w": 0.7147990717754101,
|
| 666 |
+
"xyz": [
|
| 667 |
+
0.6896405232329077,
|
| 668 |
+
0.1025839698950699,
|
| 669 |
+
0.05417346974877292
|
| 670 |
+
]
|
| 671 |
+
}
|
| 672 |
+
},
|
| 673 |
+
"grasp_29": {
|
| 674 |
+
"confidence": 0.9731959104537964,
|
| 675 |
+
"position": [
|
| 676 |
+
0.022355877270456403,
|
| 677 |
+
0.07546700630337,
|
| 678 |
+
0.1359658371657133
|
| 679 |
+
],
|
| 680 |
+
"orientation": {
|
| 681 |
+
"w": 0.4602009886992432,
|
| 682 |
+
"xyz": [
|
| 683 |
+
0.881315017415263,
|
| 684 |
+
-0.07514135215420176,
|
| 685 |
+
-0.07650272723904653
|
| 686 |
+
]
|
| 687 |
+
}
|
| 688 |
+
},
|
| 689 |
+
"grasp_30": {
|
| 690 |
+
"confidence": 0.9730204939842224,
|
| 691 |
+
"position": [
|
| 692 |
+
0.009308214706834406,
|
| 693 |
+
0.05281971860677004,
|
| 694 |
+
0.164308724924922
|
| 695 |
+
],
|
| 696 |
+
"orientation": {
|
| 697 |
+
"w": 0.2801292438766673,
|
| 698 |
+
"xyz": [
|
| 699 |
+
0.9593288371548151,
|
| 700 |
+
0.00970058462516643,
|
| 701 |
+
-0.033491604712332555
|
| 702 |
+
]
|
| 703 |
+
}
|
| 704 |
+
},
|
| 705 |
+
"grasp_31": {
|
| 706 |
+
"confidence": 0.9727432727813721,
|
| 707 |
+
"position": [
|
| 708 |
+
0.013940511678811163,
|
| 709 |
+
0.051452321000397205,
|
| 710 |
+
0.16194037906825542
|
| 711 |
+
],
|
| 712 |
+
"orientation": {
|
| 713 |
+
"w": 0.27458667273938775,
|
| 714 |
+
"xyz": [
|
| 715 |
+
0.9591790402279559,
|
| 716 |
+
0.03473350253908025,
|
| 717 |
+
-0.058062998050888374
|
| 718 |
+
]
|
| 719 |
+
}
|
| 720 |
+
},
|
| 721 |
+
"grasp_32": {
|
| 722 |
+
"confidence": 0.972486138343811,
|
| 723 |
+
"position": [
|
| 724 |
+
0.0029156996752135456,
|
| 725 |
+
0.06330129597336054,
|
| 726 |
+
0.1580697726458311
|
| 727 |
+
],
|
| 728 |
+
"orientation": {
|
| 729 |
+
"w": 0.3290148069946579,
|
| 730 |
+
"xyz": [
|
| 731 |
+
0.9439186843153622,
|
| 732 |
+
0.026314311413311697,
|
| 733 |
+
-0.00862155400532015
|
| 734 |
+
]
|
| 735 |
+
}
|
| 736 |
+
},
|
| 737 |
+
"grasp_33": {
|
| 738 |
+
"confidence": 0.9716328978538513,
|
| 739 |
+
"position": [
|
| 740 |
+
0.019931175222154707,
|
| 741 |
+
0.07015206757932901,
|
| 742 |
+
0.13961396925151348
|
| 743 |
+
],
|
| 744 |
+
"orientation": {
|
| 745 |
+
"w": 0.4186133068928323,
|
| 746 |
+
"xyz": [
|
| 747 |
+
0.9040705649055958,
|
| 748 |
+
-0.02662572117466705,
|
| 749 |
+
-0.08191693314237707
|
| 750 |
+
]
|
| 751 |
+
}
|
| 752 |
+
},
|
| 753 |
+
"grasp_34": {
|
| 754 |
+
"confidence": 0.9712638854980469,
|
| 755 |
+
"position": [
|
| 756 |
+
0.002388763416092843,
|
| 757 |
+
0.09027655515819788,
|
| 758 |
+
0.12655374221503735
|
| 759 |
+
],
|
| 760 |
+
"orientation": {
|
| 761 |
+
"w": 0.5187496885963454,
|
| 762 |
+
"xyz": [
|
| 763 |
+
0.8548831996210644,
|
| 764 |
+
0.008279728719872259,
|
| 765 |
+
0.0022184857834285764
|
| 766 |
+
]
|
| 767 |
+
}
|
| 768 |
+
},
|
| 769 |
+
"grasp_35": {
|
| 770 |
+
"confidence": 0.97088223695755,
|
| 771 |
+
"position": [
|
| 772 |
+
0.02444106194889173,
|
| 773 |
+
0.05111680645495653,
|
| 774 |
+
0.1605097781866789
|
| 775 |
+
],
|
| 776 |
+
"orientation": {
|
| 777 |
+
"w": 0.27967283636418244,
|
| 778 |
+
"xyz": [
|
| 779 |
+
0.9490608874274137,
|
| 780 |
+
-0.1259526693089016,
|
| 781 |
+
-0.07212809195775058
|
| 782 |
+
]
|
| 783 |
+
}
|
| 784 |
+
},
|
| 785 |
+
"grasp_36": {
|
| 786 |
+
"confidence": 0.9697095155715942,
|
| 787 |
+
"position": [
|
| 788 |
+
0.014361335372086614,
|
| 789 |
+
0.0838680574670434,
|
| 790 |
+
0.12484092824161053
|
| 791 |
+
],
|
| 792 |
+
"orientation": {
|
| 793 |
+
"w": 0.49985206120651,
|
| 794 |
+
"xyz": [
|
| 795 |
+
0.8587276238706854,
|
| 796 |
+
0.06699636657268948,
|
| 797 |
+
-0.09080898510096864
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
"grasp_37": {
|
| 802 |
+
"confidence": 0.9695841073989868,
|
| 803 |
+
"position": [
|
| 804 |
+
0.0008459192467853427,
|
| 805 |
+
0.0933592626824975,
|
| 806 |
+
0.11910445056855679
|
| 807 |
+
],
|
| 808 |
+
"orientation": {
|
| 809 |
+
"w": 0.5367865857343109,
|
| 810 |
+
"xyz": [
|
| 811 |
+
0.8387995250002197,
|
| 812 |
+
0.0828707315809375,
|
| 813 |
+
-0.03752279417030318
|
| 814 |
+
]
|
| 815 |
+
}
|
| 816 |
+
},
|
| 817 |
+
"grasp_38": {
|
| 818 |
+
"confidence": 0.9695559740066528,
|
| 819 |
+
"position": [
|
| 820 |
+
-0.017716256494168192,
|
| 821 |
+
0.08438535127788782,
|
| 822 |
+
0.12992885522544384
|
| 823 |
+
],
|
| 824 |
+
"orientation": {
|
| 825 |
+
"w": 0.4955353492229351,
|
| 826 |
+
"xyz": [
|
| 827 |
+
0.8620939636433795,
|
| 828 |
+
0.08159197723395362,
|
| 829 |
+
0.06768651838590387
|
| 830 |
+
]
|
| 831 |
+
}
|
| 832 |
+
},
|
| 833 |
+
"grasp_39": {
|
| 834 |
+
"confidence": 0.9692292213439941,
|
| 835 |
+
"position": [
|
| 836 |
+
0.005150680372025818,
|
| 837 |
+
0.06030351389199495,
|
| 838 |
+
0.16060428135097027
|
| 839 |
+
],
|
| 840 |
+
"orientation": {
|
| 841 |
+
"w": 0.2963586695716263,
|
| 842 |
+
"xyz": [
|
| 843 |
+
0.9541962232741434,
|
| 844 |
+
0.033204071995379114,
|
| 845 |
+
-0.024054023821863987
|
| 846 |
+
]
|
| 847 |
+
}
|
| 848 |
+
}
|
| 849 |
+
}
|
| 850 |
+
},
|
| 851 |
+
{
|
| 852 |
+
"part_name": "neck ring",
|
| 853 |
+
"mask_color": "Yellow",
|
| 854 |
+
"graspable": false,
|
| 855 |
+
"grasp_scenarios": [],
|
| 856 |
+
"functional_labels": [
|
| 857 |
+
"separate collar from bottle body",
|
| 858 |
+
"form a visible transition seam",
|
| 859 |
+
"part of the pump assembly interface"
|
| 860 |
+
],
|
| 861 |
+
"semantic_description": "Very thin light-colored ring visible at the top shoulder of the bottle, appearing as a narrow band between the gold collar and the white bottle body.",
|
| 862 |
+
"id": 3,
|
| 863 |
+
"grasp_group": {}
|
| 864 |
+
}
|
| 865 |
+
],
|
| 866 |
+
"quality_check": {
|
| 867 |
+
"success": true,
|
| 868 |
+
"message": "YES"
|
| 869 |
+
}
|
| 870 |
+
}
|
dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:356976318309878e1f5e012f368fb869388612ab8b314ab6e4d0a294e561af34
|
| 3 |
+
size 37305260
|