Add asset bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5
Browse files
.gitattributes
CHANGED
|
@@ -5572,3 +5572,4 @@ dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/afforda
|
|
| 5572 |
dataset/bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5573 |
dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5574 |
dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5572 |
dataset/bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5573 |
dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5574 |
dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5575 |
+
dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,971 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 shampoo bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body while dispensing shampoo with the pump",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the bottle body during placement on a surface",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain shampoo",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural enclosure",
|
| 26 |
+
"support standing with the base"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large dark purple plastic bottle body with a glossy smooth hard surface, rounded shoulders and tapered sides, occupying most of the object and showing printed white branding and decorative gold side panels.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9905943870544434,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.01897010492393747,
|
| 35 |
+
0.10605509331071516,
|
| 36 |
+
-0.009297576732933521
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.06452027844873871,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.08330280599941892,
|
| 42 |
+
0.7069615932121026,
|
| 43 |
+
-0.6993590507775863
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9895965456962585,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.023184104880783707,
|
| 51 |
+
-0.10651886711275438,
|
| 52 |
+
-0.019216165877878666
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.07629478600823437,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.10558432533103818,
|
| 58 |
+
0.7174947361770856,
|
| 59 |
+
0.6842750612367237
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.989180862903595,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.0035576632362790406,
|
| 67 |
+
0.10651630660140654,
|
| 68 |
+
-0.02565318811684847
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.02514438429608886,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.022753216506117398,
|
| 74 |
+
0.7107479148596513,
|
| 75 |
+
-0.7026289579854038
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9890060424804688,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.03301928291330114,
|
| 83 |
+
0.10073868682229659,
|
| 84 |
+
-0.023353916592895985
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.09182880345513297,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.14546805958329345,
|
| 90 |
+
0.7016361306151344,
|
| 91 |
+
-0.691457341209486
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9888612627983093,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.020750957599375397,
|
| 99 |
+
0.10385520508134505,
|
| 100 |
+
-0.025776703841984272
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.06677693499064838,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.09342370509193053,
|
| 106 |
+
0.7058061531010236,
|
| 107 |
+
-0.6990354258010713
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9887757301330566,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.019667488581035286,
|
| 115 |
+
0.10797849794471404,
|
| 116 |
+
-0.008091089315712452
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.06148934440023768,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.08588697042423435,
|
| 122 |
+
0.7091451211202724,
|
| 123 |
+
-0.6971052187639184
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9887714982032776,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.0013701237621717155,
|
| 131 |
+
0.10906133552634856,
|
| 132 |
+
-0.0051951901987195015
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.022641231173669903,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.012406307488602122,
|
| 138 |
+
0.710098332563843,
|
| 139 |
+
-0.7036290331385483
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9885274171829224,
|
| 145 |
+
"position": [
|
| 146 |
+
0.005923109070863575,
|
| 147 |
+
-0.1092712158933864,
|
| 148 |
+
-0.017525344155728817
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.6949329081657167,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.718445267425207,
|
| 154 |
+
-0.02384192720815992,
|
| 155 |
+
0.018336121990835754
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.9881524443626404,
|
| 161 |
+
"position": [
|
| 162 |
+
0.008331356511916965,
|
| 163 |
+
-0.11075612405693391,
|
| 164 |
+
-0.023352214135229588
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.6943773117791571,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.7185516889682693,
|
| 170 |
+
-0.02651953335660584,
|
| 171 |
+
0.028641465006992668
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.9879196882247925,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.018199277168605477,
|
| 179 |
+
0.1052562346085324,
|
| 180 |
+
-0.019782920368015766
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.05941734754197747,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.09453227990078616,
|
| 186 |
+
0.7119756648951941,
|
| 187 |
+
-0.6932704230420345
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9879064559936523,
|
| 193 |
+
"position": [
|
| 194 |
+
0.01104735949775204,
|
| 195 |
+
-0.10739641884720186,
|
| 196 |
+
-0.022561528719961643
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.6935994322707614,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.718467616539488,
|
| 202 |
+
-0.03985617754216286,
|
| 203 |
+
0.03369861494887256
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.9877927899360657,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.016521220153663307,
|
| 211 |
+
0.10225330790126463,
|
| 212 |
+
-0.01191114541143179
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.062321965934213845,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.07263904696706877,
|
| 218 |
+
0.7109905583167124,
|
| 219 |
+
-0.6966577117941779
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9877715110778809,
|
| 225 |
+
"position": [
|
| 226 |
+
0.010282013507094234,
|
| 227 |
+
-0.10839397708332399,
|
| 228 |
+
-0.017044859938323498
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.028498922733079905,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.02350084671193673,
|
| 234 |
+
-0.707865741056399,
|
| 235 |
+
-0.7053804748116795
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.9877665042877197,
|
| 241 |
+
"position": [
|
| 242 |
+
0.014547611528541893,
|
| 243 |
+
0.10719451805198332,
|
| 244 |
+
-0.007431103847920895
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.05163727940900806,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.04477508993671072,
|
| 250 |
+
-0.7039909534805573,
|
| 251 |
+
0.7069126679540628
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.9877475500106812,
|
| 257 |
+
"position": [
|
| 258 |
+
0.0040150321437977254,
|
| 259 |
+
-0.10827999065077165,
|
| 260 |
+
-0.009415448643267155
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.7000626000289828,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.7137459521555102,
|
| 266 |
+
-0.02118786402255668,
|
| 267 |
+
0.0054905592107310644
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_15": {
|
| 272 |
+
"confidence": 0.9874841570854187,
|
| 273 |
+
"position": [
|
| 274 |
+
0.029555280634667724,
|
| 275 |
+
-0.10596287498628953,
|
| 276 |
+
-0.013026758097112179
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.6710730771151903,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.7251554861443258,
|
| 282 |
+
-0.10906989641495168,
|
| 283 |
+
0.10915220465921957
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_16": {
|
| 288 |
+
"confidence": 0.9874345660209656,
|
| 289 |
+
"position": [
|
| 290 |
+
-0.011218307598028332,
|
| 291 |
+
0.10278954108798644,
|
| 292 |
+
-0.015483287163078785
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.044364621749214905,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.06247873395147807,
|
| 298 |
+
0.711079726318834,
|
| 299 |
+
-0.6989233226607926
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_17": {
|
| 304 |
+
"confidence": 0.9873359799385071,
|
| 305 |
+
"position": [
|
| 306 |
+
-0.00911699520656839,
|
| 307 |
+
0.10309909036004683,
|
| 308 |
+
-0.03009758237749338
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.033222714553189335,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.04994954515197493,
|
| 314 |
+
0.7045833455163872,
|
| 315 |
+
-0.7070810444339203
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_18": {
|
| 320 |
+
"confidence": 0.9871059656143188,
|
| 321 |
+
"position": [
|
| 322 |
+
0.03857981687178835,
|
| 323 |
+
-0.10252919296181062,
|
| 324 |
+
0.010484934784471989
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.13033300193103814,
|
| 328 |
+
"xyz": [
|
| 329 |
+
0.11990960843611602,
|
| 330 |
+
-0.7082794525835772,
|
| 331 |
+
-0.6833558454130975
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_19": {
|
| 336 |
+
"confidence": 0.9867683053016663,
|
| 337 |
+
"position": [
|
| 338 |
+
0.0015159048489294946,
|
| 339 |
+
-0.1096289331690059,
|
| 340 |
+
-0.04287513438612223
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.7035933572422608,
|
| 344 |
+
"xyz": [
|
| 345 |
+
-0.7105761276436104,
|
| 346 |
+
-0.005526028298368457,
|
| 347 |
+
0.002723504878217442
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"part_name": "pump head",
|
| 355 |
+
"mask_color": "Green",
|
| 356 |
+
"graspable": true,
|
| 357 |
+
"grasp_scenarios": [
|
| 358 |
+
{
|
| 359 |
+
"scenario": "delicately grasp the pump head to rotate or unlock it",
|
| 360 |
+
"confidence": 0.52
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"scenario": "pinch the pump head to orient the bottle top during manipulation",
|
| 364 |
+
"confidence": 0.34
|
| 365 |
+
}
|
| 366 |
+
],
|
| 367 |
+
"functional_labels": [
|
| 368 |
+
"dispense shampoo when pressed",
|
| 369 |
+
"provide pump actuation surface",
|
| 370 |
+
"indicate dispensing direction",
|
| 371 |
+
"close the outlet between uses"
|
| 372 |
+
],
|
| 373 |
+
"semantic_description": "Small purple plastic pump head with a glossy smooth hard surface, flattened rounded top and short spout-like extension, positioned at the very top of the bottle.",
|
| 374 |
+
"id": 1,
|
| 375 |
+
"grasp_group": {
|
| 376 |
+
"grasp_20": {
|
| 377 |
+
"confidence": 0.8477503657341003,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.022105560696218163,
|
| 380 |
+
-0.10380970934784273,
|
| 381 |
+
0.10294766630977392
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.15412159657667202,
|
| 385 |
+
"xyz": [
|
| 386 |
+
0.02187514556561091,
|
| 387 |
+
0.7359368397688211,
|
| 388 |
+
0.6589119663097803
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_21": {
|
| 393 |
+
"confidence": 0.8474872708320618,
|
| 394 |
+
"position": [
|
| 395 |
+
0.08443610643735155,
|
| 396 |
+
-0.0594219590202556,
|
| 397 |
+
0.10590214189141989
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.5801437315571935,
|
| 401 |
+
"xyz": [
|
| 402 |
+
-0.6642931404210487,
|
| 403 |
+
-0.36734727102243925,
|
| 404 |
+
0.2953029915134673
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_22": {
|
| 409 |
+
"confidence": 0.5876703262329102,
|
| 410 |
+
"position": [
|
| 411 |
+
-0.09880710119614378,
|
| 412 |
+
0.013671580083610024,
|
| 413 |
+
0.10019202437251806
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.5183636459781388,
|
| 417 |
+
"xyz": [
|
| 418 |
+
0.5559585695368069,
|
| 419 |
+
0.47589930716974993,
|
| 420 |
+
0.4424127585436374
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_23": {
|
| 425 |
+
"confidence": 0.42284172773361206,
|
| 426 |
+
"position": [
|
| 427 |
+
0.0983570841490291,
|
| 428 |
+
-0.002374423354922328,
|
| 429 |
+
0.09849291946738958
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.46153737748971,
|
| 433 |
+
"xyz": [
|
| 434 |
+
0.5163807441352946,
|
| 435 |
+
-0.4913427280885533,
|
| 436 |
+
-0.5281254584099296
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_25": {
|
| 441 |
+
"confidence": 0.7670503854751587,
|
| 442 |
+
"position": [
|
| 443 |
+
-0.08325111592421308,
|
| 444 |
+
-0.019044932596443687,
|
| 445 |
+
0.14181528892368078
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.30028400262371174,
|
| 449 |
+
"xyz": [
|
| 450 |
+
0.5793673630512454,
|
| 451 |
+
0.6450054406838134,
|
| 452 |
+
0.3976568343278018
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_26": {
|
| 457 |
+
"confidence": 0.6872421503067017,
|
| 458 |
+
"position": [
|
| 459 |
+
0.05893029918661341,
|
| 460 |
+
0.05772123982751509,
|
| 461 |
+
0.1398456385359168
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.43728980134630535,
|
| 465 |
+
"xyz": [
|
| 466 |
+
0.8395093945674095,
|
| 467 |
+
-0.17633520057577146,
|
| 468 |
+
-0.27001389428966954
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"grasp_27": {
|
| 473 |
+
"confidence": 0.9244133830070496,
|
| 474 |
+
"position": [
|
| 475 |
+
-6.137863965705037e-05,
|
| 476 |
+
0.09343037506187102,
|
| 477 |
+
0.13676493521779776
|
| 478 |
+
],
|
| 479 |
+
"orientation": {
|
| 480 |
+
"w": 0.5194477897003589,
|
| 481 |
+
"xyz": [
|
| 482 |
+
0.8543091263042945,
|
| 483 |
+
0.01812713546964595,
|
| 484 |
+
0.0011478014941001585
|
| 485 |
+
]
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"grasp_30": {
|
| 489 |
+
"confidence": 0.7826918363571167,
|
| 490 |
+
"position": [
|
| 491 |
+
-0.07530692691216245,
|
| 492 |
+
0.0396150847300305,
|
| 493 |
+
0.14214889612048864
|
| 494 |
+
],
|
| 495 |
+
"orientation": {
|
| 496 |
+
"w": 0.2802349500625874,
|
| 497 |
+
"xyz": [
|
| 498 |
+
-0.3950570241676188,
|
| 499 |
+
0.7755952696861402,
|
| 500 |
+
-0.40478426113144234
|
| 501 |
+
]
|
| 502 |
+
}
|
| 503 |
+
},
|
| 504 |
+
"grasp_31": {
|
| 505 |
+
"confidence": 0.7809531688690186,
|
| 506 |
+
"position": [
|
| 507 |
+
-0.08109682524809614,
|
| 508 |
+
-0.03148168946063379,
|
| 509 |
+
0.14217500295490026
|
| 510 |
+
],
|
| 511 |
+
"orientation": {
|
| 512 |
+
"w": 0.4396610618396766,
|
| 513 |
+
"xyz": [
|
| 514 |
+
-0.6125467005726383,
|
| 515 |
+
0.6156489474172546,
|
| 516 |
+
-0.22904380337308805
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"grasp_32": {
|
| 521 |
+
"confidence": 0.729826807975769,
|
| 522 |
+
"position": [
|
| 523 |
+
-0.06962245429167524,
|
| 524 |
+
0.03165499617898604,
|
| 525 |
+
0.14580613281577826
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.3931368404283365,
|
| 529 |
+
"xyz": [
|
| 530 |
+
0.7468859334299673,
|
| 531 |
+
0.4656483865197387,
|
| 532 |
+
0.2660383567721677
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_38": {
|
| 537 |
+
"confidence": 0.9217381477355957,
|
| 538 |
+
"position": [
|
| 539 |
+
-0.02410827117273584,
|
| 540 |
+
-0.0916376213208423,
|
| 541 |
+
0.1415141811594367
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.08838782207157564,
|
| 545 |
+
"xyz": [
|
| 546 |
+
0.09312992198842295,
|
| 547 |
+
0.8651584796611255,
|
| 548 |
+
0.4847836791913735
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"grasp_39": {
|
| 553 |
+
"confidence": 0.9135350584983826,
|
| 554 |
+
"position": [
|
| 555 |
+
-0.025173225498292595,
|
| 556 |
+
-0.0760586510077701,
|
| 557 |
+
0.14702807273715734
|
| 558 |
+
],
|
| 559 |
+
"orientation": {
|
| 560 |
+
"w": 0.455206791703452,
|
| 561 |
+
"xyz": [
|
| 562 |
+
-0.8810389339703072,
|
| 563 |
+
0.09167055409554076,
|
| 564 |
+
-0.09029774707782723
|
| 565 |
+
]
|
| 566 |
+
}
|
| 567 |
+
}
|
| 568 |
+
}
|
| 569 |
+
},
|
| 570 |
+
{
|
| 571 |
+
"part_name": "neck collar",
|
| 572 |
+
"mask_color": "Blue",
|
| 573 |
+
"graspable": true,
|
| 574 |
+
"grasp_scenarios": [
|
| 575 |
+
{
|
| 576 |
+
"scenario": "grasp the neck collar to lift or reposition the bottle top",
|
| 577 |
+
"confidence": 0.63
|
| 578 |
+
},
|
| 579 |
+
{
|
| 580 |
+
"scenario": "hold the neck collar to stabilize the bottle while pressing the pump",
|
| 581 |
+
"confidence": 0.47
|
| 582 |
+
}
|
| 583 |
+
],
|
| 584 |
+
"functional_labels": [
|
| 585 |
+
"connect pump to bottle body",
|
| 586 |
+
"support the dispenser assembly",
|
| 587 |
+
"provide a narrow grip point",
|
| 588 |
+
"reinforce the top structure"
|
| 589 |
+
],
|
| 590 |
+
"semantic_description": "Short cylindrical purple plastic collar with a glossy smooth finish and hard texture, wrapping the upper neck just below the pump head.",
|
| 591 |
+
"id": 2,
|
| 592 |
+
"grasp_group": {
|
| 593 |
+
"grasp_40": {
|
| 594 |
+
"confidence": 0.9702050089836121,
|
| 595 |
+
"position": [
|
| 596 |
+
-0.020227518922183663,
|
| 597 |
+
-0.1017958546653972,
|
| 598 |
+
0.08115690853446722
|
| 599 |
+
],
|
| 600 |
+
"orientation": {
|
| 601 |
+
"w": 0.10119748504204522,
|
| 602 |
+
"xyz": [
|
| 603 |
+
0.08385403365013433,
|
| 604 |
+
0.735443386725508,
|
| 605 |
+
0.6647184328597204
|
| 606 |
+
]
|
| 607 |
+
}
|
| 608 |
+
},
|
| 609 |
+
"grasp_41": {
|
| 610 |
+
"confidence": 0.9697896838188171,
|
| 611 |
+
"position": [
|
| 612 |
+
-0.0005990335301930827,
|
| 613 |
+
0.10218187173450133,
|
| 614 |
+
0.0686079217121005
|
| 615 |
+
],
|
| 616 |
+
"orientation": {
|
| 617 |
+
"w": 0.04077336584613718,
|
| 618 |
+
"xyz": [
|
| 619 |
+
0.0052944660285325655,
|
| 620 |
+
0.7018224123874981,
|
| 621 |
+
-0.7111643992338498
|
| 622 |
+
]
|
| 623 |
+
}
|
| 624 |
+
},
|
| 625 |
+
"grasp_42": {
|
| 626 |
+
"confidence": 0.9669467210769653,
|
| 627 |
+
"position": [
|
| 628 |
+
-0.0336227128864266,
|
| 629 |
+
-0.09507833669340471,
|
| 630 |
+
0.07300486695021391
|
| 631 |
+
],
|
| 632 |
+
"orientation": {
|
| 633 |
+
"w": 0.14773331551433286,
|
| 634 |
+
"xyz": [
|
| 635 |
+
0.1362023300990524,
|
| 636 |
+
0.7057494383885821,
|
| 637 |
+
0.6793684736407282
|
| 638 |
+
]
|
| 639 |
+
}
|
| 640 |
+
},
|
| 641 |
+
"grasp_43": {
|
| 642 |
+
"confidence": 0.9669081568717957,
|
| 643 |
+
"position": [
|
| 644 |
+
0.02800008183112368,
|
| 645 |
+
0.09851346661889693,
|
| 646 |
+
0.07015341427177191
|
| 647 |
+
],
|
| 648 |
+
"orientation": {
|
| 649 |
+
"w": 0.10443785100285921,
|
| 650 |
+
"xyz": [
|
| 651 |
+
-0.09738722692662738,
|
| 652 |
+
-0.7042846507852174,
|
| 653 |
+
0.6954075021005963
|
| 654 |
+
]
|
| 655 |
+
}
|
| 656 |
+
},
|
| 657 |
+
"grasp_44": {
|
| 658 |
+
"confidence": 0.965620756149292,
|
| 659 |
+
"position": [
|
| 660 |
+
0.00463908159872517,
|
| 661 |
+
-0.10333391527092317,
|
| 662 |
+
0.06326861213892698
|
| 663 |
+
],
|
| 664 |
+
"orientation": {
|
| 665 |
+
"w": 0.6949997870032361,
|
| 666 |
+
"xyz": [
|
| 667 |
+
-0.7187449712953772,
|
| 668 |
+
-0.007869616044791972,
|
| 669 |
+
0.017861451407192367
|
| 670 |
+
]
|
| 671 |
+
}
|
| 672 |
+
},
|
| 673 |
+
"grasp_45": {
|
| 674 |
+
"confidence": 0.9653388261795044,
|
| 675 |
+
"position": [
|
| 676 |
+
-0.00807771977270022,
|
| 677 |
+
-0.10233878592407564,
|
| 678 |
+
0.0649572117254138
|
| 679 |
+
],
|
| 680 |
+
"orientation": {
|
| 681 |
+
"w": 0.07271739185932181,
|
| 682 |
+
"xyz": [
|
| 683 |
+
0.012844117205033203,
|
| 684 |
+
0.7033295515664394,
|
| 685 |
+
0.7070182115531061
|
| 686 |
+
]
|
| 687 |
+
}
|
| 688 |
+
},
|
| 689 |
+
"grasp_46": {
|
| 690 |
+
"confidence": 0.9648337364196777,
|
| 691 |
+
"position": [
|
| 692 |
+
-0.011040676443371922,
|
| 693 |
+
0.10133363803470274,
|
| 694 |
+
0.06304978113621473
|
| 695 |
+
],
|
| 696 |
+
"orientation": {
|
| 697 |
+
"w": 0.07055407153905321,
|
| 698 |
+
"xyz": [
|
| 699 |
+
-0.037377833621869416,
|
| 700 |
+
0.7057368952036447,
|
| 701 |
+
-0.703960549527683
|
| 702 |
+
]
|
| 703 |
+
}
|
| 704 |
+
},
|
| 705 |
+
"grasp_47": {
|
| 706 |
+
"confidence": 0.9638912677764893,
|
| 707 |
+
"position": [
|
| 708 |
+
-0.03273740509757772,
|
| 709 |
+
0.09569613387429854,
|
| 710 |
+
0.06778984423726797
|
| 711 |
+
],
|
| 712 |
+
"orientation": {
|
| 713 |
+
"w": 0.1291323096867683,
|
| 714 |
+
"xyz": [
|
| 715 |
+
-0.1248965990800523,
|
| 716 |
+
0.7201194233508121,
|
| 717 |
+
-0.6701893032913095
|
| 718 |
+
]
|
| 719 |
+
}
|
| 720 |
+
},
|
| 721 |
+
"grasp_48": {
|
| 722 |
+
"confidence": 0.9585741758346558,
|
| 723 |
+
"position": [
|
| 724 |
+
-0.016361755377147347,
|
| 725 |
+
0.09107131262862822,
|
| 726 |
+
0.11115973349660635
|
| 727 |
+
],
|
| 728 |
+
"orientation": {
|
| 729 |
+
"w": 0.06603493518626663,
|
| 730 |
+
"xyz": [
|
| 731 |
+
-0.06892662962470174,
|
| 732 |
+
0.849991588059203,
|
| 733 |
+
-0.5180760632302166
|
| 734 |
+
]
|
| 735 |
+
}
|
| 736 |
+
},
|
| 737 |
+
"grasp_49": {
|
| 738 |
+
"confidence": 0.9570948481559753,
|
| 739 |
+
"position": [
|
| 740 |
+
0.02805615117540583,
|
| 741 |
+
0.09815479566896101,
|
| 742 |
+
0.062375820241868496
|
| 743 |
+
],
|
| 744 |
+
"orientation": {
|
| 745 |
+
"w": 0.7047825113058614,
|
| 746 |
+
"xyz": [
|
| 747 |
+
0.6972908074572031,
|
| 748 |
+
-0.08175459966378906,
|
| 749 |
+
-0.10189861150623175
|
| 750 |
+
]
|
| 751 |
+
}
|
| 752 |
+
},
|
| 753 |
+
"grasp_50": {
|
| 754 |
+
"confidence": 0.9566360712051392,
|
| 755 |
+
"position": [
|
| 756 |
+
0.027246040233876556,
|
| 757 |
+
-0.09861880043899873,
|
| 758 |
+
0.0655767796561122
|
| 759 |
+
],
|
| 760 |
+
"orientation": {
|
| 761 |
+
"w": 0.6937174339667163,
|
| 762 |
+
"xyz": [
|
| 763 |
+
-0.7046437094764366,
|
| 764 |
+
-0.10151852059405553,
|
| 765 |
+
0.10921242824109385
|
| 766 |
+
]
|
| 767 |
+
}
|
| 768 |
+
},
|
| 769 |
+
"grasp_51": {
|
| 770 |
+
"confidence": 0.9509418606758118,
|
| 771 |
+
"position": [
|
| 772 |
+
0.03205885266652331,
|
| 773 |
+
0.08608302970969817,
|
| 774 |
+
0.10808079596608877
|
| 775 |
+
],
|
| 776 |
+
"orientation": {
|
| 777 |
+
"w": 0.09814964625163573,
|
| 778 |
+
"xyz": [
|
| 779 |
+
-0.1583821681852194,
|
| 780 |
+
-0.8387935523532632,
|
| 781 |
+
0.5115731739176916
|
| 782 |
+
]
|
| 783 |
+
}
|
| 784 |
+
},
|
| 785 |
+
"grasp_52": {
|
| 786 |
+
"confidence": 0.9500085711479187,
|
| 787 |
+
"position": [
|
| 788 |
+
-0.04280864546308294,
|
| 789 |
+
-0.09297799567139009,
|
| 790 |
+
0.07179772760719061
|
| 791 |
+
],
|
| 792 |
+
"orientation": {
|
| 793 |
+
"w": 0.6740445158830953,
|
| 794 |
+
"xyz": [
|
| 795 |
+
-0.7021085908475602,
|
| 796 |
+
0.1669366202371907,
|
| 797 |
+
-0.1576060978825417
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
"grasp_53": {
|
| 802 |
+
"confidence": 0.9488455653190613,
|
| 803 |
+
"position": [
|
| 804 |
+
-0.007031727640423924,
|
| 805 |
+
0.09355046351993224,
|
| 806 |
+
0.09440267737954855
|
| 807 |
+
],
|
| 808 |
+
"orientation": {
|
| 809 |
+
"w": 0.5769846673446933,
|
| 810 |
+
"xyz": [
|
| 811 |
+
0.815164495544213,
|
| 812 |
+
0.04865051273246379,
|
| 813 |
+
0.015121721600095735
|
| 814 |
+
]
|
| 815 |
+
}
|
| 816 |
+
},
|
| 817 |
+
"grasp_54": {
|
| 818 |
+
"confidence": 0.948019802570343,
|
| 819 |
+
"position": [
|
| 820 |
+
0.031782071047928184,
|
| 821 |
+
0.09793705990159651,
|
| 822 |
+
0.060952323488891125
|
| 823 |
+
],
|
| 824 |
+
"orientation": {
|
| 825 |
+
"w": 0.7107821100453063,
|
| 826 |
+
"xyz": [
|
| 827 |
+
0.6845497451903757,
|
| 828 |
+
-0.11213506537680518,
|
| 829 |
+
-0.11664546931738855
|
| 830 |
+
]
|
| 831 |
+
}
|
| 832 |
+
},
|
| 833 |
+
"grasp_55": {
|
| 834 |
+
"confidence": 0.9461544156074524,
|
| 835 |
+
"position": [
|
| 836 |
+
-0.008452798298094422,
|
| 837 |
+
0.09259278079116484,
|
| 838 |
+
0.10759795363992453
|
| 839 |
+
],
|
| 840 |
+
"orientation": {
|
| 841 |
+
"w": 0.5203644105961609,
|
| 842 |
+
"xyz": [
|
| 843 |
+
0.8516005731721168,
|
| 844 |
+
0.058105015373759894,
|
| 845 |
+
0.024922904049238467
|
| 846 |
+
]
|
| 847 |
+
}
|
| 848 |
+
},
|
| 849 |
+
"grasp_56": {
|
| 850 |
+
"confidence": 0.9445425271987915,
|
| 851 |
+
"position": [
|
| 852 |
+
0.024631082022096962,
|
| 853 |
+
0.0922896390184178,
|
| 854 |
+
0.06616939511150122
|
| 855 |
+
],
|
| 856 |
+
"orientation": {
|
| 857 |
+
"w": 0.09167722223787773,
|
| 858 |
+
"xyz": [
|
| 859 |
+
-0.08587944907038117,
|
| 860 |
+
-0.7015772239082272,
|
| 861 |
+
0.7014338215707452
|
| 862 |
+
]
|
| 863 |
+
}
|
| 864 |
+
},
|
| 865 |
+
"grasp_57": {
|
| 866 |
+
"confidence": 0.94004225730896,
|
| 867 |
+
"position": [
|
| 868 |
+
0.012608567194547504,
|
| 869 |
+
0.09645176430785796,
|
| 870 |
+
0.05856587644666433
|
| 871 |
+
],
|
| 872 |
+
"orientation": {
|
| 873 |
+
"w": 0.05130262382396895,
|
| 874 |
+
"xyz": [
|
| 875 |
+
-0.03665444386467329,
|
| 876 |
+
-0.7050931734657303,
|
| 877 |
+
0.7063059600950382
|
| 878 |
+
]
|
| 879 |
+
}
|
| 880 |
+
},
|
| 881 |
+
"grasp_58": {
|
| 882 |
+
"confidence": 0.9399280548095703,
|
| 883 |
+
"position": [
|
| 884 |
+
-0.003997517807874829,
|
| 885 |
+
0.09568405648315093,
|
| 886 |
+
0.11069461610168219
|
| 887 |
+
],
|
| 888 |
+
"orientation": {
|
| 889 |
+
"w": 0.5366387862554763,
|
| 890 |
+
"xyz": [
|
| 891 |
+
0.8437725057317144,
|
| 892 |
+
0.00603738343019844,
|
| 893 |
+
0.005506510582030351
|
| 894 |
+
]
|
| 895 |
+
}
|
| 896 |
+
},
|
| 897 |
+
"grasp_59": {
|
| 898 |
+
"confidence": 0.9390228986740112,
|
| 899 |
+
"position": [
|
| 900 |
+
0.02232422208180651,
|
| 901 |
+
0.09727404018485686,
|
| 902 |
+
0.06314954441040754
|
| 903 |
+
],
|
| 904 |
+
"orientation": {
|
| 905 |
+
"w": 0.7180433155591645,
|
| 906 |
+
"xyz": [
|
| 907 |
+
0.6855495095261565,
|
| 908 |
+
-0.05055122850618232,
|
| 909 |
+
-0.10899651492485396
|
| 910 |
+
]
|
| 911 |
+
}
|
| 912 |
+
}
|
| 913 |
+
}
|
| 914 |
+
},
|
| 915 |
+
{
|
| 916 |
+
"part_name": "pump ring",
|
| 917 |
+
"mask_color": "Magenta",
|
| 918 |
+
"graspable": false,
|
| 919 |
+
"grasp_scenarios": [],
|
| 920 |
+
"functional_labels": [
|
| 921 |
+
"join pump head to collar",
|
| 922 |
+
"allow pump movement interface",
|
| 923 |
+
"retain the dispenser assembly"
|
| 924 |
+
],
|
| 925 |
+
"semantic_description": "Thin purple plastic ring with a glossy smooth hard surface, located between the pump head and the neck collar as a narrow connector band.",
|
| 926 |
+
"id": 7,
|
| 927 |
+
"grasp_group": {}
|
| 928 |
+
},
|
| 929 |
+
{
|
| 930 |
+
"part_name": "shoulder ring",
|
| 931 |
+
"mask_color": "Orange",
|
| 932 |
+
"graspable": false,
|
| 933 |
+
"grasp_scenarios": [],
|
| 934 |
+
"functional_labels": [
|
| 935 |
+
"transition from neck collar to bottle body",
|
| 936 |
+
"finish the top of the bottle opening",
|
| 937 |
+
"support the dispenser mounting area"
|
| 938 |
+
],
|
| 939 |
+
"semantic_description": "Thin purple plastic ring at the top of the bottle body just below the blue neck collar, forming a narrow band around the shoulder rather than the broad bottle shoulder surface.",
|
| 940 |
+
"id": 4,
|
| 941 |
+
"grasp_group": {}
|
| 942 |
+
},
|
| 943 |
+
{
|
| 944 |
+
"part_name": "bottom of shampoo bottle",
|
| 945 |
+
"mask_color": "Yellow",
|
| 946 |
+
"graspable": true,
|
| 947 |
+
"grasp_scenarios": [
|
| 948 |
+
{
|
| 949 |
+
"scenario": "grasp the bottom edge to lift the bottle from a lying position",
|
| 950 |
+
"confidence": 0.58
|
| 951 |
+
},
|
| 952 |
+
{
|
| 953 |
+
"scenario": "hold the bottom to invert or inspect the bottle underside",
|
| 954 |
+
"confidence": 0.41
|
| 955 |
+
}
|
| 956 |
+
],
|
| 957 |
+
"functional_labels": [
|
| 958 |
+
"support upright standing",
|
| 959 |
+
"provide resting surface",
|
| 960 |
+
"stabilize the container on flat surfaces"
|
| 961 |
+
],
|
| 962 |
+
"semantic_description": "Oval purple plastic base with a glossy smooth hard surface, slightly recessed at the underside and forming the bottle's flat standing bottom.",
|
| 963 |
+
"id": 3,
|
| 964 |
+
"grasp_group": {}
|
| 965 |
+
}
|
| 966 |
+
],
|
| 967 |
+
"quality_check": {
|
| 968 |
+
"success": true,
|
| 969 |
+
"message": "YES"
|
| 970 |
+
}
|
| 971 |
+
}
|
dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:066cbe722e7c3fbb2213971c5a6c646432f1235a2199574edc1e5a3c11d6dbe4
|
| 3 |
+
size 3784080
|