Add asset bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/affordance/affordance_annot.json +1416 -0
- dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5835,3 +5835,4 @@ dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/afforda
|
|
| 5835 |
dataset/bathroom_supplies/personal_care/c1c73fc7295b542bbbeb80454f169727/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5836 |
dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5837 |
dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5835 |
dataset/bathroom_supplies/personal_care/c1c73fc7295b542bbbeb80454f169727/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5836 |
dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5837 |
dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5838 |
+
dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1416 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "container body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewalls to pick up and move the container",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the container while opening or closing the lid",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body for placement or reorientation on a surface",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain stored items",
|
| 23 |
+
"provide main structure",
|
| 24 |
+
"support side grasping",
|
| 25 |
+
"support printed branding/markings",
|
| 26 |
+
"stabilize contents while standing"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Main white plastic container body with a smooth slightly glossy hard surface, rounded-square tapered shape, medium size, forming most of the container below the top band, with small printed branding/markings visible on some sides.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.8323571085929871,
|
| 33 |
+
"position": [
|
| 34 |
+
0.11821394035359845,
|
| 35 |
+
0.0035523907863534987,
|
| 36 |
+
-0.028753194026648998
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5011217124272093,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.48608685008951796,
|
| 42 |
+
-0.49769968038035595,
|
| 43 |
+
0.5146762396432958
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.8282211422920227,
|
| 49 |
+
"position": [
|
| 50 |
+
0.11651786783477291,
|
| 51 |
+
4.881503991782665e-05,
|
| 52 |
+
-0.01909740548580885
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.47792187081800763,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5198127003690562,
|
| 58 |
+
-0.5309963006790317,
|
| 59 |
+
0.46843182064632294
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.8272913098335266,
|
| 65 |
+
"position": [
|
| 66 |
+
0.1167162842466496,
|
| 67 |
+
0.002569196338299662,
|
| 68 |
+
-0.006076370365917683
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.42990968938089086,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.5449128712932277,
|
| 74 |
+
-0.563964264932153,
|
| 75 |
+
0.44742812780929686
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.8218541741371155,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.001100278866942972,
|
| 83 |
+
0.11619715072447434,
|
| 84 |
+
-0.01892596948891878
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7205698988338303,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.6932122743683666,
|
| 90 |
+
0.004073030250359877,
|
| 91 |
+
0.014804525801905383
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.8217562437057495,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.001502425700891763,
|
| 99 |
+
0.11279199697310105,
|
| 100 |
+
0.004187291953712702
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5950624405455834,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.8035639787276154,
|
| 106 |
+
-0.011991702857179432,
|
| 107 |
+
0.0064670708952009204
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.8198587894439697,
|
| 113 |
+
"position": [
|
| 114 |
+
0.11551037797471508,
|
| 115 |
+
-0.0033816953073255718,
|
| 116 |
+
-0.0263597434386611
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.49813265550940694,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.4986389642546335,
|
| 122 |
+
-0.4958395925424667,
|
| 123 |
+
0.507312664251084
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.8178014159202576,
|
| 129 |
+
"position": [
|
| 130 |
+
0.123155947716441,
|
| 131 |
+
-0.0019195463391952217,
|
| 132 |
+
-0.031183904968202114
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.5107211616199104,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.4934835980522336,
|
| 138 |
+
-0.4858372902175768,
|
| 139 |
+
0.5095095298039803
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.8145893216133118,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.0013997296919114888,
|
| 147 |
+
0.1191121605806984,
|
| 148 |
+
-0.012290379963815212
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.007954350179597542,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.018206609873142095,
|
| 154 |
+
-0.7170531344913292,
|
| 155 |
+
0.6967352797055043
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.8137156963348389,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.0028986360994167626,
|
| 163 |
+
0.11984024621779099,
|
| 164 |
+
-0.021736263297498226
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.7132472201098794,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.7005094250753134,
|
| 170 |
+
0.004921318307188227,
|
| 171 |
+
0.023253580634012554
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.812688946723938,
|
| 177 |
+
"position": [
|
| 178 |
+
0.0059666046290658414,
|
| 179 |
+
0.11463541217381135,
|
| 180 |
+
-0.009464154951274395
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.041684421782795696,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.00021397453710374963,
|
| 186 |
+
-0.7102062591480962,
|
| 187 |
+
0.7027584454578961
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.8115286231040955,
|
| 193 |
+
"position": [
|
| 194 |
+
0.1203205026104115,
|
| 195 |
+
-0.0017104826983995736,
|
| 196 |
+
-0.032419062219560146
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.5046586067574658,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.4883186457401157,
|
| 202 |
+
-0.5044787708315371,
|
| 203 |
+
-0.5023601901309985
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.8112859725952148,
|
| 209 |
+
"position": [
|
| 210 |
+
0.0026581293786875904,
|
| 211 |
+
0.11575219460064545,
|
| 212 |
+
-0.014263049699366093
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.011128985971455898,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.009114148552960818,
|
| 218 |
+
0.7035409317334567,
|
| 219 |
+
-0.7105091381136636
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.8103609085083008,
|
| 225 |
+
"position": [
|
| 226 |
+
0.00566458044340834,
|
| 227 |
+
0.11619449831778184,
|
| 228 |
+
-0.018787777982652187
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.00826094590898728,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.010878882227100267,
|
| 234 |
+
0.7067991156976681,
|
| 235 |
+
-0.7072824165375322
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.8102640509605408,
|
| 241 |
+
"position": [
|
| 242 |
+
0.12339595326920971,
|
| 243 |
+
0.004287373798433691,
|
| 244 |
+
-0.03058816771954298
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.49252147072564273,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.49899041616048323,
|
| 250 |
+
-0.5004214009386778,
|
| 251 |
+
0.5079464410120501
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.8097645044326782,
|
| 257 |
+
"position": [
|
| 258 |
+
0.11832630255958065,
|
| 259 |
+
-0.0032066383282653987,
|
| 260 |
+
-0.02643794845789671
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.5064422458751027,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.4860006311161379,
|
| 266 |
+
-0.5064729241129561,
|
| 267 |
+
-0.5008041686010304
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_15": {
|
| 272 |
+
"confidence": 0.808630108833313,
|
| 273 |
+
"position": [
|
| 274 |
+
0.11579829076072201,
|
| 275 |
+
0.0017403956153430045,
|
| 276 |
+
-0.03190799709409475
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.4941133481912461,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.4975469727330353,
|
| 282 |
+
-0.5098246820079814,
|
| 283 |
+
0.49837516258225456
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_16": {
|
| 288 |
+
"confidence": 0.8075297474861145,
|
| 289 |
+
"position": [
|
| 290 |
+
0.11856467643519863,
|
| 291 |
+
-0.0041260276339016855,
|
| 292 |
+
-0.02790146227926016
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.5129828901899313,
|
| 296 |
+
"xyz": [
|
| 297 |
+
0.4813084371027344,
|
| 298 |
+
-0.5073260381053367,
|
| 299 |
+
-0.4978062211407675
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_17": {
|
| 304 |
+
"confidence": 0.8072940111160278,
|
| 305 |
+
"position": [
|
| 306 |
+
0.11610728123923764,
|
| 307 |
+
-0.0019658716046251357,
|
| 308 |
+
-0.03505134116858244
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.5004416652517476,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.4980909529926471,
|
| 314 |
+
-0.49113488584365705,
|
| 315 |
+
0.5101471024462184
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_18": {
|
| 320 |
+
"confidence": 0.8058154582977295,
|
| 321 |
+
"position": [
|
| 322 |
+
0.11811242619296536,
|
| 323 |
+
-0.0014551360509358346,
|
| 324 |
+
-0.03431220259517431
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.5051163059970263,
|
| 328 |
+
"xyz": [
|
| 329 |
+
0.4849406328771808,
|
| 330 |
+
-0.5014322055576701,
|
| 331 |
+
-0.508188786997675
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_19": {
|
| 336 |
+
"confidence": 0.8047162294387817,
|
| 337 |
+
"position": [
|
| 338 |
+
0.11765249440213665,
|
| 339 |
+
0.0026231699739582837,
|
| 340 |
+
-0.006606745533645153
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.4347846922029981,
|
| 344 |
+
"xyz": [
|
| 345 |
+
0.5530032171880145,
|
| 346 |
+
-0.5764967413416738,
|
| 347 |
+
-0.41569366176077505
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"part_name": "top rim band",
|
| 355 |
+
"mask_color": "Green",
|
| 356 |
+
"graspable": true,
|
| 357 |
+
"grasp_scenarios": [
|
| 358 |
+
{
|
| 359 |
+
"scenario": "grasp the upper rim band to lift or reposition the container",
|
| 360 |
+
"confidence": 0.75
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"scenario": "pinch the rim area to stabilize the container while manipulating the lid",
|
| 364 |
+
"confidence": 0.84
|
| 365 |
+
}
|
| 366 |
+
],
|
| 367 |
+
"functional_labels": [
|
| 368 |
+
"interface between lid and body",
|
| 369 |
+
"provide sealing support",
|
| 370 |
+
"stiffen the opening",
|
| 371 |
+
"offer an upper gripping edge"
|
| 372 |
+
],
|
| 373 |
+
"semantic_description": "Pale blue-gray plastic band around the top perimeter, with a smooth semi-gloss hard finish and rounded edges, medium width, encircling the opening directly beneath the lid.",
|
| 374 |
+
"id": 1,
|
| 375 |
+
"grasp_group": {
|
| 376 |
+
"grasp_20": {
|
| 377 |
+
"confidence": 0.6061525344848633,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.11952507874229923,
|
| 380 |
+
-0.002993974310811609,
|
| 381 |
+
0.04846287611871958
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.4789590320999198,
|
| 385 |
+
"xyz": [
|
| 386 |
+
0.5052688888563115,
|
| 387 |
+
0.5003887444992179,
|
| 388 |
+
0.5146967067140734
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_21": {
|
| 393 |
+
"confidence": 0.5852252840995789,
|
| 394 |
+
"position": [
|
| 395 |
+
0.11225253710290417,
|
| 396 |
+
0.005730848817620426,
|
| 397 |
+
0.09836951363831758
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.315712850978927,
|
| 401 |
+
"xyz": [
|
| 402 |
+
-0.6246535969131621,
|
| 403 |
+
-0.6244810972344887,
|
| 404 |
+
0.3466361763968319
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_22": {
|
| 409 |
+
"confidence": 0.5843414068222046,
|
| 410 |
+
"position": [
|
| 411 |
+
0.003745472466107458,
|
| 412 |
+
-0.11511797033017501,
|
| 413 |
+
0.08645552862435579
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.006551381872962583,
|
| 417 |
+
"xyz": [
|
| 418 |
+
0.0032609897797786984,
|
| 419 |
+
-0.8534598040035524,
|
| 420 |
+
-0.5211072905759709
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_23": {
|
| 425 |
+
"confidence": 0.5773966312408447,
|
| 426 |
+
"position": [
|
| 427 |
+
-0.12498864909866825,
|
| 428 |
+
0.0036903387517668307,
|
| 429 |
+
0.05823466647416353
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.48404709625865056,
|
| 433 |
+
"xyz": [
|
| 434 |
+
0.530520414492289,
|
| 435 |
+
0.5312282101536208,
|
| 436 |
+
0.4494920323514968
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_24": {
|
| 441 |
+
"confidence": 0.5756452679634094,
|
| 442 |
+
"position": [
|
| 443 |
+
-0.10932309558847919,
|
| 444 |
+
-0.006914134544786066,
|
| 445 |
+
0.09264506865292788
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.34568169739624965,
|
| 449 |
+
"xyz": [
|
| 450 |
+
0.6096483715969908,
|
| 451 |
+
0.6235929362118278,
|
| 452 |
+
0.34635946212150287
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_25": {
|
| 457 |
+
"confidence": 0.5733853578567505,
|
| 458 |
+
"position": [
|
| 459 |
+
-0.11979614576557651,
|
| 460 |
+
-0.0009092707769013941,
|
| 461 |
+
0.035843915306031704
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.5106601669785032,
|
| 465 |
+
"xyz": [
|
| 466 |
+
0.49785276185660093,
|
| 467 |
+
0.49162410827482717,
|
| 468 |
+
0.49967445155443196
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"grasp_26": {
|
| 473 |
+
"confidence": 0.5648946762084961,
|
| 474 |
+
"position": [
|
| 475 |
+
-0.08365687361219898,
|
| 476 |
+
-0.002674052899237722,
|
| 477 |
+
0.12710163462907076
|
| 478 |
+
],
|
| 479 |
+
"orientation": {
|
| 480 |
+
"w": 0.18887610964737528,
|
| 481 |
+
"xyz": [
|
| 482 |
+
-0.6839090502379435,
|
| 483 |
+
0.6784951663256196,
|
| 484 |
+
-0.19036421796093003
|
| 485 |
+
]
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"grasp_27": {
|
| 489 |
+
"confidence": 0.5646312832832336,
|
| 490 |
+
"position": [
|
| 491 |
+
-0.11601509532192722,
|
| 492 |
+
0.0051026647561229765,
|
| 493 |
+
0.008069760631769896
|
| 494 |
+
],
|
| 495 |
+
"orientation": {
|
| 496 |
+
"w": 0.5695820287425118,
|
| 497 |
+
"xyz": [
|
| 498 |
+
-0.3944189837722766,
|
| 499 |
+
0.42108310065931376,
|
| 500 |
+
-0.5854049881174116
|
| 501 |
+
]
|
| 502 |
+
}
|
| 503 |
+
},
|
| 504 |
+
"grasp_28": {
|
| 505 |
+
"confidence": 0.5569736957550049,
|
| 506 |
+
"position": [
|
| 507 |
+
-0.07311451813438907,
|
| 508 |
+
-0.0011597058619372547,
|
| 509 |
+
0.12848264444619417
|
| 510 |
+
],
|
| 511 |
+
"orientation": {
|
| 512 |
+
"w": 0.17968375253370408,
|
| 513 |
+
"xyz": [
|
| 514 |
+
0.6905865406261585,
|
| 515 |
+
0.6750405154954925,
|
| 516 |
+
0.18741473106717485
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"grasp_29": {
|
| 521 |
+
"confidence": 0.5545890927314758,
|
| 522 |
+
"position": [
|
| 523 |
+
-0.12078021100023761,
|
| 524 |
+
-0.0012380932457745075,
|
| 525 |
+
0.04639640171080828
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.5077354518142935,
|
| 529 |
+
"xyz": [
|
| 530 |
+
0.5029780908655128,
|
| 531 |
+
0.497509780935079,
|
| 532 |
+
0.4916317411987853
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_30": {
|
| 537 |
+
"confidence": 0.5544581413269043,
|
| 538 |
+
"position": [
|
| 539 |
+
-0.11955029895761982,
|
| 540 |
+
-0.0009041138691827655,
|
| 541 |
+
0.03696721326559782
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.5029809904780935,
|
| 545 |
+
"xyz": [
|
| 546 |
+
-0.5002916801064842,
|
| 547 |
+
0.48972937044796727,
|
| 548 |
+
-0.5068367604609444
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"grasp_31": {
|
| 553 |
+
"confidence": 0.5519499778747559,
|
| 554 |
+
"position": [
|
| 555 |
+
-0.12381521245697513,
|
| 556 |
+
-0.0027782248216681182,
|
| 557 |
+
0.05684261117130518
|
| 558 |
+
],
|
| 559 |
+
"orientation": {
|
| 560 |
+
"w": 0.47459348665351714,
|
| 561 |
+
"xyz": [
|
| 562 |
+
0.5332205625109115,
|
| 563 |
+
0.5359759698843883,
|
| 564 |
+
0.4507400734881401
|
| 565 |
+
]
|
| 566 |
+
}
|
| 567 |
+
},
|
| 568 |
+
"grasp_32": {
|
| 569 |
+
"confidence": 0.5516443252563477,
|
| 570 |
+
"position": [
|
| 571 |
+
-0.00014433905016630888,
|
| 572 |
+
0.11074401118094102,
|
| 573 |
+
0.09262180794030428
|
| 574 |
+
],
|
| 575 |
+
"orientation": {
|
| 576 |
+
"w": 0.012952277344123417,
|
| 577 |
+
"xyz": [
|
| 578 |
+
-0.003538520264724293,
|
| 579 |
+
0.8602601012827943,
|
| 580 |
+
-0.5096786002245465
|
| 581 |
+
]
|
| 582 |
+
}
|
| 583 |
+
},
|
| 584 |
+
"grasp_33": {
|
| 585 |
+
"confidence": 0.5498493313789368,
|
| 586 |
+
"position": [
|
| 587 |
+
-0.07662862172583118,
|
| 588 |
+
-0.008497156610246748,
|
| 589 |
+
0.12807368952780962
|
| 590 |
+
],
|
| 591 |
+
"orientation": {
|
| 592 |
+
"w": 0.1874436621086959,
|
| 593 |
+
"xyz": [
|
| 594 |
+
-0.6875576302472393,
|
| 595 |
+
0.6767063317511003,
|
| 596 |
+
-0.1849267941431192
|
| 597 |
+
]
|
| 598 |
+
}
|
| 599 |
+
},
|
| 600 |
+
"grasp_34": {
|
| 601 |
+
"confidence": 0.5484058856964111,
|
| 602 |
+
"position": [
|
| 603 |
+
0.11893127480288967,
|
| 604 |
+
-0.004460141935851425,
|
| 605 |
+
0.09242325741797686
|
| 606 |
+
],
|
| 607 |
+
"orientation": {
|
| 608 |
+
"w": 0.3421698285223624,
|
| 609 |
+
"xyz": [
|
| 610 |
+
-0.6205411008054029,
|
| 611 |
+
-0.6104657177894207,
|
| 612 |
+
0.3538080808348552
|
| 613 |
+
]
|
| 614 |
+
}
|
| 615 |
+
},
|
| 616 |
+
"grasp_35": {
|
| 617 |
+
"confidence": 0.5484035015106201,
|
| 618 |
+
"position": [
|
| 619 |
+
-0.11709013214567676,
|
| 620 |
+
0.0041719731525518,
|
| 621 |
+
0.09331068862229586
|
| 622 |
+
],
|
| 623 |
+
"orientation": {
|
| 624 |
+
"w": 0.37112173004678517,
|
| 625 |
+
"xyz": [
|
| 626 |
+
0.6019865260688123,
|
| 627 |
+
0.6176450934389454,
|
| 628 |
+
0.34408635902848594
|
| 629 |
+
]
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
"grasp_36": {
|
| 633 |
+
"confidence": 0.5481897592544556,
|
| 634 |
+
"position": [
|
| 635 |
+
0.005084635165985674,
|
| 636 |
+
-0.130313340050634,
|
| 637 |
+
0.052683339454233646
|
| 638 |
+
],
|
| 639 |
+
"orientation": {
|
| 640 |
+
"w": 0.6961071798384367,
|
| 641 |
+
"xyz": [
|
| 642 |
+
-0.7179189163995703,
|
| 643 |
+
-0.002427723792549852,
|
| 644 |
+
-0.004618420750910661
|
| 645 |
+
]
|
| 646 |
+
}
|
| 647 |
+
},
|
| 648 |
+
"grasp_37": {
|
| 649 |
+
"confidence": 0.5479673743247986,
|
| 650 |
+
"position": [
|
| 651 |
+
-0.10307994118193164,
|
| 652 |
+
-0.0066902064136229455,
|
| 653 |
+
0.09655349422246218
|
| 654 |
+
],
|
| 655 |
+
"orientation": {
|
| 656 |
+
"w": 0.3440514867772917,
|
| 657 |
+
"xyz": [
|
| 658 |
+
0.6096634627189597,
|
| 659 |
+
0.6198343765602528,
|
| 660 |
+
0.354604543549607
|
| 661 |
+
]
|
| 662 |
+
}
|
| 663 |
+
},
|
| 664 |
+
"grasp_38": {
|
| 665 |
+
"confidence": 0.5466451644897461,
|
| 666 |
+
"position": [
|
| 667 |
+
-0.11012769123772159,
|
| 668 |
+
0.0022024508216418326,
|
| 669 |
+
0.08848017174750566
|
| 670 |
+
],
|
| 671 |
+
"orientation": {
|
| 672 |
+
"w": 0.3654294454914698,
|
| 673 |
+
"xyz": [
|
| 674 |
+
0.5976111976019806,
|
| 675 |
+
0.6194500375945851,
|
| 676 |
+
0.35440630326306355
|
| 677 |
+
]
|
| 678 |
+
}
|
| 679 |
+
},
|
| 680 |
+
"grasp_39": {
|
| 681 |
+
"confidence": 0.5462501049041748,
|
| 682 |
+
"position": [
|
| 683 |
+
-0.12307119747856632,
|
| 684 |
+
-0.0029111382900737226,
|
| 685 |
+
0.035336402244865894
|
| 686 |
+
],
|
| 687 |
+
"orientation": {
|
| 688 |
+
"w": 0.510533167066467,
|
| 689 |
+
"xyz": [
|
| 690 |
+
0.4975419239732092,
|
| 691 |
+
0.493904425782154,
|
| 692 |
+
0.4978617653595433
|
| 693 |
+
]
|
| 694 |
+
}
|
| 695 |
+
}
|
| 696 |
+
}
|
| 697 |
+
},
|
| 698 |
+
{
|
| 699 |
+
"part_name": "lid",
|
| 700 |
+
"mask_color": "Yellow",
|
| 701 |
+
"graspable": true,
|
| 702 |
+
"grasp_scenarios": [
|
| 703 |
+
{
|
| 704 |
+
"scenario": "grasp the lid from above to remove or place it on the container",
|
| 705 |
+
"confidence": 0.9
|
| 706 |
+
},
|
| 707 |
+
{
|
| 708 |
+
"scenario": "hold the closed lid to reposition the lightweight container",
|
| 709 |
+
"confidence": 0.64
|
| 710 |
+
}
|
| 711 |
+
],
|
| 712 |
+
"functional_labels": [
|
| 713 |
+
"cover the container",
|
| 714 |
+
"help retain contents",
|
| 715 |
+
"protect the opening",
|
| 716 |
+
"provide top surface for handling"
|
| 717 |
+
],
|
| 718 |
+
"semantic_description": "Translucent frosted plastic lid with a smooth hard surface, rounded-square flat shape, light milky color, and small raised locking details visible near the top edges.",
|
| 719 |
+
"id": 3,
|
| 720 |
+
"grasp_group": {
|
| 721 |
+
"grasp_48": {
|
| 722 |
+
"confidence": 0.5184311270713806,
|
| 723 |
+
"position": [
|
| 724 |
+
-0.10292037209728733,
|
| 725 |
+
-0.002983947691973299,
|
| 726 |
+
0.10461430717259645
|
| 727 |
+
],
|
| 728 |
+
"orientation": {
|
| 729 |
+
"w": 0.3569156475340144,
|
| 730 |
+
"xyz": [
|
| 731 |
+
-0.5912479246713174,
|
| 732 |
+
0.6360664433947693,
|
| 733 |
+
-0.34417523400785793
|
| 734 |
+
]
|
| 735 |
+
}
|
| 736 |
+
},
|
| 737 |
+
"grasp_51": {
|
| 738 |
+
"confidence": 0.37395912408828735,
|
| 739 |
+
"position": [
|
| 740 |
+
-0.0018356906366534531,
|
| 741 |
+
0.10265509464079514,
|
| 742 |
+
0.0984692545607686
|
| 743 |
+
],
|
| 744 |
+
"orientation": {
|
| 745 |
+
"w": 0.5205972682430149,
|
| 746 |
+
"xyz": [
|
| 747 |
+
0.8536125521413418,
|
| 748 |
+
0.013808438267467804,
|
| 749 |
+
0.011550850932663788
|
| 750 |
+
]
|
| 751 |
+
}
|
| 752 |
+
},
|
| 753 |
+
"grasp_56": {
|
| 754 |
+
"confidence": 0.6335193514823914,
|
| 755 |
+
"position": [
|
| 756 |
+
0.10707857081433758,
|
| 757 |
+
-0.0005816167540615425,
|
| 758 |
+
0.10075408685952425
|
| 759 |
+
],
|
| 760 |
+
"orientation": {
|
| 761 |
+
"w": 0.36035572009307004,
|
| 762 |
+
"xyz": [
|
| 763 |
+
0.6012312015256384,
|
| 764 |
+
-0.618601891683242,
|
| 765 |
+
-0.35495985253850343
|
| 766 |
+
]
|
| 767 |
+
}
|
| 768 |
+
},
|
| 769 |
+
"grasp_57": {
|
| 770 |
+
"confidence": 0.6016950011253357,
|
| 771 |
+
"position": [
|
| 772 |
+
0.11540997395059094,
|
| 773 |
+
-0.0005106836397317238,
|
| 774 |
+
0.10144635010510683
|
| 775 |
+
],
|
| 776 |
+
"orientation": {
|
| 777 |
+
"w": 0.35526002564150666,
|
| 778 |
+
"xyz": [
|
| 779 |
+
0.5861294060185406,
|
| 780 |
+
-0.6348698392585824,
|
| 781 |
+
-0.3566271453231378
|
| 782 |
+
]
|
| 783 |
+
}
|
| 784 |
+
},
|
| 785 |
+
"grasp_59": {
|
| 786 |
+
"confidence": 0.5932645797729492,
|
| 787 |
+
"position": [
|
| 788 |
+
-0.10488773515680805,
|
| 789 |
+
-0.003269521926995367,
|
| 790 |
+
0.10535372514277697
|
| 791 |
+
],
|
| 792 |
+
"orientation": {
|
| 793 |
+
"w": 0.34096893481976387,
|
| 794 |
+
"xyz": [
|
| 795 |
+
0.6205952781571311,
|
| 796 |
+
0.6167090433695165,
|
| 797 |
+
0.3439064437360897
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
}
|
| 801 |
+
}
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"part_name": "front inset panel",
|
| 805 |
+
"mask_color": "Cyan",
|
| 806 |
+
"graspable": true,
|
| 807 |
+
"grasp_scenarios": [
|
| 808 |
+
{
|
| 809 |
+
"scenario": "press or brace against the inset side panel to stabilize the container during lid manipulation",
|
| 810 |
+
"confidence": 0.63
|
| 811 |
+
},
|
| 812 |
+
{
|
| 813 |
+
"scenario": "use the inset panel area as part of a side pinch grasp together with the opposite wall for light repositioning",
|
| 814 |
+
"confidence": 0.56
|
| 815 |
+
}
|
| 816 |
+
],
|
| 817 |
+
"functional_labels": [
|
| 818 |
+
"provide a translucent window area",
|
| 819 |
+
"distinguish one face of the container",
|
| 820 |
+
"serve as a decorative inset"
|
| 821 |
+
],
|
| 822 |
+
"semantic_description": "Inset rounded-rectangle panel on one side near the upper body, appearing translucent light gray with a smooth glossy hard finish, medium-sized and framed by a slightly darker border.",
|
| 823 |
+
"id": 6,
|
| 824 |
+
"grasp_group": {
|
| 825 |
+
"grasp_81": {
|
| 826 |
+
"confidence": 0.7718517184257507,
|
| 827 |
+
"position": [
|
| 828 |
+
0.11646289745112881,
|
| 829 |
+
0.002493474690709263,
|
| 830 |
+
0.025805274955928326
|
| 831 |
+
],
|
| 832 |
+
"orientation": {
|
| 833 |
+
"w": 0.43856732707333856,
|
| 834 |
+
"xyz": [
|
| 835 |
+
-0.5476026235167264,
|
| 836 |
+
-0.5593571254849062,
|
| 837 |
+
0.4414857557278705
|
| 838 |
+
]
|
| 839 |
+
}
|
| 840 |
+
},
|
| 841 |
+
"grasp_82": {
|
| 842 |
+
"confidence": 0.7376230955123901,
|
| 843 |
+
"position": [
|
| 844 |
+
0.11933273443719372,
|
| 845 |
+
-0.0006231908482732251,
|
| 846 |
+
0.009863892555586062
|
| 847 |
+
],
|
| 848 |
+
"orientation": {
|
| 849 |
+
"w": 0.4920681755442527,
|
| 850 |
+
"xyz": [
|
| 851 |
+
-0.5024465314068394,
|
| 852 |
+
-0.503646476381373,
|
| 853 |
+
0.5017535456002418
|
| 854 |
+
]
|
| 855 |
+
}
|
| 856 |
+
},
|
| 857 |
+
"grasp_83": {
|
| 858 |
+
"confidence": 0.7190930247306824,
|
| 859 |
+
"position": [
|
| 860 |
+
0.10721493879100308,
|
| 861 |
+
0.0035793735296465456,
|
| 862 |
+
0.03931947145611048
|
| 863 |
+
],
|
| 864 |
+
"orientation": {
|
| 865 |
+
"w": 0.3632130847894004,
|
| 866 |
+
"xyz": [
|
| 867 |
+
0.6156344418406188,
|
| 868 |
+
-0.603650939681512,
|
| 869 |
+
-0.3530949335221128
|
| 870 |
+
]
|
| 871 |
+
}
|
| 872 |
+
},
|
| 873 |
+
"grasp_84": {
|
| 874 |
+
"confidence": 0.7130619883537292,
|
| 875 |
+
"position": [
|
| 876 |
+
-0.11340885987738147,
|
| 877 |
+
0.0017387148109264672,
|
| 878 |
+
0.02492180373519659
|
| 879 |
+
],
|
| 880 |
+
"orientation": {
|
| 881 |
+
"w": 0.4240511730155541,
|
| 882 |
+
"xyz": [
|
| 883 |
+
0.5795203456097205,
|
| 884 |
+
0.572808255722037,
|
| 885 |
+
0.39525621293687485
|
| 886 |
+
]
|
| 887 |
+
}
|
| 888 |
+
},
|
| 889 |
+
"grasp_85": {
|
| 890 |
+
"confidence": 0.694391667842865,
|
| 891 |
+
"position": [
|
| 892 |
+
-0.11714484175899997,
|
| 893 |
+
0.006508105027023703,
|
| 894 |
+
0.011793295154348016
|
| 895 |
+
],
|
| 896 |
+
"orientation": {
|
| 897 |
+
"w": 0.488177138231616,
|
| 898 |
+
"xyz": [
|
| 899 |
+
0.5293590819051532,
|
| 900 |
+
0.5323620444194805,
|
| 901 |
+
0.4450311200062679
|
| 902 |
+
]
|
| 903 |
+
}
|
| 904 |
+
},
|
| 905 |
+
"grasp_86": {
|
| 906 |
+
"confidence": 0.6846952438354492,
|
| 907 |
+
"position": [
|
| 908 |
+
-0.11887840559938923,
|
| 909 |
+
0.0009979407186619937,
|
| 910 |
+
0.006674873176962137
|
| 911 |
+
],
|
| 912 |
+
"orientation": {
|
| 913 |
+
"w": 0.5108079645501072,
|
| 914 |
+
"xyz": [
|
| 915 |
+
0.5005590751910299,
|
| 916 |
+
0.4952151046944985,
|
| 917 |
+
0.493232030264149
|
| 918 |
+
]
|
| 919 |
+
}
|
| 920 |
+
},
|
| 921 |
+
"grasp_87": {
|
| 922 |
+
"confidence": 0.6746108531951904,
|
| 923 |
+
"position": [
|
| 924 |
+
-0.11963126441696659,
|
| 925 |
+
0.004204797151032835,
|
| 926 |
+
0.00015530548989772797
|
| 927 |
+
],
|
| 928 |
+
"orientation": {
|
| 929 |
+
"w": 0.5121664002375778,
|
| 930 |
+
"xyz": [
|
| 931 |
+
0.5037937884953381,
|
| 932 |
+
0.47750124808820504,
|
| 933 |
+
0.5058358975155898
|
| 934 |
+
]
|
| 935 |
+
}
|
| 936 |
+
},
|
| 937 |
+
"grasp_88": {
|
| 938 |
+
"confidence": 0.6623513698577881,
|
| 939 |
+
"position": [
|
| 940 |
+
-0.11842159560183063,
|
| 941 |
+
-0.0020538969547487795,
|
| 942 |
+
0.007284597726538777
|
| 943 |
+
],
|
| 944 |
+
"orientation": {
|
| 945 |
+
"w": 0.49754243916395446,
|
| 946 |
+
"xyz": [
|
| 947 |
+
-0.5033802358311619,
|
| 948 |
+
0.4907265068434514,
|
| 949 |
+
-0.5081804353638287
|
| 950 |
+
]
|
| 951 |
+
}
|
| 952 |
+
},
|
| 953 |
+
"grasp_89": {
|
| 954 |
+
"confidence": 0.6419691443443298,
|
| 955 |
+
"position": [
|
| 956 |
+
0.11673038074513897,
|
| 957 |
+
0.01771964185172692,
|
| 958 |
+
0.013728183694183826
|
| 959 |
+
],
|
| 960 |
+
"orientation": {
|
| 961 |
+
"w": 0.5658692600012287,
|
| 962 |
+
"xyz": [
|
| 963 |
+
0.47161864588339136,
|
| 964 |
+
-0.45793095209456514,
|
| 965 |
+
-0.4976616084796405
|
| 966 |
+
]
|
| 967 |
+
}
|
| 968 |
+
},
|
| 969 |
+
"grasp_90": {
|
| 970 |
+
"confidence": 0.6398376226425171,
|
| 971 |
+
"position": [
|
| 972 |
+
0.11016669491073117,
|
| 973 |
+
0.006471309869084507,
|
| 974 |
+
-0.020480790175497532
|
| 975 |
+
],
|
| 976 |
+
"orientation": {
|
| 977 |
+
"w": 0.6030422756844018,
|
| 978 |
+
"xyz": [
|
| 979 |
+
0.3839433236120162,
|
| 980 |
+
-0.3836238649426875,
|
| 981 |
+
-0.5846026584249944
|
| 982 |
+
]
|
| 983 |
+
}
|
| 984 |
+
},
|
| 985 |
+
"grasp_91": {
|
| 986 |
+
"confidence": 0.5945444107055664,
|
| 987 |
+
"position": [
|
| 988 |
+
-0.11256125947693363,
|
| 989 |
+
0.005277655611280352,
|
| 990 |
+
-0.03633716981858015
|
| 991 |
+
],
|
| 992 |
+
"orientation": {
|
| 993 |
+
"w": 0.570145247937022,
|
| 994 |
+
"xyz": [
|
| 995 |
+
-0.4130396091541544,
|
| 996 |
+
0.4198102379670413,
|
| 997 |
+
-0.5727931927167709
|
| 998 |
+
]
|
| 999 |
+
}
|
| 1000 |
+
},
|
| 1001 |
+
"grasp_92": {
|
| 1002 |
+
"confidence": 0.5910378098487854,
|
| 1003 |
+
"position": [
|
| 1004 |
+
-0.11023178329924121,
|
| 1005 |
+
-0.000550115539226681,
|
| 1006 |
+
-0.023115678690373898
|
| 1007 |
+
],
|
| 1008 |
+
"orientation": {
|
| 1009 |
+
"w": 0.5318061064363038,
|
| 1010 |
+
"xyz": [
|
| 1011 |
+
0.48247102572197637,
|
| 1012 |
+
0.47363874604128275,
|
| 1013 |
+
0.5099708940167899
|
| 1014 |
+
]
|
| 1015 |
+
}
|
| 1016 |
+
},
|
| 1017 |
+
"grasp_93": {
|
| 1018 |
+
"confidence": 0.5893024802207947,
|
| 1019 |
+
"position": [
|
| 1020 |
+
-0.11495997390011325,
|
| 1021 |
+
0.0002447469159960747,
|
| 1022 |
+
0.046761409379541874
|
| 1023 |
+
],
|
| 1024 |
+
"orientation": {
|
| 1025 |
+
"w": 0.44610017393929385,
|
| 1026 |
+
"xyz": [
|
| 1027 |
+
-0.5338167011096802,
|
| 1028 |
+
0.5626338775365578,
|
| 1029 |
+
-0.4466290231007026
|
| 1030 |
+
]
|
| 1031 |
+
}
|
| 1032 |
+
},
|
| 1033 |
+
"grasp_94": {
|
| 1034 |
+
"confidence": 0.5778290629386902,
|
| 1035 |
+
"position": [
|
| 1036 |
+
-0.11693305900553241,
|
| 1037 |
+
6.147168460302055e-05,
|
| 1038 |
+
0.030609781853854656
|
| 1039 |
+
],
|
| 1040 |
+
"orientation": {
|
| 1041 |
+
"w": 0.5091244413135209,
|
| 1042 |
+
"xyz": [
|
| 1043 |
+
0.49925544494565866,
|
| 1044 |
+
0.501321702567609,
|
| 1045 |
+
0.4901151441080155
|
| 1046 |
+
]
|
| 1047 |
+
}
|
| 1048 |
+
},
|
| 1049 |
+
"grasp_95": {
|
| 1050 |
+
"confidence": 0.553234338760376,
|
| 1051 |
+
"position": [
|
| 1052 |
+
-0.11701952299335971,
|
| 1053 |
+
0.0014085124130360782,
|
| 1054 |
+
0.02927738707512617
|
| 1055 |
+
],
|
| 1056 |
+
"orientation": {
|
| 1057 |
+
"w": 0.4910199282840475,
|
| 1058 |
+
"xyz": [
|
| 1059 |
+
-0.4997724823204426,
|
| 1060 |
+
0.4996705050250717,
|
| 1061 |
+
-0.5093685133095502
|
| 1062 |
+
]
|
| 1063 |
+
}
|
| 1064 |
+
},
|
| 1065 |
+
"grasp_96": {
|
| 1066 |
+
"confidence": 0.5455150008201599,
|
| 1067 |
+
"position": [
|
| 1068 |
+
-0.11735786875942722,
|
| 1069 |
+
0.005985702911857516,
|
| 1070 |
+
0.033911348320543766
|
| 1071 |
+
],
|
| 1072 |
+
"orientation": {
|
| 1073 |
+
"w": 0.476988953263305,
|
| 1074 |
+
"xyz": [
|
| 1075 |
+
-0.5115334033884588,
|
| 1076 |
+
0.5186145588543436,
|
| 1077 |
+
-0.49178659500530403
|
| 1078 |
+
]
|
| 1079 |
+
}
|
| 1080 |
+
},
|
| 1081 |
+
"grasp_97": {
|
| 1082 |
+
"confidence": 0.5278548002243042,
|
| 1083 |
+
"position": [
|
| 1084 |
+
-0.1107777469442226,
|
| 1085 |
+
0.0014075844665057957,
|
| 1086 |
+
-0.01366415899246931
|
| 1087 |
+
],
|
| 1088 |
+
"orientation": {
|
| 1089 |
+
"w": 0.586633313903487,
|
| 1090 |
+
"xyz": [
|
| 1091 |
+
-0.3775378501362958,
|
| 1092 |
+
0.3981726470440812,
|
| 1093 |
+
-0.5956383717315284
|
| 1094 |
+
]
|
| 1095 |
+
}
|
| 1096 |
+
},
|
| 1097 |
+
"grasp_98": {
|
| 1098 |
+
"confidence": 0.4547681510448456,
|
| 1099 |
+
"position": [
|
| 1100 |
+
-0.10078305384377018,
|
| 1101 |
+
0.011054467933718115,
|
| 1102 |
+
0.05643440503627062
|
| 1103 |
+
],
|
| 1104 |
+
"orientation": {
|
| 1105 |
+
"w": 0.338047074237222,
|
| 1106 |
+
"xyz": [
|
| 1107 |
+
0.6383638908565743,
|
| 1108 |
+
0.6141507469039359,
|
| 1109 |
+
0.317859369104401
|
| 1110 |
+
]
|
| 1111 |
+
}
|
| 1112 |
+
},
|
| 1113 |
+
"grasp_99": {
|
| 1114 |
+
"confidence": 0.41979578137397766,
|
| 1115 |
+
"position": [
|
| 1116 |
+
-0.10411336651304737,
|
| 1117 |
+
0.006165563187096268,
|
| 1118 |
+
0.07859377283602953
|
| 1119 |
+
],
|
| 1120 |
+
"orientation": {
|
| 1121 |
+
"w": 0.36897243820550896,
|
| 1122 |
+
"xyz": [
|
| 1123 |
+
0.608458339615175,
|
| 1124 |
+
0.6145726516054233,
|
| 1125 |
+
0.3404970553413134
|
| 1126 |
+
]
|
| 1127 |
+
}
|
| 1128 |
+
}
|
| 1129 |
+
}
|
| 1130 |
+
},
|
| 1131 |
+
{
|
| 1132 |
+
"part_name": "side inset panel",
|
| 1133 |
+
"mask_color": "Orange",
|
| 1134 |
+
"graspable": true,
|
| 1135 |
+
"grasp_scenarios": [
|
| 1136 |
+
{
|
| 1137 |
+
"scenario": "press or brace against the inset side panel to stabilize the container during lid manipulation",
|
| 1138 |
+
"confidence": 0.63
|
| 1139 |
+
},
|
| 1140 |
+
{
|
| 1141 |
+
"scenario": "use the inset panel area as part of a side pinch grasp together with the opposite wall for light repositioning",
|
| 1142 |
+
"confidence": 0.56
|
| 1143 |
+
}
|
| 1144 |
+
],
|
| 1145 |
+
"functional_labels": [
|
| 1146 |
+
"provide a translucent window area",
|
| 1147 |
+
"distinguish another face of the container",
|
| 1148 |
+
"serve as a decorative inset"
|
| 1149 |
+
],
|
| 1150 |
+
"semantic_description": "Inset rounded-rectangle panel on another side near the upper body, appearing translucent light gray with a smooth glossy hard finish, medium-sized and framed by a slightly darker border.",
|
| 1151 |
+
"id": 4,
|
| 1152 |
+
"grasp_group": {
|
| 1153 |
+
"grasp_60": {
|
| 1154 |
+
"confidence": 0.40732264518737793,
|
| 1155 |
+
"position": [
|
| 1156 |
+
-0.11628670623758808,
|
| 1157 |
+
-0.02025517768925056,
|
| 1158 |
+
-0.01136206928640604
|
| 1159 |
+
],
|
| 1160 |
+
"orientation": {
|
| 1161 |
+
"w": 0.5031767636497261,
|
| 1162 |
+
"xyz": [
|
| 1163 |
+
0.47740850931302375,
|
| 1164 |
+
0.5087199136965599,
|
| 1165 |
+
0.5099983423179609
|
| 1166 |
+
]
|
| 1167 |
+
}
|
| 1168 |
+
},
|
| 1169 |
+
"grasp_65": {
|
| 1170 |
+
"confidence": 0.7721309065818787,
|
| 1171 |
+
"position": [
|
| 1172 |
+
0.11218021431704983,
|
| 1173 |
+
-0.002934657910373062,
|
| 1174 |
+
-0.003716220147907734
|
| 1175 |
+
],
|
| 1176 |
+
"orientation": {
|
| 1177 |
+
"w": 0.5068223710268173,
|
| 1178 |
+
"xyz": [
|
| 1179 |
+
-0.4967497454891316,
|
| 1180 |
+
-0.491055462300817,
|
| 1181 |
+
0.5052081823642303
|
| 1182 |
+
]
|
| 1183 |
+
}
|
| 1184 |
+
},
|
| 1185 |
+
"grasp_66": {
|
| 1186 |
+
"confidence": 0.7664190530776978,
|
| 1187 |
+
"position": [
|
| 1188 |
+
0.11388023564359173,
|
| 1189 |
+
0.0032748161465860903,
|
| 1190 |
+
-0.007346861995756626
|
| 1191 |
+
],
|
| 1192 |
+
"orientation": {
|
| 1193 |
+
"w": 0.4948937148311881,
|
| 1194 |
+
"xyz": [
|
| 1195 |
+
-0.5004860584977341,
|
| 1196 |
+
-0.493978451646905,
|
| 1197 |
+
0.5104695931968092
|
| 1198 |
+
]
|
| 1199 |
+
}
|
| 1200 |
+
},
|
| 1201 |
+
"grasp_67": {
|
| 1202 |
+
"confidence": 0.764232873916626,
|
| 1203 |
+
"position": [
|
| 1204 |
+
0.11287869879743084,
|
| 1205 |
+
0.003038266266230494,
|
| 1206 |
+
-0.012840312905609608
|
| 1207 |
+
],
|
| 1208 |
+
"orientation": {
|
| 1209 |
+
"w": 0.49761178574713455,
|
| 1210 |
+
"xyz": [
|
| 1211 |
+
0.4994020257367984,
|
| 1212 |
+
-0.5063450125885387,
|
| 1213 |
+
-0.496583180949821
|
| 1214 |
+
]
|
| 1215 |
+
}
|
| 1216 |
+
},
|
| 1217 |
+
"grasp_68": {
|
| 1218 |
+
"confidence": 0.759713351726532,
|
| 1219 |
+
"position": [
|
| 1220 |
+
0.11399576434632763,
|
| 1221 |
+
-0.0009533421834930778,
|
| 1222 |
+
-0.020454554818570614
|
| 1223 |
+
],
|
| 1224 |
+
"orientation": {
|
| 1225 |
+
"w": 0.5803609633071177,
|
| 1226 |
+
"xyz": [
|
| 1227 |
+
-0.43317031817503854,
|
| 1228 |
+
-0.4476120098998919,
|
| 1229 |
+
0.524583755290563
|
| 1230 |
+
]
|
| 1231 |
+
}
|
| 1232 |
+
},
|
| 1233 |
+
"grasp_69": {
|
| 1234 |
+
"confidence": 0.7576994299888611,
|
| 1235 |
+
"position": [
|
| 1236 |
+
0.11220780381700024,
|
| 1237 |
+
0.000301682623103261,
|
| 1238 |
+
-0.013526075519621372
|
| 1239 |
+
],
|
| 1240 |
+
"orientation": {
|
| 1241 |
+
"w": 0.5106130972653213,
|
| 1242 |
+
"xyz": [
|
| 1243 |
+
0.4848299163185966,
|
| 1244 |
+
-0.5032257227088578,
|
| 1245 |
+
-0.5009771343562155
|
| 1246 |
+
]
|
| 1247 |
+
}
|
| 1248 |
+
},
|
| 1249 |
+
"grasp_70": {
|
| 1250 |
+
"confidence": 0.7554894685745239,
|
| 1251 |
+
"position": [
|
| 1252 |
+
0.11273899296065792,
|
| 1253 |
+
0.0016248152242042124,
|
| 1254 |
+
-0.004857580177485943
|
| 1255 |
+
],
|
| 1256 |
+
"orientation": {
|
| 1257 |
+
"w": 0.4939304584943779,
|
| 1258 |
+
"xyz": [
|
| 1259 |
+
0.504541867229254,
|
| 1260 |
+
-0.5139857496479039,
|
| 1261 |
+
-0.48712303942970425
|
| 1262 |
+
]
|
| 1263 |
+
}
|
| 1264 |
+
},
|
| 1265 |
+
"grasp_71": {
|
| 1266 |
+
"confidence": 0.75417160987854,
|
| 1267 |
+
"position": [
|
| 1268 |
+
0.11261006066342816,
|
| 1269 |
+
-0.00031969892734196037,
|
| 1270 |
+
-0.009339709766209126
|
| 1271 |
+
],
|
| 1272 |
+
"orientation": {
|
| 1273 |
+
"w": 0.5012854056670972,
|
| 1274 |
+
"xyz": [
|
| 1275 |
+
0.48956823918014847,
|
| 1276 |
+
-0.5163370451884852,
|
| 1277 |
+
-0.4923737777514629
|
| 1278 |
+
]
|
| 1279 |
+
}
|
| 1280 |
+
},
|
| 1281 |
+
"grasp_72": {
|
| 1282 |
+
"confidence": 0.7537806034088135,
|
| 1283 |
+
"position": [
|
| 1284 |
+
0.11265105375787243,
|
| 1285 |
+
-0.0007949588180053979,
|
| 1286 |
+
0.01679214695468545
|
| 1287 |
+
],
|
| 1288 |
+
"orientation": {
|
| 1289 |
+
"w": 0.475923850044323,
|
| 1290 |
+
"xyz": [
|
| 1291 |
+
-0.5273513033578731,
|
| 1292 |
+
-0.5195805139419682,
|
| 1293 |
+
0.47479804268503595
|
| 1294 |
+
]
|
| 1295 |
+
}
|
| 1296 |
+
},
|
| 1297 |
+
"grasp_73": {
|
| 1298 |
+
"confidence": 0.7433810830116272,
|
| 1299 |
+
"position": [
|
| 1300 |
+
0.11068657407304272,
|
| 1301 |
+
0.0003844330785796046,
|
| 1302 |
+
-0.009997854940593243
|
| 1303 |
+
],
|
| 1304 |
+
"orientation": {
|
| 1305 |
+
"w": 0.5067143683257691,
|
| 1306 |
+
"xyz": [
|
| 1307 |
+
0.4819307006750446,
|
| 1308 |
+
-0.5093655469988063,
|
| 1309 |
+
-0.5015277541768588
|
| 1310 |
+
]
|
| 1311 |
+
}
|
| 1312 |
+
},
|
| 1313 |
+
"grasp_74": {
|
| 1314 |
+
"confidence": 0.7395590543746948,
|
| 1315 |
+
"position": [
|
| 1316 |
+
0.11248189577599987,
|
| 1317 |
+
0.00016821484314277768,
|
| 1318 |
+
-0.004948217421770096
|
| 1319 |
+
],
|
| 1320 |
+
"orientation": {
|
| 1321 |
+
"w": 0.5059834385481298,
|
| 1322 |
+
"xyz": [
|
| 1323 |
+
0.49758316494396404,
|
| 1324 |
+
-0.5081516668241728,
|
| 1325 |
+
-0.4880303652265643
|
| 1326 |
+
]
|
| 1327 |
+
}
|
| 1328 |
+
},
|
| 1329 |
+
"grasp_75": {
|
| 1330 |
+
"confidence": 0.7391757369041443,
|
| 1331 |
+
"position": [
|
| 1332 |
+
0.11217799404403195,
|
| 1333 |
+
-0.008052088262047619,
|
| 1334 |
+
0.003099657129496336
|
| 1335 |
+
],
|
| 1336 |
+
"orientation": {
|
| 1337 |
+
"w": 0.4975120163544418,
|
| 1338 |
+
"xyz": [
|
| 1339 |
+
-0.5103667697412179,
|
| 1340 |
+
-0.49568078329499876,
|
| 1341 |
+
0.49629438340455667
|
| 1342 |
+
]
|
| 1343 |
+
}
|
| 1344 |
+
},
|
| 1345 |
+
"grasp_76": {
|
| 1346 |
+
"confidence": 0.7383431196212769,
|
| 1347 |
+
"position": [
|
| 1348 |
+
0.11525168636580929,
|
| 1349 |
+
-0.0017860342632047832,
|
| 1350 |
+
-0.012801560573279858
|
| 1351 |
+
],
|
| 1352 |
+
"orientation": {
|
| 1353 |
+
"w": 0.5240061367671879,
|
| 1354 |
+
"xyz": [
|
| 1355 |
+
0.46494127599140345,
|
| 1356 |
+
-0.4619984362796795,
|
| 1357 |
+
-0.5438792360303377
|
| 1358 |
+
]
|
| 1359 |
+
}
|
| 1360 |
+
},
|
| 1361 |
+
"grasp_77": {
|
| 1362 |
+
"confidence": 0.7312951683998108,
|
| 1363 |
+
"position": [
|
| 1364 |
+
0.11319618293782696,
|
| 1365 |
+
-0.0033448428730480373,
|
| 1366 |
+
-0.008396166376769543
|
| 1367 |
+
],
|
| 1368 |
+
"orientation": {
|
| 1369 |
+
"w": 0.5472930070631282,
|
| 1370 |
+
"xyz": [
|
| 1371 |
+
-0.458184811612195,
|
| 1372 |
+
-0.4512475276831499,
|
| 1373 |
+
0.5356423355071378
|
| 1374 |
+
]
|
| 1375 |
+
}
|
| 1376 |
+
},
|
| 1377 |
+
"grasp_78": {
|
| 1378 |
+
"confidence": 0.7307435274124146,
|
| 1379 |
+
"position": [
|
| 1380 |
+
0.11387849965831265,
|
| 1381 |
+
-0.008399800804909319,
|
| 1382 |
+
-0.004038411192595959
|
| 1383 |
+
],
|
| 1384 |
+
"orientation": {
|
| 1385 |
+
"w": 0.47420658047871284,
|
| 1386 |
+
"xyz": [
|
| 1387 |
+
0.505818302533071,
|
| 1388 |
+
-0.542544411962306,
|
| 1389 |
+
-0.474258921794545
|
| 1390 |
+
]
|
| 1391 |
+
}
|
| 1392 |
+
},
|
| 1393 |
+
"grasp_79": {
|
| 1394 |
+
"confidence": 0.7296220660209656,
|
| 1395 |
+
"position": [
|
| 1396 |
+
0.10803658881923184,
|
| 1397 |
+
-0.0005319074261933565,
|
| 1398 |
+
0.009384073317050934
|
| 1399 |
+
],
|
| 1400 |
+
"orientation": {
|
| 1401 |
+
"w": 0.45871841940311925,
|
| 1402 |
+
"xyz": [
|
| 1403 |
+
0.5341315709131264,
|
| 1404 |
+
-0.5575653787096341,
|
| 1405 |
+
-0.4397746299169176
|
| 1406 |
+
]
|
| 1407 |
+
}
|
| 1408 |
+
}
|
| 1409 |
+
}
|
| 1410 |
+
}
|
| 1411 |
+
],
|
| 1412 |
+
"quality_check": {
|
| 1413 |
+
"success": true,
|
| 1414 |
+
"message": "YES"
|
| 1415 |
+
}
|
| 1416 |
+
}
|
dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f9d602442fc41ba09a25def03315444d493503e3ac22a6db6abe01d12db44a60
|
| 3 |
+
size 3783008
|
dataset/bathroom_supplies/personal_care/c66c649fdfa85e69bcb6ce80ce91b729/mouthwash_cup_031.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|