Add asset food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796
Browse files
.gitattributes
CHANGED
|
@@ -6744,4 +6744,4 @@ dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/mesh_part_seg
|
|
| 6744 |
dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6745 |
dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6746 |
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6747 |
-
dataset/food/beverages/
|
|
|
|
| 6744 |
dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6745 |
dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6746 |
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6747 |
+
dataset/food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,896 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle cap",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap to twist and open the bottle",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the cap to stabilize the bottle top during handling",
|
| 14 |
+
"confidence": 0.56
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"seal the bottle opening",
|
| 19 |
+
"enable twisting to open",
|
| 20 |
+
"prevent leakage",
|
| 21 |
+
"provide grip for opening"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small orange plastic screw cap with a glossy finish, ribbed sides, and short cylindrical shape at the very top of the bottle.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.6893026828765869,
|
| 28 |
+
"position": [
|
| 29 |
+
0.05634700955124572,
|
| 30 |
+
-0.02397734599071555,
|
| 31 |
+
0.14845382515341043
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.17795294831660247,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.5258973180903107,
|
| 37 |
+
-0.7863161579874539,
|
| 38 |
+
-0.2710565599624853
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.49838507175445557,
|
| 44 |
+
"position": [
|
| 45 |
+
0.053704392921645194,
|
| 46 |
+
-0.021055855992017314,
|
| 47 |
+
0.15224085096269846
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.13397892413694504,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.7200926424713133,
|
| 53 |
+
-0.6228811101380949,
|
| 54 |
+
-0.2748369639966981
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_5": {
|
| 59 |
+
"confidence": 0.7765494585037231,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.007721958856564015,
|
| 62 |
+
-0.004825171286938712,
|
| 63 |
+
0.17137909773737192
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.03778507449858692,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.9764188021903103,
|
| 69 |
+
-0.20974651750179646,
|
| 70 |
+
-0.03442396360450836
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_6": {
|
| 75 |
+
"confidence": 0.746661365032196,
|
| 76 |
+
"position": [
|
| 77 |
+
0.024510699149686843,
|
| 78 |
+
-0.019760017486987635,
|
| 79 |
+
0.16596747282892466
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.14507330669528634,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.8955483234979854,
|
| 85 |
+
-0.41664902607348614,
|
| 86 |
+
0.05788371996044217
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_7": {
|
| 91 |
+
"confidence": 0.5826144814491272,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.04652661009458825,
|
| 94 |
+
-0.021300981956301257,
|
| 95 |
+
0.15531971398741007
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.1939718841169811,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.26604170943038263,
|
| 101 |
+
0.9303344520307665,
|
| 102 |
+
0.16147607990065252
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_9": {
|
| 107 |
+
"confidence": 0.2976261079311371,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.02665349206654355,
|
| 110 |
+
0.026484654081286862,
|
| 111 |
+
0.16193387750536203
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.19375275283100082,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.9389907855348378,
|
| 117 |
+
0.2592463605761891,
|
| 118 |
+
0.11639372826350176
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_11": {
|
| 123 |
+
"confidence": 0.8030179142951965,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.0035664578317664564,
|
| 126 |
+
-0.008479887823341414,
|
| 127 |
+
0.16877538803964853
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.049463658241645135,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.6872306538334867,
|
| 133 |
+
-0.7244835012121558,
|
| 134 |
+
-0.01977451431334835
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_12": {
|
| 139 |
+
"confidence": 0.7514041662216187,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.01782598829595372,
|
| 142 |
+
-0.04256454968708567,
|
| 143 |
+
0.15368702355772257
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.08198093411615648,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.11254349250048595,
|
| 149 |
+
0.9609911185460949,
|
| 150 |
+
0.23897522635779733
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_13": {
|
| 155 |
+
"confidence": 0.7168743014335632,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.0451691850903444,
|
| 158 |
+
-0.004602011031238362,
|
| 159 |
+
0.15474338177591562
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.19826646541856527,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.4911880843576692,
|
| 165 |
+
0.8354265336029146,
|
| 166 |
+
0.14658506550017583
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_14": {
|
| 171 |
+
"confidence": 0.7029843330383301,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.0077982108923606575,
|
| 174 |
+
-0.030012934672413394,
|
| 175 |
+
0.16294302884489298
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.1143789400893532,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.4728603960364584,
|
| 181 |
+
0.8679419166062483,
|
| 182 |
+
0.09998666572174553
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_15": {
|
| 187 |
+
"confidence": 0.6581659913063049,
|
| 188 |
+
"position": [
|
| 189 |
+
0.020569759246427566,
|
| 190 |
+
-0.08050227651256137,
|
| 191 |
+
0.1362100327387452
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.408440348568298,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.8882102448771289,
|
| 197 |
+
-0.2102383184483339,
|
| 198 |
+
0.00767411315625068
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_16": {
|
| 203 |
+
"confidence": 0.6114328503608704,
|
| 204 |
+
"position": [
|
| 205 |
+
0.013134362001437694,
|
| 206 |
+
-0.005320590658811852,
|
| 207 |
+
0.1681941533461213
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.023998659637659653,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.9625175177583103,
|
| 213 |
+
-0.2665299812318473,
|
| 214 |
+
-0.04411191957427233
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_17": {
|
| 219 |
+
"confidence": 0.6094694137573242,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.006212756677996367,
|
| 222 |
+
-0.005165286565897986,
|
| 223 |
+
0.16744253877550364
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.06662276874548408,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.12469840817034883,
|
| 229 |
+
0.9894335651248916,
|
| 230 |
+
0.03213928886447168
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_18": {
|
| 235 |
+
"confidence": 0.5408364534378052,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.009383021097164601,
|
| 238 |
+
-0.0031386972113978118,
|
| 239 |
+
0.1688733333721757
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.07160509947417629,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.4684771060325176,
|
| 245 |
+
0.879404133345985,
|
| 246 |
+
0.04528002988833249
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_19": {
|
| 251 |
+
"confidence": 0.4736727476119995,
|
| 252 |
+
"position": [
|
| 253 |
+
-0.0036773920874111354,
|
| 254 |
+
-0.02483394482987933,
|
| 255 |
+
0.16928235534578562
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.10908568509317632,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.6297709197691548,
|
| 261 |
+
0.7655362587059307,
|
| 262 |
+
0.07377762890871192
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
}
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"part_name": "upper shoulder and neck",
|
| 270 |
+
"mask_color": "Yellow",
|
| 271 |
+
"graspable": true,
|
| 272 |
+
"grasp_scenarios": [
|
| 273 |
+
{
|
| 274 |
+
"scenario": "grasp the upper shoulder to pick up the bottle",
|
| 275 |
+
"confidence": 0.67
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"scenario": "hold the shoulder and neck area to stabilize the bottle while opening the cap",
|
| 279 |
+
"confidence": 0.74
|
| 280 |
+
}
|
| 281 |
+
],
|
| 282 |
+
"functional_labels": [
|
| 283 |
+
"transition from cap area to main body",
|
| 284 |
+
"support bottle structure",
|
| 285 |
+
"provide secondary grip area",
|
| 286 |
+
"help guide pouring orientation"
|
| 287 |
+
],
|
| 288 |
+
"semantic_description": "Rounded translucent pale yellow to off-white plastic upper section below the cap, with a glossy smooth surface and gently tapering form connecting the cap area to the main bottle body.",
|
| 289 |
+
"id": 3,
|
| 290 |
+
"grasp_group": {
|
| 291 |
+
"grasp_40": {
|
| 292 |
+
"confidence": 0.9804002046585083,
|
| 293 |
+
"position": [
|
| 294 |
+
0.10106988699408248,
|
| 295 |
+
0.022760323045076802,
|
| 296 |
+
0.032526069320738316
|
| 297 |
+
],
|
| 298 |
+
"orientation": {
|
| 299 |
+
"w": 0.544622474830202,
|
| 300 |
+
"xyz": [
|
| 301 |
+
0.566434367166678,
|
| 302 |
+
-0.42872252547413303,
|
| 303 |
+
-0.4457975591604251
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
},
|
| 307 |
+
"grasp_41": {
|
| 308 |
+
"confidence": 0.9803045392036438,
|
| 309 |
+
"position": [
|
| 310 |
+
0.0471702262875624,
|
| 311 |
+
-0.092822586389957,
|
| 312 |
+
0.03641827870160341
|
| 313 |
+
],
|
| 314 |
+
"orientation": {
|
| 315 |
+
"w": 0.20247750417736235,
|
| 316 |
+
"xyz": [
|
| 317 |
+
0.13009934253588815,
|
| 318 |
+
-0.6819563873448766,
|
| 319 |
+
-0.6906609205198745
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
},
|
| 323 |
+
"grasp_42": {
|
| 324 |
+
"confidence": 0.9802159667015076,
|
| 325 |
+
"position": [
|
| 326 |
+
-0.09959214477567002,
|
| 327 |
+
-0.028671228530583903,
|
| 328 |
+
0.042721581645309925
|
| 329 |
+
],
|
| 330 |
+
"orientation": {
|
| 331 |
+
"w": 0.44365166416547,
|
| 332 |
+
"xyz": [
|
| 333 |
+
0.41381341531451593,
|
| 334 |
+
0.5747893966835121,
|
| 335 |
+
0.5491345988454462
|
| 336 |
+
]
|
| 337 |
+
}
|
| 338 |
+
},
|
| 339 |
+
"grasp_43": {
|
| 340 |
+
"confidence": 0.9801608920097351,
|
| 341 |
+
"position": [
|
| 342 |
+
-0.01658346055774018,
|
| 343 |
+
-0.10095564762013964,
|
| 344 |
+
0.03039336297661066
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
+
"w": 0.725726705384833,
|
| 348 |
+
"xyz": [
|
| 349 |
+
-0.6824981195932424,
|
| 350 |
+
0.059752423978678415,
|
| 351 |
+
-0.06282287538497473
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
},
|
| 355 |
+
"grasp_44": {
|
| 356 |
+
"confidence": 0.9789677262306213,
|
| 357 |
+
"position": [
|
| 358 |
+
0.02472856902750209,
|
| 359 |
+
-0.09723884353297763,
|
| 360 |
+
0.0440612593665719
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.6949575579729226,
|
| 364 |
+
"xyz": [
|
| 365 |
+
-0.707189805139224,
|
| 366 |
+
-0.11154174913133375,
|
| 367 |
+
0.06689551796780463
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_45": {
|
| 372 |
+
"confidence": 0.9781941771507263,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.013875351462047547,
|
| 375 |
+
-0.10117583462852053,
|
| 376 |
+
0.04073531273752451
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.7146981274822903,
|
| 380 |
+
"xyz": [
|
| 381 |
+
-0.6929719043970342,
|
| 382 |
+
0.08885545359461355,
|
| 383 |
+
-0.03318485582537187
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_47": {
|
| 388 |
+
"confidence": 0.9775137901306152,
|
| 389 |
+
"position": [
|
| 390 |
+
0.10337689967127517,
|
| 391 |
+
-0.011852119321702048,
|
| 392 |
+
0.030436036176979542
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.4405431842982688,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.49783056391097186,
|
| 398 |
+
-0.5129391484296781,
|
| 399 |
+
-0.5431204860918635
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_49": {
|
| 404 |
+
"confidence": 0.9768083095550537,
|
| 405 |
+
"position": [
|
| 406 |
+
0.03555346728535369,
|
| 407 |
+
-0.09553430715459399,
|
| 408 |
+
0.02963452134281397
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.6912585818515126,
|
| 412 |
+
"xyz": [
|
| 413 |
+
-0.7009803054121241,
|
| 414 |
+
-0.10378998526012329,
|
| 415 |
+
0.14147728934590362
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_50": {
|
| 420 |
+
"confidence": 0.9763071537017822,
|
| 421 |
+
"position": [
|
| 422 |
+
-0.01899542025057599,
|
| 423 |
+
-0.10101975241559558,
|
| 424 |
+
0.027577840723097324
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.09898728822356445,
|
| 428 |
+
"xyz": [
|
| 429 |
+
0.05515748528147399,
|
| 430 |
+
0.6959424029449515,
|
| 431 |
+
0.7091003739744997
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_51": {
|
| 436 |
+
"confidence": 0.9759173393249512,
|
| 437 |
+
"position": [
|
| 438 |
+
-0.03219526930479333,
|
| 439 |
+
-0.09437342474120669,
|
| 440 |
+
0.05769458506256342
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.6158391536841015,
|
| 444 |
+
"xyz": [
|
| 445 |
+
-0.7693740366975362,
|
| 446 |
+
0.136567208959947,
|
| 447 |
+
-0.10077264451366852
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_53": {
|
| 452 |
+
"confidence": 0.9756150841712952,
|
| 453 |
+
"position": [
|
| 454 |
+
0.0527966104564257,
|
| 455 |
+
-0.08335892597096972,
|
| 456 |
+
0.0474918344989419
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.6270860470152733,
|
| 460 |
+
"xyz": [
|
| 461 |
+
-0.718906910225043,
|
| 462 |
+
-0.2712934689661164,
|
| 463 |
+
0.12781157132971652
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_55": {
|
| 468 |
+
"confidence": 0.9753459095954895,
|
| 469 |
+
"position": [
|
| 470 |
+
-0.08790016471175477,
|
| 471 |
+
-0.020050852763233706,
|
| 472 |
+
0.08888693246990442
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.3399541145645393,
|
| 476 |
+
"xyz": [
|
| 477 |
+
0.5109954505253347,
|
| 478 |
+
0.683543135973175,
|
| 479 |
+
0.3950742092278474
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"grasp_57": {
|
| 484 |
+
"confidence": 0.9748899340629578,
|
| 485 |
+
"position": [
|
| 486 |
+
0.061857648950535804,
|
| 487 |
+
-0.08180517444270663,
|
| 488 |
+
0.03329338226467371
|
| 489 |
+
],
|
| 490 |
+
"orientation": {
|
| 491 |
+
"w": 0.20568454789836182,
|
| 492 |
+
"xyz": [
|
| 493 |
+
0.23912964374849915,
|
| 494 |
+
-0.64041660061746,
|
| 495 |
+
-0.7002695608764812
|
| 496 |
+
]
|
| 497 |
+
}
|
| 498 |
+
}
|
| 499 |
+
}
|
| 500 |
+
},
|
| 501 |
+
{
|
| 502 |
+
"part_name": "main body with label",
|
| 503 |
+
"mask_color": "Green",
|
| 504 |
+
"graspable": true,
|
| 505 |
+
"grasp_scenarios": [
|
| 506 |
+
{
|
| 507 |
+
"scenario": "grasp around the labeled mid-body to lift the bottle",
|
| 508 |
+
"confidence": 0.95
|
| 509 |
+
},
|
| 510 |
+
{
|
| 511 |
+
"scenario": "hold the midsection to pour the bottle",
|
| 512 |
+
"confidence": 0.93
|
| 513 |
+
},
|
| 514 |
+
{
|
| 515 |
+
"scenario": "stabilize the bottle by clamping the central body during transport",
|
| 516 |
+
"confidence": 0.91
|
| 517 |
+
}
|
| 518 |
+
],
|
| 519 |
+
"functional_labels": [
|
| 520 |
+
"provide main grasp surface",
|
| 521 |
+
"display product information",
|
| 522 |
+
"contain most of the liquid volume",
|
| 523 |
+
"form the main bottle body"
|
| 524 |
+
],
|
| 525 |
+
"semantic_description": "Cylindrical central bottle body wrapped with a glossy printed label, predominantly blue with orange fruit graphics and text, covering the midsection of the bottle.",
|
| 526 |
+
"id": 1,
|
| 527 |
+
"grasp_group": {
|
| 528 |
+
"grasp_20": {
|
| 529 |
+
"confidence": 0.9837526082992554,
|
| 530 |
+
"position": [
|
| 531 |
+
0.1018988907453604,
|
| 532 |
+
0.021782641095342115,
|
| 533 |
+
-0.009636780276196077
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.543077776601364,
|
| 537 |
+
"xyz": [
|
| 538 |
+
0.5574218048103713,
|
| 539 |
+
-0.452302160591441,
|
| 540 |
+
-0.4356262338381169
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"grasp_21": {
|
| 545 |
+
"confidence": 0.9836491346359253,
|
| 546 |
+
"position": [
|
| 547 |
+
0.09495579899521545,
|
| 548 |
+
0.0421743567858357,
|
| 549 |
+
-0.03115047048777342
|
| 550 |
+
],
|
| 551 |
+
"orientation": {
|
| 552 |
+
"w": 0.6057145429361732,
|
| 553 |
+
"xyz": [
|
| 554 |
+
0.5834419220031672,
|
| 555 |
+
-0.3898305055893454,
|
| 556 |
+
-0.37515009401148824
|
| 557 |
+
]
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"grasp_22": {
|
| 561 |
+
"confidence": 0.9830036163330078,
|
| 562 |
+
"position": [
|
| 563 |
+
0.10454335511894897,
|
| 564 |
+
0.021236884203972295,
|
| 565 |
+
-0.016398126259446144
|
| 566 |
+
],
|
| 567 |
+
"orientation": {
|
| 568 |
+
"w": 0.5475481291440196,
|
| 569 |
+
"xyz": [
|
| 570 |
+
0.5472823446220627,
|
| 571 |
+
-0.44509686397117254,
|
| 572 |
+
-0.4500687316609417
|
| 573 |
+
]
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"grasp_23": {
|
| 577 |
+
"confidence": 0.9828800559043884,
|
| 578 |
+
"position": [
|
| 579 |
+
0.031881076109129936,
|
| 580 |
+
-0.09931137898820452,
|
| 581 |
+
-0.023236149922013283
|
| 582 |
+
],
|
| 583 |
+
"orientation": {
|
| 584 |
+
"w": 0.7054341657376193,
|
| 585 |
+
"xyz": [
|
| 586 |
+
-0.6934498045239937,
|
| 587 |
+
-0.10099136079452953,
|
| 588 |
+
0.10625794775250093
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"grasp_24": {
|
| 593 |
+
"confidence": 0.9825078845024109,
|
| 594 |
+
"position": [
|
| 595 |
+
0.09699152858229354,
|
| 596 |
+
0.034632137772860005,
|
| 597 |
+
-0.027844269759953022
|
| 598 |
+
],
|
| 599 |
+
"orientation": {
|
| 600 |
+
"w": 0.4155848707662737,
|
| 601 |
+
"xyz": [
|
| 602 |
+
-0.39885418201498984,
|
| 603 |
+
-0.5828972099951649,
|
| 604 |
+
0.5730928365100941
|
| 605 |
+
]
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"grasp_25": {
|
| 609 |
+
"confidence": 0.9818382263183594,
|
| 610 |
+
"position": [
|
| 611 |
+
0.10135131032438949,
|
| 612 |
+
-0.02595996970194392,
|
| 613 |
+
-0.026436340995132923
|
| 614 |
+
],
|
| 615 |
+
"orientation": {
|
| 616 |
+
"w": 0.5542292325801794,
|
| 617 |
+
"xyz": [
|
| 618 |
+
-0.5512053307250305,
|
| 619 |
+
-0.44951125333777575,
|
| 620 |
+
0.43236821605732945
|
| 621 |
+
]
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
"grasp_26": {
|
| 625 |
+
"confidence": 0.9815739989280701,
|
| 626 |
+
"position": [
|
| 627 |
+
0.031565368932206184,
|
| 628 |
+
0.09665626546484418,
|
| 629 |
+
-0.02416856586933136
|
| 630 |
+
],
|
| 631 |
+
"orientation": {
|
| 632 |
+
"w": 0.12215967393673428,
|
| 633 |
+
"xyz": [
|
| 634 |
+
-0.11070697491057149,
|
| 635 |
+
-0.6847410704481001,
|
| 636 |
+
0.7098948134839491
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
"grasp_27": {
|
| 641 |
+
"confidence": 0.9815589785575867,
|
| 642 |
+
"position": [
|
| 643 |
+
0.09836270363302901,
|
| 644 |
+
0.043937164155067876,
|
| 645 |
+
-0.022203877568244934
|
| 646 |
+
],
|
| 647 |
+
"orientation": {
|
| 648 |
+
"w": 0.3808051644883904,
|
| 649 |
+
"xyz": [
|
| 650 |
+
-0.3860033870500483,
|
| 651 |
+
-0.6027470527965693,
|
| 652 |
+
0.5853928614442695
|
| 653 |
+
]
|
| 654 |
+
}
|
| 655 |
+
},
|
| 656 |
+
"grasp_28": {
|
| 657 |
+
"confidence": 0.9814540147781372,
|
| 658 |
+
"position": [
|
| 659 |
+
0.02624498010845855,
|
| 660 |
+
-0.10233494380372576,
|
| 661 |
+
-0.015804332215338945
|
| 662 |
+
],
|
| 663 |
+
"orientation": {
|
| 664 |
+
"w": 0.7031970076700255,
|
| 665 |
+
"xyz": [
|
| 666 |
+
-0.7004603212782597,
|
| 667 |
+
-0.08637837545168003,
|
| 668 |
+
0.08607022117438598
|
| 669 |
+
]
|
| 670 |
+
}
|
| 671 |
+
},
|
| 672 |
+
"grasp_29": {
|
| 673 |
+
"confidence": 0.9813647866249084,
|
| 674 |
+
"position": [
|
| 675 |
+
-0.012680026877205819,
|
| 676 |
+
-0.10369848200934939,
|
| 677 |
+
-0.0242182444781065
|
| 678 |
+
],
|
| 679 |
+
"orientation": {
|
| 680 |
+
"w": 0.7148936058577062,
|
| 681 |
+
"xyz": [
|
| 682 |
+
-0.6961880171621686,
|
| 683 |
+
0.04214136845047445,
|
| 684 |
+
-0.049734114335088675
|
| 685 |
+
]
|
| 686 |
+
}
|
| 687 |
+
},
|
| 688 |
+
"grasp_30": {
|
| 689 |
+
"confidence": 0.9810234308242798,
|
| 690 |
+
"position": [
|
| 691 |
+
0.020818025630433112,
|
| 692 |
+
0.10295679679256864,
|
| 693 |
+
-0.020220737904310226
|
| 694 |
+
],
|
| 695 |
+
"orientation": {
|
| 696 |
+
"w": 0.7149994270573465,
|
| 697 |
+
"xyz": [
|
| 698 |
+
0.6936279631738026,
|
| 699 |
+
-0.05904380000396192,
|
| 700 |
+
-0.06457474500236236
|
| 701 |
+
]
|
| 702 |
+
}
|
| 703 |
+
},
|
| 704 |
+
"grasp_31": {
|
| 705 |
+
"confidence": 0.9810175895690918,
|
| 706 |
+
"position": [
|
| 707 |
+
0.017099411052186042,
|
| 708 |
+
-0.10385223964112811,
|
| 709 |
+
-0.02050767932087183
|
| 710 |
+
],
|
| 711 |
+
"orientation": {
|
| 712 |
+
"w": 0.7032942783050502,
|
| 713 |
+
"xyz": [
|
| 714 |
+
-0.7062299733182698,
|
| 715 |
+
-0.0626170891339295,
|
| 716 |
+
0.05191804155251706
|
| 717 |
+
]
|
| 718 |
+
}
|
| 719 |
+
},
|
| 720 |
+
"grasp_32": {
|
| 721 |
+
"confidence": 0.9808312058448792,
|
| 722 |
+
"position": [
|
| 723 |
+
0.024332509201485664,
|
| 724 |
+
-0.10410775730269961,
|
| 725 |
+
-0.017670588102191687
|
| 726 |
+
],
|
| 727 |
+
"orientation": {
|
| 728 |
+
"w": 0.701568409821387,
|
| 729 |
+
"xyz": [
|
| 730 |
+
-0.7033970225136464,
|
| 731 |
+
-0.07792444341334381,
|
| 732 |
+
0.08343965590981323
|
| 733 |
+
]
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
"grasp_33": {
|
| 737 |
+
"confidence": 0.9807947278022766,
|
| 738 |
+
"position": [
|
| 739 |
+
-0.002732085937168449,
|
| 740 |
+
-0.10450916478293948,
|
| 741 |
+
-0.02549395151436329
|
| 742 |
+
],
|
| 743 |
+
"orientation": {
|
| 744 |
+
"w": 0.7250511477179233,
|
| 745 |
+
"xyz": [
|
| 746 |
+
-0.6877444425800081,
|
| 747 |
+
-0.011449863200351906,
|
| 748 |
+
-0.03431203179540729
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
},
|
| 752 |
+
"grasp_34": {
|
| 753 |
+
"confidence": 0.9805995225906372,
|
| 754 |
+
"position": [
|
| 755 |
+
0.02725549490423873,
|
| 756 |
+
0.09781825801474042,
|
| 757 |
+
-0.025910845957696438
|
| 758 |
+
],
|
| 759 |
+
"orientation": {
|
| 760 |
+
"w": 0.11503013541224551,
|
| 761 |
+
"xyz": [
|
| 762 |
+
-0.08389869031562208,
|
| 763 |
+
-0.6843259296333003,
|
| 764 |
+
0.7151413145259357
|
| 765 |
+
]
|
| 766 |
+
}
|
| 767 |
+
},
|
| 768 |
+
"grasp_35": {
|
| 769 |
+
"confidence": 0.9803449511528015,
|
| 770 |
+
"position": [
|
| 771 |
+
0.03153752611251548,
|
| 772 |
+
0.09668411573511548,
|
| 773 |
+
-0.02682786900550127
|
| 774 |
+
],
|
| 775 |
+
"orientation": {
|
| 776 |
+
"w": 0.7120585481099042,
|
| 777 |
+
"xyz": [
|
| 778 |
+
0.6859281649474959,
|
| 779 |
+
-0.1086567612647874,
|
| 780 |
+
-0.10329029396232187
|
| 781 |
+
]
|
| 782 |
+
}
|
| 783 |
+
},
|
| 784 |
+
"grasp_36": {
|
| 785 |
+
"confidence": 0.9801875948905945,
|
| 786 |
+
"position": [
|
| 787 |
+
0.015293829899746925,
|
| 788 |
+
0.10203115901094861,
|
| 789 |
+
-0.019977279007434845
|
| 790 |
+
],
|
| 791 |
+
"orientation": {
|
| 792 |
+
"w": 0.07622584162301058,
|
| 793 |
+
"xyz": [
|
| 794 |
+
-0.04100225802377147,
|
| 795 |
+
-0.6967167537392042,
|
| 796 |
+
0.712105470393902
|
| 797 |
+
]
|
| 798 |
+
}
|
| 799 |
+
},
|
| 800 |
+
"grasp_38": {
|
| 801 |
+
"confidence": 0.9799587726593018,
|
| 802 |
+
"position": [
|
| 803 |
+
0.02199937292607501,
|
| 804 |
+
-0.10215218106168322,
|
| 805 |
+
-0.01895768567919731
|
| 806 |
+
],
|
| 807 |
+
"orientation": {
|
| 808 |
+
"w": 0.7040012347838107,
|
| 809 |
+
"xyz": [
|
| 810 |
+
-0.7019012329974659,
|
| 811 |
+
-0.08526213962084317,
|
| 812 |
+
0.06668799057389165
|
| 813 |
+
]
|
| 814 |
+
}
|
| 815 |
+
},
|
| 816 |
+
"grasp_39": {
|
| 817 |
+
"confidence": 0.9796755313873291,
|
| 818 |
+
"position": [
|
| 819 |
+
-0.0007186198490671813,
|
| 820 |
+
-0.10283215084928088,
|
| 821 |
+
-0.017839723266661167
|
| 822 |
+
],
|
| 823 |
+
"orientation": {
|
| 824 |
+
"w": 0.7100239913036402,
|
| 825 |
+
"xyz": [
|
| 826 |
+
-0.7039295111516509,
|
| 827 |
+
-0.009904518033662213,
|
| 828 |
+
-0.01584536605973615
|
| 829 |
+
]
|
| 830 |
+
}
|
| 831 |
+
}
|
| 832 |
+
}
|
| 833 |
+
},
|
| 834 |
+
{
|
| 835 |
+
"part_name": "bottom base of bottle",
|
| 836 |
+
"mask_color": "Orange",
|
| 837 |
+
"graspable": true,
|
| 838 |
+
"grasp_scenarios": [
|
| 839 |
+
{
|
| 840 |
+
"scenario": "grasp the lower bottle body near the base to pick it up",
|
| 841 |
+
"confidence": 0.78
|
| 842 |
+
},
|
| 843 |
+
{
|
| 844 |
+
"scenario": "hold the bottom section to stabilize the bottle while placing it down",
|
| 845 |
+
"confidence": 0.66
|
| 846 |
+
}
|
| 847 |
+
],
|
| 848 |
+
"functional_labels": [
|
| 849 |
+
"support standing upright",
|
| 850 |
+
"contain the lower liquid volume",
|
| 851 |
+
"provide lower grasp area",
|
| 852 |
+
"stabilize placement on a surface"
|
| 853 |
+
],
|
| 854 |
+
"semantic_description": "Translucent orange-yellow plastic lower bottle section with a glossy smooth surface and molded petaloid foot shape forming the rounded base at the bottom.",
|
| 855 |
+
"id": 4,
|
| 856 |
+
"grasp_group": {
|
| 857 |
+
"grasp_60": {
|
| 858 |
+
"confidence": 0.9799979329109192,
|
| 859 |
+
"position": [
|
| 860 |
+
0.09990618081064895,
|
| 861 |
+
0.02826279102009721,
|
| 862 |
+
-0.04562674369663
|
| 863 |
+
],
|
| 864 |
+
"orientation": {
|
| 865 |
+
"w": 0.5791452620636709,
|
| 866 |
+
"xyz": [
|
| 867 |
+
0.5435912494214807,
|
| 868 |
+
-0.4160028023037735,
|
| 869 |
+
-0.44276516061791
|
| 870 |
+
]
|
| 871 |
+
}
|
| 872 |
+
},
|
| 873 |
+
"grasp_71": {
|
| 874 |
+
"confidence": 0.9774097204208374,
|
| 875 |
+
"position": [
|
| 876 |
+
0.026358295988757163,
|
| 877 |
+
0.10642453542095609,
|
| 878 |
+
-0.0481715677306056
|
| 879 |
+
],
|
| 880 |
+
"orientation": {
|
| 881 |
+
"w": 0.7139349163089568,
|
| 882 |
+
"xyz": [
|
| 883 |
+
0.6905604821484316,
|
| 884 |
+
-0.07943934361368377,
|
| 885 |
+
-0.0843359143904627
|
| 886 |
+
]
|
| 887 |
+
}
|
| 888 |
+
}
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"quality_check": {
|
| 893 |
+
"success": true,
|
| 894 |
+
"message": "YES"
|
| 895 |
+
}
|
| 896 |
+
}
|
dataset/food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d4dedef7dcf58115a65fae63edfbc2084beed9f737381e401089df33fce70aef
|
| 3 |
+
size 3785240
|