Add asset food/beverages/03e1c3a35e4e5155bf7c9e91253dad9a
Browse files
.gitattributes
CHANGED
|
@@ -6699,3 +6699,4 @@ dataset/desktop_supplies/office_tools/fc01d179ce335b0da2f8f015bf0e7240/affordanc
|
|
| 6699 |
dataset/desktop_supplies/office_tools/fbd39759401659929d5c8fa5642196a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6700 |
dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6701 |
dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6699 |
dataset/desktop_supplies/office_tools/fbd39759401659929d5c8fa5642196a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6700 |
dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6701 |
dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6702 |
+
dataset/food/beverages/03e1c3a35e4e5155bf7c9e91253dad9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/beverages/03e1c3a35e4e5155bf7c9e91253dad9a/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1178 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle cap",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap to twist and open the bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the cap to stabilize the bottle top during handling",
|
| 14 |
+
"confidence": 0.7
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"seal the bottle opening",
|
| 19 |
+
"enable twisting to open or close",
|
| 20 |
+
"prevent spills",
|
| 21 |
+
"provide grip for cap removal"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small bright orange plastic screw cap with a slightly glossy finish, fine ribbed sides, and a short round shape at the very top of the bottle.",
|
| 24 |
+
"id": 6,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9660590887069702,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.09812687867088243,
|
| 30 |
+
0.0005965096206637099,
|
| 31 |
+
0.11712929513305426
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.46214167351879554,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.5183170785318548,
|
| 37 |
+
0.564184094237818,
|
| 38 |
+
-0.44661928698669345
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.964067280292511,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.07684936904115602,
|
| 46 |
+
0.022512742390972562,
|
| 47 |
+
0.15955875720828772
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.28923051492163315,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.49648388411295435,
|
| 53 |
+
0.7303601294771955,
|
| 54 |
+
-0.3693555784394427
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_22": {
|
| 59 |
+
"confidence": 0.9614302515983582,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.08517605595989153,
|
| 62 |
+
0.005316753013175912,
|
| 63 |
+
0.15574936475604773
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.3501832360544566,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.5492871744129334,
|
| 69 |
+
0.6786880145082633,
|
| 70 |
+
-0.3391723458283639
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_23": {
|
| 75 |
+
"confidence": 0.9600440859794617,
|
| 76 |
+
"position": [
|
| 77 |
+
0.0727923012454994,
|
| 78 |
+
-0.034807343894499354,
|
| 79 |
+
0.16270942892879248
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.377166285305374,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.7543965597756357,
|
| 85 |
+
-0.47581359332167517,
|
| 86 |
+
0.2494651242918468
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_24": {
|
| 91 |
+
"confidence": 0.9592962265014648,
|
| 92 |
+
"position": [
|
| 93 |
+
0.017854629375506192,
|
| 94 |
+
0.07961704868648667,
|
| 95 |
+
0.16222624387592077
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.03372108889487032,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.129934371785575,
|
| 101 |
+
-0.8735093868417981,
|
| 102 |
+
0.46793300620035166
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_25": {
|
| 107 |
+
"confidence": 0.9591006636619568,
|
| 108 |
+
"position": [
|
| 109 |
+
0.01754759653704241,
|
| 110 |
+
0.0800410835799994,
|
| 111 |
+
0.15679730381816626
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.07415201620498516,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.05777445866011734,
|
| 117 |
+
-0.8777209624222158,
|
| 118 |
+
0.46986115240982107
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_26": {
|
| 123 |
+
"confidence": 0.9585407376289368,
|
| 124 |
+
"position": [
|
| 125 |
+
0.04041490174131468,
|
| 126 |
+
-0.09663833391095977,
|
| 127 |
+
0.10591305699199438
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.6705114123022274,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.7136147790375035,
|
| 133 |
+
-0.12976718102040496,
|
| 134 |
+
0.1559771516657001
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_27": {
|
| 139 |
+
"confidence": 0.954816997051239,
|
| 140 |
+
"position": [
|
| 141 |
+
0.09451895422535017,
|
| 142 |
+
-0.02818438869144302,
|
| 143 |
+
0.10834857728332281
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.5284361728509536,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.6037652059469746,
|
| 149 |
+
-0.41714895019357023,
|
| 150 |
+
0.4268600949524868
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_28": {
|
| 155 |
+
"confidence": 0.9534022808074951,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.07362802111310884,
|
| 158 |
+
0.07320811886165757,
|
| 159 |
+
0.10243233945220709
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.6384717545456252,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.66778016073136,
|
| 165 |
+
0.25516248098495453,
|
| 166 |
+
0.2851588748025082
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_29": {
|
| 171 |
+
"confidence": 0.9532336592674255,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.08958133094711229,
|
| 174 |
+
0.008204871861380525,
|
| 175 |
+
0.15416414942592382
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.32412977492655604,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.5979668799422079,
|
| 181 |
+
0.6375551954080094,
|
| 182 |
+
-0.36179949185494475
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_30": {
|
| 187 |
+
"confidence": 0.9521974325180054,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.09645867877407,
|
| 190 |
+
0.00032673918758518994,
|
| 191 |
+
0.1095027169212699
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.49156369321552074,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.4899192729818475,
|
| 197 |
+
0.551724692999732,
|
| 198 |
+
-0.46254092208971764
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_31": {
|
| 203 |
+
"confidence": 0.9521937370300293,
|
| 204 |
+
"position": [
|
| 205 |
+
-0.05340473511023447,
|
| 206 |
+
0.06841976482246537,
|
| 207 |
+
0.1528744539245963
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.47411896312417484,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.8163970009822756,
|
| 213 |
+
0.2870689994824902,
|
| 214 |
+
0.16216823094960972
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_32": {
|
| 219 |
+
"confidence": 0.9511314034461975,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.07430530124111101,
|
| 222 |
+
0.028625554477912374,
|
| 223 |
+
0.1632921239361167
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.2760744266882317,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.42028498259343305,
|
| 229 |
+
0.785490219205812,
|
| 230 |
+
-0.3607610841917508
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_33": {
|
| 235 |
+
"confidence": 0.9510790109634399,
|
| 236 |
+
"position": [
|
| 237 |
+
0.05164124659495428,
|
| 238 |
+
-0.02673925917770248,
|
| 239 |
+
0.18594618048518896
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.15736854524569738,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.4949700728251877,
|
| 245 |
+
-0.816772691071568,
|
| 246 |
+
-0.2512411970485538
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_34": {
|
| 251 |
+
"confidence": 0.9488654136657715,
|
| 252 |
+
"position": [
|
| 253 |
+
0.005489285395015031,
|
| 254 |
+
0.08168193984602112,
|
| 255 |
+
0.16022840049117804
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.026216916929174425,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.00898161378988089,
|
| 261 |
+
-0.8804485182273887,
|
| 262 |
+
0.47333118493466547
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_35": {
|
| 267 |
+
"confidence": 0.9484398365020752,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.026790817908477038,
|
| 270 |
+
0.09370775807474274,
|
| 271 |
+
0.10870241280645132
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.6659338348583972,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.7307978937025625,
|
| 277 |
+
0.10253429763172262,
|
| 278 |
+
0.1093310749963457
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_36": {
|
| 283 |
+
"confidence": 0.9480836391448975,
|
| 284 |
+
"position": [
|
| 285 |
+
-0.07362293981714174,
|
| 286 |
+
0.02917488392267842,
|
| 287 |
+
0.1595096131786704
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.38220013185594176,
|
| 291 |
+
"xyz": [
|
| 292 |
+
0.7293624251811385,
|
| 293 |
+
0.5047208239268741,
|
| 294 |
+
0.2592496901401543
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_37": {
|
| 299 |
+
"confidence": 0.9474419951438904,
|
| 300 |
+
"position": [
|
| 301 |
+
-0.09039303445024416,
|
| 302 |
+
0.005691780781489797,
|
| 303 |
+
0.15638877358287573
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.3595115792875658,
|
| 307 |
+
"xyz": [
|
| 308 |
+
0.6261730116889479,
|
| 309 |
+
0.6021715821904351,
|
| 310 |
+
0.34065843508244525
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
"grasp_38": {
|
| 315 |
+
"confidence": 0.9449756145477295,
|
| 316 |
+
"position": [
|
| 317 |
+
0.0367294944007881,
|
| 318 |
+
0.07167203265998978,
|
| 319 |
+
0.1591206332668662
|
| 320 |
+
],
|
| 321 |
+
"orientation": {
|
| 322 |
+
"w": 0.10656772250961032,
|
| 323 |
+
"xyz": [
|
| 324 |
+
-0.21224907049045486,
|
| 325 |
+
-0.8555063645654576,
|
| 326 |
+
0.460111413445751
|
| 327 |
+
]
|
| 328 |
+
}
|
| 329 |
+
},
|
| 330 |
+
"grasp_39": {
|
| 331 |
+
"confidence": 0.944495439529419,
|
| 332 |
+
"position": [
|
| 333 |
+
-0.008262034214567393,
|
| 334 |
+
-0.08137541722680908,
|
| 335 |
+
0.1635120054706931
|
| 336 |
+
],
|
| 337 |
+
"orientation": {
|
| 338 |
+
"w": 0.45430660192515127,
|
| 339 |
+
"xyz": [
|
| 340 |
+
-0.8895023019284304,
|
| 341 |
+
0.012403939068709735,
|
| 342 |
+
-0.04730019668907526
|
| 343 |
+
]
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"part_name": "neck and shoulder of bottle",
|
| 350 |
+
"mask_color": "Lime Green",
|
| 351 |
+
"graspable": true,
|
| 352 |
+
"grasp_scenarios": [
|
| 353 |
+
{
|
| 354 |
+
"scenario": "grasp the narrowed upper bottle to pick up or reposition it",
|
| 355 |
+
"confidence": 0.78
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"scenario": "hold the shoulder area to stabilize the bottle while opening the cap",
|
| 359 |
+
"confidence": 0.88
|
| 360 |
+
}
|
| 361 |
+
],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"connect the cap to the main bottle",
|
| 364 |
+
"support cap attachment with the threaded neck",
|
| 365 |
+
"guide pouring from the opening",
|
| 366 |
+
"provide an upper handling region"
|
| 367 |
+
],
|
| 368 |
+
"semantic_description": "Rounded upper bottle section below the cap made of translucent clear plastic, with smooth glossy surfaces and sloped shoulders leading into the cylindrical body.",
|
| 369 |
+
"id": 9,
|
| 370 |
+
"grasp_group": {
|
| 371 |
+
"grasp_60": {
|
| 372 |
+
"confidence": 0.9585332870483398,
|
| 373 |
+
"position": [
|
| 374 |
+
0.029505743004847318,
|
| 375 |
+
-0.09232034992601257,
|
| 376 |
+
0.12228175904601812
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.5391691902198071,
|
| 380 |
+
"xyz": [
|
| 381 |
+
-0.8282061134107125,
|
| 382 |
+
-0.12117154602861069,
|
| 383 |
+
0.09321305949208922
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_61": {
|
| 388 |
+
"confidence": 0.9578669667243958,
|
| 389 |
+
"position": [
|
| 390 |
+
0.034123232879210263,
|
| 391 |
+
-0.0932258562388597,
|
| 392 |
+
0.11614468600600958
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.5558345505555035,
|
| 396 |
+
"xyz": [
|
| 397 |
+
-0.8122929829974529,
|
| 398 |
+
-0.14249191848034115,
|
| 399 |
+
0.10451849285965306
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_62": {
|
| 404 |
+
"confidence": 0.9575185179710388,
|
| 405 |
+
"position": [
|
| 406 |
+
-0.012927019677590579,
|
| 407 |
+
0.09067898530338425,
|
| 408 |
+
0.12952265050262213
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.5258437852361759,
|
| 412 |
+
"xyz": [
|
| 413 |
+
0.847388525232711,
|
| 414 |
+
0.058856550052993506,
|
| 415 |
+
0.044236945512562464
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
},
|
| 419 |
+
"grasp_63": {
|
| 420 |
+
"confidence": 0.9573652148246765,
|
| 421 |
+
"position": [
|
| 422 |
+
-0.025370472751092166,
|
| 423 |
+
0.1011996893939795,
|
| 424 |
+
0.08673590328544378
|
| 425 |
+
],
|
| 426 |
+
"orientation": {
|
| 427 |
+
"w": 0.6979636739393442,
|
| 428 |
+
"xyz": [
|
| 429 |
+
0.7059024194260867,
|
| 430 |
+
0.07604475152370993,
|
| 431 |
+
0.09362520961358141
|
| 432 |
+
]
|
| 433 |
+
}
|
| 434 |
+
},
|
| 435 |
+
"grasp_64": {
|
| 436 |
+
"confidence": 0.9569460153579712,
|
| 437 |
+
"position": [
|
| 438 |
+
-0.006889776501338929,
|
| 439 |
+
0.0966268955526175,
|
| 440 |
+
0.120298414491117
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.5415226282064824,
|
| 444 |
+
"xyz": [
|
| 445 |
+
0.8403641373932652,
|
| 446 |
+
0.014662525713715735,
|
| 447 |
+
0.018065715134236833
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_65": {
|
| 452 |
+
"confidence": 0.954707682132721,
|
| 453 |
+
"position": [
|
| 454 |
+
-0.024674404121469706,
|
| 455 |
+
0.08679522115562577,
|
| 456 |
+
0.13104960229247808
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.5150308590458349,
|
| 460 |
+
"xyz": [
|
| 461 |
+
0.8450328172392811,
|
| 462 |
+
0.1256407647304919,
|
| 463 |
+
0.06983659683210684
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_66": {
|
| 468 |
+
"confidence": 0.9532220959663391,
|
| 469 |
+
"position": [
|
| 470 |
+
0.09484596765832976,
|
| 471 |
+
0.007962766641867347,
|
| 472 |
+
0.11406952049583197
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.4158279286627813,
|
| 476 |
+
"xyz": [
|
| 477 |
+
0.6238589577874514,
|
| 478 |
+
-0.5105063646322268,
|
| 479 |
+
-0.4210348990313796
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"grasp_67": {
|
| 484 |
+
"confidence": 0.9511003494262695,
|
| 485 |
+
"position": [
|
| 486 |
+
-0.08472977363271639,
|
| 487 |
+
0.03421042028639931,
|
| 488 |
+
0.12761638965457678
|
| 489 |
+
],
|
| 490 |
+
"orientation": {
|
| 491 |
+
"w": 0.2930924958705303,
|
| 492 |
+
"xyz": [
|
| 493 |
+
-0.48223848367905925,
|
| 494 |
+
0.7048942036173186,
|
| 495 |
+
-0.42972897904378166
|
| 496 |
+
]
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"grasp_68": {
|
| 500 |
+
"confidence": 0.9506542086601257,
|
| 501 |
+
"position": [
|
| 502 |
+
0.014213335060048848,
|
| 503 |
+
-0.11019815217878204,
|
| 504 |
+
0.08188679721206427
|
| 505 |
+
],
|
| 506 |
+
"orientation": {
|
| 507 |
+
"w": 0.6868328099921028,
|
| 508 |
+
"xyz": [
|
| 509 |
+
-0.7237642325801421,
|
| 510 |
+
-0.02413481953849561,
|
| 511 |
+
0.06199626796730482
|
| 512 |
+
]
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"grasp_69": {
|
| 516 |
+
"confidence": 0.9489449858665466,
|
| 517 |
+
"position": [
|
| 518 |
+
-0.026147527329158038,
|
| 519 |
+
0.10323372769926209,
|
| 520 |
+
0.0768416291102767
|
| 521 |
+
],
|
| 522 |
+
"orientation": {
|
| 523 |
+
"w": 0.7012909079778801,
|
| 524 |
+
"xyz": [
|
| 525 |
+
0.7001777874373929,
|
| 526 |
+
0.11789965025270921,
|
| 527 |
+
0.06357515896265081
|
| 528 |
+
]
|
| 529 |
+
}
|
| 530 |
+
},
|
| 531 |
+
"grasp_70": {
|
| 532 |
+
"confidence": 0.9479546546936035,
|
| 533 |
+
"position": [
|
| 534 |
+
-0.08643503271741793,
|
| 535 |
+
0.04319596577261109,
|
| 536 |
+
0.11180117633193731
|
| 537 |
+
],
|
| 538 |
+
"orientation": {
|
| 539 |
+
"w": 0.2977447628031257,
|
| 540 |
+
"xyz": [
|
| 541 |
+
-0.45472293112571505,
|
| 542 |
+
0.6702954433288676,
|
| 543 |
+
-0.5052515519860437
|
| 544 |
+
]
|
| 545 |
+
}
|
| 546 |
+
},
|
| 547 |
+
"grasp_71": {
|
| 548 |
+
"confidence": 0.9478678703308105,
|
| 549 |
+
"position": [
|
| 550 |
+
0.014221744902897626,
|
| 551 |
+
-0.09188686024572235,
|
| 552 |
+
0.1257678112015128
|
| 553 |
+
],
|
| 554 |
+
"orientation": {
|
| 555 |
+
"w": 0.5110554102043278,
|
| 556 |
+
"xyz": [
|
| 557 |
+
-0.8570392918001413,
|
| 558 |
+
-0.03975720382964565,
|
| 559 |
+
0.052205217701360954
|
| 560 |
+
]
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
"grasp_72": {
|
| 564 |
+
"confidence": 0.9476016163825989,
|
| 565 |
+
"position": [
|
| 566 |
+
0.013365550257731229,
|
| 567 |
+
-0.08911005120899063,
|
| 568 |
+
0.13050153758376837
|
| 569 |
+
],
|
| 570 |
+
"orientation": {
|
| 571 |
+
"w": 0.49530290039834124,
|
| 572 |
+
"xyz": [
|
| 573 |
+
-0.8668938081926112,
|
| 574 |
+
-0.02470834349495138,
|
| 575 |
+
0.05059308189899976
|
| 576 |
+
]
|
| 577 |
+
}
|
| 578 |
+
},
|
| 579 |
+
"grasp_73": {
|
| 580 |
+
"confidence": 0.9467969536781311,
|
| 581 |
+
"position": [
|
| 582 |
+
-0.04050465830368921,
|
| 583 |
+
0.08555367875669617,
|
| 584 |
+
0.12020447757095098
|
| 585 |
+
],
|
| 586 |
+
"orientation": {
|
| 587 |
+
"w": 0.15542300556289806,
|
| 588 |
+
"xyz": [
|
| 589 |
+
-0.12955295944169534,
|
| 590 |
+
0.8181657297607793,
|
| 591 |
+
-0.5382049411578318
|
| 592 |
+
]
|
| 593 |
+
}
|
| 594 |
+
},
|
| 595 |
+
"grasp_75": {
|
| 596 |
+
"confidence": 0.9460933804512024,
|
| 597 |
+
"position": [
|
| 598 |
+
-0.02841308683855459,
|
| 599 |
+
0.08630351263855118,
|
| 600 |
+
0.1338988235220313
|
| 601 |
+
],
|
| 602 |
+
"orientation": {
|
| 603 |
+
"w": 0.10769345298606717,
|
| 604 |
+
"xyz": [
|
| 605 |
+
-0.08945918876462508,
|
| 606 |
+
0.8637924403740841,
|
| 607 |
+
-0.484005985171772
|
| 608 |
+
]
|
| 609 |
+
}
|
| 610 |
+
},
|
| 611 |
+
"grasp_76": {
|
| 612 |
+
"confidence": 0.9453583359718323,
|
| 613 |
+
"position": [
|
| 614 |
+
0.048943339206743985,
|
| 615 |
+
-0.09490977686073165,
|
| 616 |
+
0.07654384430497885
|
| 617 |
+
],
|
| 618 |
+
"orientation": {
|
| 619 |
+
"w": 0.11915471141540503,
|
| 620 |
+
"xyz": [
|
| 621 |
+
0.21266509075535012,
|
| 622 |
+
-0.6661440559312322,
|
| 623 |
+
-0.7048601355368439
|
| 624 |
+
]
|
| 625 |
+
}
|
| 626 |
+
},
|
| 627 |
+
"grasp_77": {
|
| 628 |
+
"confidence": 0.9433538317680359,
|
| 629 |
+
"position": [
|
| 630 |
+
-0.05466382362646982,
|
| 631 |
+
-0.09065244060184341,
|
| 632 |
+
0.08638213481754065
|
| 633 |
+
],
|
| 634 |
+
"orientation": {
|
| 635 |
+
"w": 0.2099595693304586,
|
| 636 |
+
"xyz": [
|
| 637 |
+
0.18046554412785365,
|
| 638 |
+
0.6990711221530196,
|
| 639 |
+
0.6592789491565193
|
| 640 |
+
]
|
| 641 |
+
}
|
| 642 |
+
},
|
| 643 |
+
"grasp_78": {
|
| 644 |
+
"confidence": 0.9408591389656067,
|
| 645 |
+
"position": [
|
| 646 |
+
0.017636541568208486,
|
| 647 |
+
-0.08938279461290222,
|
| 648 |
+
0.1298562427982688
|
| 649 |
+
],
|
| 650 |
+
"orientation": {
|
| 651 |
+
"w": 0.5022126701858789,
|
| 652 |
+
"xyz": [
|
| 653 |
+
-0.8559661058521765,
|
| 654 |
+
-0.11607335680980024,
|
| 655 |
+
0.04039103088477889
|
| 656 |
+
]
|
| 657 |
+
}
|
| 658 |
+
},
|
| 659 |
+
"grasp_79": {
|
| 660 |
+
"confidence": 0.9406333565711975,
|
| 661 |
+
"position": [
|
| 662 |
+
0.08294339693384245,
|
| 663 |
+
-0.06124546092178207,
|
| 664 |
+
0.08795723225921392
|
| 665 |
+
],
|
| 666 |
+
"orientation": {
|
| 667 |
+
"w": 0.3200079014713367,
|
| 668 |
+
"xyz": [
|
| 669 |
+
0.32576300398067903,
|
| 670 |
+
-0.6257340013176742,
|
| 671 |
+
-0.6324004805725312
|
| 672 |
+
]
|
| 673 |
+
}
|
| 674 |
+
}
|
| 675 |
+
}
|
| 676 |
+
},
|
| 677 |
+
{
|
| 678 |
+
"part_name": "main bottle body with label sleeve",
|
| 679 |
+
"mask_color": "Magenta",
|
| 680 |
+
"graspable": true,
|
| 681 |
+
"grasp_scenarios": [
|
| 682 |
+
{
|
| 683 |
+
"scenario": "grasp around the cylindrical mid-body to lift the bottle",
|
| 684 |
+
"confidence": 0.95
|
| 685 |
+
},
|
| 686 |
+
{
|
| 687 |
+
"scenario": "hold the body while pouring the drink",
|
| 688 |
+
"confidence": 0.91
|
| 689 |
+
},
|
| 690 |
+
{
|
| 691 |
+
"scenario": "stabilize the bottle body during cap twisting",
|
| 692 |
+
"confidence": 0.93
|
| 693 |
+
}
|
| 694 |
+
],
|
| 695 |
+
"functional_labels": [
|
| 696 |
+
"contain the beverage",
|
| 697 |
+
"provide the main grasp surface",
|
| 698 |
+
"support the wraparound product label",
|
| 699 |
+
"form the central structural body of the bottle"
|
| 700 |
+
],
|
| 701 |
+
"semantic_description": "Tall cylindrical bottle body covered mostly by a bright orange glossy label sleeve, with large white text and orange fruit imagery visible on the front.",
|
| 702 |
+
"id": 7,
|
| 703 |
+
"grasp_group": {
|
| 704 |
+
"grasp_40": {
|
| 705 |
+
"confidence": 0.911731481552124,
|
| 706 |
+
"position": [
|
| 707 |
+
0.0025488625396974385,
|
| 708 |
+
0.11428286421869416,
|
| 709 |
+
-0.03923577722162008
|
| 710 |
+
],
|
| 711 |
+
"orientation": {
|
| 712 |
+
"w": 0.01670850777971034,
|
| 713 |
+
"xyz": [
|
| 714 |
+
0.008996531508236013,
|
| 715 |
+
-0.7046744616726123,
|
| 716 |
+
0.7092769496148951
|
| 717 |
+
]
|
| 718 |
+
}
|
| 719 |
+
},
|
| 720 |
+
"grasp_41": {
|
| 721 |
+
"confidence": 0.9095879793167114,
|
| 722 |
+
"position": [
|
| 723 |
+
0.035794722207356244,
|
| 724 |
+
0.10370198923919816,
|
| 725 |
+
-0.029433350078761578
|
| 726 |
+
],
|
| 727 |
+
"orientation": {
|
| 728 |
+
"w": 0.1260309850122949,
|
| 729 |
+
"xyz": [
|
| 730 |
+
-0.10863259482366454,
|
| 731 |
+
-0.6945156895290544,
|
| 732 |
+
0.6999736474730246
|
| 733 |
+
]
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
"grasp_42": {
|
| 737 |
+
"confidence": 0.9065195322036743,
|
| 738 |
+
"position": [
|
| 739 |
+
0.03348457283573225,
|
| 740 |
+
0.10727262783620972,
|
| 741 |
+
-0.0521072531118989
|
| 742 |
+
],
|
| 743 |
+
"orientation": {
|
| 744 |
+
"w": 0.11656293785158597,
|
| 745 |
+
"xyz": [
|
| 746 |
+
-0.09570547059899746,
|
| 747 |
+
-0.6853322795465134,
|
| 748 |
+
0.712441724654312
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
},
|
| 752 |
+
"grasp_43": {
|
| 753 |
+
"confidence": 0.8902966380119324,
|
| 754 |
+
"position": [
|
| 755 |
+
0.00332414434524253,
|
| 756 |
+
-0.11202355187560897,
|
| 757 |
+
-0.040829104371368885
|
| 758 |
+
],
|
| 759 |
+
"orientation": {
|
| 760 |
+
"w": 0.7168510524562818,
|
| 761 |
+
"xyz": [
|
| 762 |
+
-0.6971086863123546,
|
| 763 |
+
-0.012702009517975843,
|
| 764 |
+
0.001645300698803923
|
| 765 |
+
]
|
| 766 |
+
}
|
| 767 |
+
},
|
| 768 |
+
"grasp_44": {
|
| 769 |
+
"confidence": 0.8887596130371094,
|
| 770 |
+
"position": [
|
| 771 |
+
-0.003194168850313872,
|
| 772 |
+
-0.11235266637231689,
|
| 773 |
+
-0.03448676597326994
|
| 774 |
+
],
|
| 775 |
+
"orientation": {
|
| 776 |
+
"w": 0.7109027262135816,
|
| 777 |
+
"xyz": [
|
| 778 |
+
-0.702660449380304,
|
| 779 |
+
-0.00028012903949525825,
|
| 780 |
+
-0.0297578269785975
|
| 781 |
+
]
|
| 782 |
+
}
|
| 783 |
+
},
|
| 784 |
+
"grasp_45": {
|
| 785 |
+
"confidence": 0.8866004943847656,
|
| 786 |
+
"position": [
|
| 787 |
+
0.0028437721193768084,
|
| 788 |
+
-0.11278990369464736,
|
| 789 |
+
-0.043838818557560444
|
| 790 |
+
],
|
| 791 |
+
"orientation": {
|
| 792 |
+
"w": 0.7127246014681743,
|
| 793 |
+
"xyz": [
|
| 794 |
+
-0.7013224312969035,
|
| 795 |
+
-0.012530641694266986,
|
| 796 |
+
-0.003670536822056446
|
| 797 |
+
]
|
| 798 |
+
}
|
| 799 |
+
},
|
| 800 |
+
"grasp_46": {
|
| 801 |
+
"confidence": 0.8855907917022705,
|
| 802 |
+
"position": [
|
| 803 |
+
0.03055626741843298,
|
| 804 |
+
0.10706707376812119,
|
| 805 |
+
-0.03600779827684164
|
| 806 |
+
],
|
| 807 |
+
"orientation": {
|
| 808 |
+
"w": 0.7095281046166569,
|
| 809 |
+
"xyz": [
|
| 810 |
+
0.693302702103381,
|
| 811 |
+
-0.09596592907174983,
|
| 812 |
+
-0.08180325465799586
|
| 813 |
+
]
|
| 814 |
+
}
|
| 815 |
+
},
|
| 816 |
+
"grasp_47": {
|
| 817 |
+
"confidence": 0.8853572607040405,
|
| 818 |
+
"position": [
|
| 819 |
+
-0.010561895265709609,
|
| 820 |
+
-0.11201698791410308,
|
| 821 |
+
-0.044639105908572674
|
| 822 |
+
],
|
| 823 |
+
"orientation": {
|
| 824 |
+
"w": 0.7073712622498203,
|
| 825 |
+
"xyz": [
|
| 826 |
+
-0.7050629887242178,
|
| 827 |
+
0.04215194418869195,
|
| 828 |
+
-0.027116284322952332
|
| 829 |
+
]
|
| 830 |
+
}
|
| 831 |
+
},
|
| 832 |
+
"grasp_48": {
|
| 833 |
+
"confidence": 0.8830145001411438,
|
| 834 |
+
"position": [
|
| 835 |
+
0.006596408144105226,
|
| 836 |
+
-0.10893469017173629,
|
| 837 |
+
-0.030553567223250866
|
| 838 |
+
],
|
| 839 |
+
"orientation": {
|
| 840 |
+
"w": 0.7136816936928273,
|
| 841 |
+
"xyz": [
|
| 842 |
+
-0.6998622590273273,
|
| 843 |
+
-0.028427526164595096,
|
| 844 |
+
0.0065676657242282315
|
| 845 |
+
]
|
| 846 |
+
}
|
| 847 |
+
},
|
| 848 |
+
"grasp_49": {
|
| 849 |
+
"confidence": 0.8811259269714355,
|
| 850 |
+
"position": [
|
| 851 |
+
0.002731187327299267,
|
| 852 |
+
-0.11221794497396331,
|
| 853 |
+
-0.04828703869134188
|
| 854 |
+
],
|
| 855 |
+
"orientation": {
|
| 856 |
+
"w": 0.7167798085280596,
|
| 857 |
+
"xyz": [
|
| 858 |
+
-0.6972277133618663,
|
| 859 |
+
-0.009912745966218162,
|
| 860 |
+
0.0013997407155742411
|
| 861 |
+
]
|
| 862 |
+
}
|
| 863 |
+
},
|
| 864 |
+
"grasp_50": {
|
| 865 |
+
"confidence": 0.8804519176483154,
|
| 866 |
+
"position": [
|
| 867 |
+
-0.01140159711940214,
|
| 868 |
+
-0.11247080277826171,
|
| 869 |
+
-0.04189380910247564
|
| 870 |
+
],
|
| 871 |
+
"orientation": {
|
| 872 |
+
"w": 0.7209970333298452,
|
| 873 |
+
"xyz": [
|
| 874 |
+
-0.6905465021139184,
|
| 875 |
+
0.03572204663655798,
|
| 876 |
+
-0.04508593718544121
|
| 877 |
+
]
|
| 878 |
+
}
|
| 879 |
+
},
|
| 880 |
+
"grasp_51": {
|
| 881 |
+
"confidence": 0.8803436756134033,
|
| 882 |
+
"position": [
|
| 883 |
+
0.01839775062398985,
|
| 884 |
+
-0.10913373243238311,
|
| 885 |
+
-0.012101773638278246
|
| 886 |
+
],
|
| 887 |
+
"orientation": {
|
| 888 |
+
"w": 0.706083899730022,
|
| 889 |
+
"xyz": [
|
| 890 |
+
-0.7036239163083059,
|
| 891 |
+
-0.05899843068367572,
|
| 892 |
+
0.053647890153013494
|
| 893 |
+
]
|
| 894 |
+
}
|
| 895 |
+
},
|
| 896 |
+
"grasp_52": {
|
| 897 |
+
"confidence": 0.8788101673126221,
|
| 898 |
+
"position": [
|
| 899 |
+
0.035640294023323804,
|
| 900 |
+
0.1025497345981421,
|
| 901 |
+
0.004832618869841099
|
| 902 |
+
],
|
| 903 |
+
"orientation": {
|
| 904 |
+
"w": 0.11747454667178821,
|
| 905 |
+
"xyz": [
|
| 906 |
+
-0.11846987354986174,
|
| 907 |
+
-0.6982879471555634,
|
| 908 |
+
0.6961024082723801
|
| 909 |
+
]
|
| 910 |
+
}
|
| 911 |
+
},
|
| 912 |
+
"grasp_53": {
|
| 913 |
+
"confidence": 0.8787472248077393,
|
| 914 |
+
"position": [
|
| 915 |
+
0.003661868686322123,
|
| 916 |
+
-0.1093531967344461,
|
| 917 |
+
-0.02494858019053936
|
| 918 |
+
],
|
| 919 |
+
"orientation": {
|
| 920 |
+
"w": 0.712819748176052,
|
| 921 |
+
"xyz": [
|
| 922 |
+
-0.7010894618253409,
|
| 923 |
+
-0.018496508829438874,
|
| 924 |
+
-0.004410474895732935
|
| 925 |
+
]
|
| 926 |
+
}
|
| 927 |
+
},
|
| 928 |
+
"grasp_54": {
|
| 929 |
+
"confidence": 0.8776081800460815,
|
| 930 |
+
"position": [
|
| 931 |
+
-0.025497842289041728,
|
| 932 |
+
0.1081717266497435,
|
| 933 |
+
-0.04398985859006643
|
| 934 |
+
],
|
| 935 |
+
"orientation": {
|
| 936 |
+
"w": 0.07369003196466584,
|
| 937 |
+
"xyz": [
|
| 938 |
+
-0.09790293678892054,
|
| 939 |
+
0.6961803413045908,
|
| 940 |
+
-0.7073314120963204
|
| 941 |
+
]
|
| 942 |
+
}
|
| 943 |
+
},
|
| 944 |
+
"grasp_55": {
|
| 945 |
+
"confidence": 0.8772311806678772,
|
| 946 |
+
"position": [
|
| 947 |
+
0.03835378430085257,
|
| 948 |
+
0.10253089953039307,
|
| 949 |
+
0.0005155280232429504
|
| 950 |
+
],
|
| 951 |
+
"orientation": {
|
| 952 |
+
"w": 0.12998031562477164,
|
| 953 |
+
"xyz": [
|
| 954 |
+
-0.12425015891096841,
|
| 955 |
+
-0.7006311500826827,
|
| 956 |
+
0.6904947552983305
|
| 957 |
+
]
|
| 958 |
+
}
|
| 959 |
+
},
|
| 960 |
+
"grasp_56": {
|
| 961 |
+
"confidence": 0.875806450843811,
|
| 962 |
+
"position": [
|
| 963 |
+
0.10285393364029005,
|
| 964 |
+
-0.025155118593829684,
|
| 965 |
+
-0.051470943726599216
|
| 966 |
+
],
|
| 967 |
+
"orientation": {
|
| 968 |
+
"w": 0.4614454002881178,
|
| 969 |
+
"xyz": [
|
| 970 |
+
0.4245766622200605,
|
| 971 |
+
-0.5699968507546003,
|
| 972 |
+
-0.5309485762113398
|
| 973 |
+
]
|
| 974 |
+
}
|
| 975 |
+
},
|
| 976 |
+
"grasp_57": {
|
| 977 |
+
"confidence": 0.8753728866577148,
|
| 978 |
+
"position": [
|
| 979 |
+
0.1043099261005409,
|
| 980 |
+
-0.028727739045280032,
|
| 981 |
+
-0.05784199107438326
|
| 982 |
+
],
|
| 983 |
+
"orientation": {
|
| 984 |
+
"w": 0.4518335361606052,
|
| 985 |
+
"xyz": [
|
| 986 |
+
0.41484135543713646,
|
| 987 |
+
-0.5610793248494365,
|
| 988 |
+
-0.5558264986901785
|
| 989 |
+
]
|
| 990 |
+
}
|
| 991 |
+
},
|
| 992 |
+
"grasp_58": {
|
| 993 |
+
"confidence": 0.8750098347663879,
|
| 994 |
+
"position": [
|
| 995 |
+
-0.004705563827883452,
|
| 996 |
+
-0.10961366903211456,
|
| 997 |
+
-0.022863426245748997
|
| 998 |
+
],
|
| 999 |
+
"orientation": {
|
| 1000 |
+
"w": 0.7156443306456207,
|
| 1001 |
+
"xyz": [
|
| 1002 |
+
-0.697523059267346,
|
| 1003 |
+
0.02033398873568726,
|
| 1004 |
+
-0.030021703935660764
|
| 1005 |
+
]
|
| 1006 |
+
}
|
| 1007 |
+
},
|
| 1008 |
+
"grasp_59": {
|
| 1009 |
+
"confidence": 0.8704796433448792,
|
| 1010 |
+
"position": [
|
| 1011 |
+
0.10542317695217207,
|
| 1012 |
+
-0.016895417982595973,
|
| 1013 |
+
-0.05698946584016085
|
| 1014 |
+
],
|
| 1015 |
+
"orientation": {
|
| 1016 |
+
"w": 0.4822563752301217,
|
| 1017 |
+
"xyz": [
|
| 1018 |
+
0.4382647183697182,
|
| 1019 |
+
-0.532488390600443,
|
| 1020 |
+
-0.5401934274479515
|
| 1021 |
+
]
|
| 1022 |
+
}
|
| 1023 |
+
}
|
| 1024 |
+
}
|
| 1025 |
+
},
|
| 1026 |
+
{
|
| 1027 |
+
"part_name": "base of bottle",
|
| 1028 |
+
"mask_color": "Yellow",
|
| 1029 |
+
"graspable": true,
|
| 1030 |
+
"grasp_scenarios": [
|
| 1031 |
+
{
|
| 1032 |
+
"scenario": "grasp the lower bottle body near the base to pick it up",
|
| 1033 |
+
"confidence": 0.72
|
| 1034 |
+
},
|
| 1035 |
+
{
|
| 1036 |
+
"scenario": "hold the bottom area to steady the bottle when placing it down",
|
| 1037 |
+
"confidence": 0.68
|
| 1038 |
+
}
|
| 1039 |
+
],
|
| 1040 |
+
"functional_labels": [
|
| 1041 |
+
"support upright standing",
|
| 1042 |
+
"stabilize the container",
|
| 1043 |
+
"form the lower structural end of the bottle",
|
| 1044 |
+
"provide a contact area with surfaces"
|
| 1045 |
+
],
|
| 1046 |
+
"semantic_description": "Rounded translucent yellow-orange plastic bottom with a glossy finish and molded petaloid feet, slightly wider at the contact area and forming the standing base.",
|
| 1047 |
+
"id": 3,
|
| 1048 |
+
"grasp_group": {
|
| 1049 |
+
"grasp_1": {
|
| 1050 |
+
"confidence": 0.9191702604293823,
|
| 1051 |
+
"position": [
|
| 1052 |
+
0.024866868101526052,
|
| 1053 |
+
-0.07686702620412689,
|
| 1054 |
+
-0.14229528699070215
|
| 1055 |
+
],
|
| 1056 |
+
"orientation": {
|
| 1057 |
+
"w": 0.14961383030612166,
|
| 1058 |
+
"xyz": [
|
| 1059 |
+
0.06949927009131579,
|
| 1060 |
+
-0.40175565394744495,
|
| 1061 |
+
-0.9007652012367966
|
| 1062 |
+
]
|
| 1063 |
+
}
|
| 1064 |
+
},
|
| 1065 |
+
"grasp_7": {
|
| 1066 |
+
"confidence": 0.9064897298812866,
|
| 1067 |
+
"position": [
|
| 1068 |
+
0.0036312041920609772,
|
| 1069 |
+
-0.004667160959797911,
|
| 1070 |
+
-0.17524238023906946
|
| 1071 |
+
],
|
| 1072 |
+
"orientation": {
|
| 1073 |
+
"w": 0.9970065615297503,
|
| 1074 |
+
"xyz": [
|
| 1075 |
+
-0.011967695002790489,
|
| 1076 |
+
0.0035221768559974276,
|
| 1077 |
+
0.0763038977584967
|
| 1078 |
+
]
|
| 1079 |
+
}
|
| 1080 |
+
},
|
| 1081 |
+
"grasp_11": {
|
| 1082 |
+
"confidence": 0.897683322429657,
|
| 1083 |
+
"position": [
|
| 1084 |
+
0.0022061861236579716,
|
| 1085 |
+
-0.0028322887810645625,
|
| 1086 |
+
-0.17136861477047205
|
| 1087 |
+
],
|
| 1088 |
+
"orientation": {
|
| 1089 |
+
"w": 0.9910660382976518,
|
| 1090 |
+
"xyz": [
|
| 1091 |
+
-0.012983196323687505,
|
| 1092 |
+
0.013371915445738347,
|
| 1093 |
+
0.13206337957030265
|
| 1094 |
+
]
|
| 1095 |
+
}
|
| 1096 |
+
},
|
| 1097 |
+
"grasp_18": {
|
| 1098 |
+
"confidence": 0.8936285376548767,
|
| 1099 |
+
"position": [
|
| 1100 |
+
0.044561790593434125,
|
| 1101 |
+
-0.10039952110673767,
|
| 1102 |
+
-0.08936787489801645
|
| 1103 |
+
],
|
| 1104 |
+
"orientation": {
|
| 1105 |
+
"w": 0.7367968552834133,
|
| 1106 |
+
"xyz": [
|
| 1107 |
+
-0.6413252525078963,
|
| 1108 |
+
-0.1394791660341812,
|
| 1109 |
+
0.16241267432859213
|
| 1110 |
+
]
|
| 1111 |
+
}
|
| 1112 |
+
},
|
| 1113 |
+
"grasp_19": {
|
| 1114 |
+
"confidence": 0.8923315405845642,
|
| 1115 |
+
"position": [
|
| 1116 |
+
0.08322764403419569,
|
| 1117 |
+
-0.06979544174100738,
|
| 1118 |
+
-0.08308124635368586
|
| 1119 |
+
],
|
| 1120 |
+
"orientation": {
|
| 1121 |
+
"w": 0.6522347494844125,
|
| 1122 |
+
"xyz": [
|
| 1123 |
+
-0.6219073141682596,
|
| 1124 |
+
-0.2959093047329594,
|
| 1125 |
+
0.3166367122136719
|
| 1126 |
+
]
|
| 1127 |
+
}
|
| 1128 |
+
}
|
| 1129 |
+
}
|
| 1130 |
+
},
|
| 1131 |
+
{
|
| 1132 |
+
"part_name": "fruit graphic on label",
|
| 1133 |
+
"mask_color": "Orange",
|
| 1134 |
+
"graspable": false,
|
| 1135 |
+
"grasp_scenarios": [],
|
| 1136 |
+
"functional_labels": [
|
| 1137 |
+
"indicate orange flavor",
|
| 1138 |
+
"communicate product imagery",
|
| 1139 |
+
"decorate the package exterior"
|
| 1140 |
+
],
|
| 1141 |
+
"semantic_description": "Flat printed orange slice illustration on the front label, glossy and smooth, occupying a medium lower-front area as decorative product imagery.",
|
| 1142 |
+
"id": 4,
|
| 1143 |
+
"grasp_group": {}
|
| 1144 |
+
},
|
| 1145 |
+
{
|
| 1146 |
+
"part_name": "printed text and logo on label",
|
| 1147 |
+
"mask_color": "Purple",
|
| 1148 |
+
"graspable": false,
|
| 1149 |
+
"grasp_scenarios": [],
|
| 1150 |
+
"functional_labels": [
|
| 1151 |
+
"identify the product",
|
| 1152 |
+
"communicate brand information",
|
| 1153 |
+
"show flavor or packaging details"
|
| 1154 |
+
],
|
| 1155 |
+
"semantic_description": "Bold printed lettering and logo elements on the front label, including large white and purple characters with a flat glossy printed finish.",
|
| 1156 |
+
"id": 5,
|
| 1157 |
+
"grasp_group": {}
|
| 1158 |
+
},
|
| 1159 |
+
{
|
| 1160 |
+
"part_name": "leaf graphic on label",
|
| 1161 |
+
"mask_color": "Green",
|
| 1162 |
+
"graspable": false,
|
| 1163 |
+
"grasp_scenarios": [],
|
| 1164 |
+
"functional_labels": [
|
| 1165 |
+
"suggest citrus freshness",
|
| 1166 |
+
"support flavor imagery",
|
| 1167 |
+
"decorate the package exterior"
|
| 1168 |
+
],
|
| 1169 |
+
"semantic_description": "Small printed green leaf icon on the front label with a flat glossy appearance, positioned near the fruit graphic as part of the packaging design.",
|
| 1170 |
+
"id": 1,
|
| 1171 |
+
"grasp_group": {}
|
| 1172 |
+
}
|
| 1173 |
+
],
|
| 1174 |
+
"quality_check": {
|
| 1175 |
+
"success": false,
|
| 1176 |
+
"message": "Neck color/material and body label details are inaccurate; body is transparent bottle with partial front label, not fully label-covered sleeve."
|
| 1177 |
+
}
|
| 1178 |
+
}
|
dataset/food/beverages/03e1c3a35e4e5155bf7c9e91253dad9a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:935d58ceb8ed2584ddc8fb9f3f8a3a650eefc384c71ee8ee60681212e1f380d1
|
| 3 |
+
size 3788100
|