Add asset kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab
Browse files
.gitattributes
CHANGED
|
@@ -7454,3 +7454,4 @@ dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/affordance/me
|
|
| 7454 |
dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7455 |
dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7456 |
dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7454 |
dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7455 |
dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7456 |
dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7457 |
+
dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,839 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "jar body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the jar body around the narrowed middle to pick up the spice jar",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the jar while the lid is twisted off",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition or pour from the jar",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain spices",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"stabilize during opening",
|
| 26 |
+
"form the main structure"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "The main jar body is a light beige wood container with a matte to satin finish, hard smooth surface, visible wood grain, hourglass-like cylindrical shape, and printed branding near the lower side.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9445156455039978,
|
| 33 |
+
"position": [
|
| 34 |
+
0.07915564364520833,
|
| 35 |
+
0.0528357636067085,
|
| 36 |
+
-0.08132588677108288
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.4018790924091283,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.24481003004844326,
|
| 42 |
+
-0.44870429505701637,
|
| 43 |
+
0.759753710007053
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_4": {
|
| 48 |
+
"confidence": 0.9413105845451355,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.03927579039009288,
|
| 51 |
+
0.09623747429577634,
|
| 52 |
+
0.03951788693666458
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.12243072554384157,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.14711516194821586,
|
| 58 |
+
0.6965103109296565,
|
| 59 |
+
-0.6915498776924422
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_7": {
|
| 64 |
+
"confidence": 0.9400323629379272,
|
| 65 |
+
"position": [
|
| 66 |
+
0.024238662037532777,
|
| 67 |
+
-0.10484354832442477,
|
| 68 |
+
0.03221802040934563
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7149255265277036,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.6891551723800375,
|
| 74 |
+
-0.09022268023823155,
|
| 75 |
+
0.07620044535011904
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_11": {
|
| 80 |
+
"confidence": 0.9373816847801208,
|
| 81 |
+
"position": [
|
| 82 |
+
0.008970774884801358,
|
| 83 |
+
0.10758202633587644,
|
| 84 |
+
0.022084953263401985
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.719223126683064,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.694020660428896,
|
| 90 |
+
-0.022996219349021296,
|
| 91 |
+
-0.022903948081672617
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_17": {
|
| 96 |
+
"confidence": 0.9330711364746094,
|
| 97 |
+
"position": [
|
| 98 |
+
0.028743793431203812,
|
| 99 |
+
-0.10088706651004031,
|
| 100 |
+
0.035904016345739365
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.7032942960294346,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.696818517624818,
|
| 106 |
+
-0.09536707922658527,
|
| 107 |
+
0.1035674025328585
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_19": {
|
| 112 |
+
"confidence": 0.9312319159507751,
|
| 113 |
+
"position": [
|
| 114 |
+
0.09180545544950292,
|
| 115 |
+
0.06416088453261182,
|
| 116 |
+
-0.034116869792342186
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.636196292045292,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.6239165920388337,
|
| 122 |
+
-0.3156295157290192,
|
| 123 |
+
-0.3261293807174286
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"part_name": "lid top",
|
| 131 |
+
"mask_color": "Green",
|
| 132 |
+
"graspable": true,
|
| 133 |
+
"grasp_scenarios": [
|
| 134 |
+
{
|
| 135 |
+
"scenario": "grasp the lid from above to twist and unscrew or remove it",
|
| 136 |
+
"confidence": 0.89
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"scenario": "pinch the lid edge to lift and carry the closed jar briefly",
|
| 140 |
+
"confidence": 0.46
|
| 141 |
+
}
|
| 142 |
+
],
|
| 143 |
+
"functional_labels": [
|
| 144 |
+
"cover the jar opening",
|
| 145 |
+
"enable opening and closing",
|
| 146 |
+
"seal contents",
|
| 147 |
+
"provide top grip for twisting"
|
| 148 |
+
],
|
| 149 |
+
"semantic_description": "The lid top is a round light tan wooden cap with concentric grain rings, a matte smooth hard surface, and a broad slightly raised disk shape at the top of the jar.",
|
| 150 |
+
"id": 1,
|
| 151 |
+
"grasp_group": {
|
| 152 |
+
"grasp_20": {
|
| 153 |
+
"confidence": 0.9005500078201294,
|
| 154 |
+
"position": [
|
| 155 |
+
0.07144436723319814,
|
| 156 |
+
0.07772738597122952,
|
| 157 |
+
0.054079072549939156
|
| 158 |
+
],
|
| 159 |
+
"orientation": {
|
| 160 |
+
"w": 0.2601048254721234,
|
| 161 |
+
"xyz": [
|
| 162 |
+
-0.25878722828660966,
|
| 163 |
+
-0.664893638062345,
|
| 164 |
+
0.6506082541023203
|
| 165 |
+
]
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"grasp_21": {
|
| 169 |
+
"confidence": 0.895730197429657,
|
| 170 |
+
"position": [
|
| 171 |
+
-0.09999885672004893,
|
| 172 |
+
-0.03949485981138423,
|
| 173 |
+
0.04881073348224163
|
| 174 |
+
],
|
| 175 |
+
"orientation": {
|
| 176 |
+
"w": 0.5911506841467914,
|
| 177 |
+
"xyz": [
|
| 178 |
+
-0.5690429776372395,
|
| 179 |
+
0.41507586846377464,
|
| 180 |
+
-0.3929923429961042
|
| 181 |
+
]
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"grasp_22": {
|
| 185 |
+
"confidence": 0.8922194242477417,
|
| 186 |
+
"position": [
|
| 187 |
+
0.10389852261869237,
|
| 188 |
+
0.033080210152547807,
|
| 189 |
+
0.05024123378098011
|
| 190 |
+
],
|
| 191 |
+
"orientation": {
|
| 192 |
+
"w": 0.5622625863868929,
|
| 193 |
+
"xyz": [
|
| 194 |
+
0.5736155272572582,
|
| 195 |
+
-0.4164642067630314,
|
| 196 |
+
-0.4258915065179606
|
| 197 |
+
]
|
| 198 |
+
}
|
| 199 |
+
},
|
| 200 |
+
"grasp_23": {
|
| 201 |
+
"confidence": 0.8830746412277222,
|
| 202 |
+
"position": [
|
| 203 |
+
0.09740700310794637,
|
| 204 |
+
0.03531263879267499,
|
| 205 |
+
0.05217096395790577
|
| 206 |
+
],
|
| 207 |
+
"orientation": {
|
| 208 |
+
"w": 0.3885820289530141,
|
| 209 |
+
"xyz": [
|
| 210 |
+
-0.4126999587894128,
|
| 211 |
+
-0.5935146721803126,
|
| 212 |
+
0.5713344770768453
|
| 213 |
+
]
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"grasp_24": {
|
| 217 |
+
"confidence": 0.8799501657485962,
|
| 218 |
+
"position": [
|
| 219 |
+
0.08657828456489369,
|
| 220 |
+
-0.05840955936582759,
|
| 221 |
+
0.05028545670211315
|
| 222 |
+
],
|
| 223 |
+
"orientation": {
|
| 224 |
+
"w": 0.6246707354070682,
|
| 225 |
+
"xyz": [
|
| 226 |
+
-0.6258593546156873,
|
| 227 |
+
-0.33457441853510417,
|
| 228 |
+
0.32580131833361875
|
| 229 |
+
]
|
| 230 |
+
}
|
| 231 |
+
},
|
| 232 |
+
"grasp_25": {
|
| 233 |
+
"confidence": 0.8782148361206055,
|
| 234 |
+
"position": [
|
| 235 |
+
0.10484022385207936,
|
| 236 |
+
0.008609567012172192,
|
| 237 |
+
0.058321816846728325
|
| 238 |
+
],
|
| 239 |
+
"orientation": {
|
| 240 |
+
"w": 0.47286726994212375,
|
| 241 |
+
"xyz": [
|
| 242 |
+
-0.4811945234716119,
|
| 243 |
+
-0.5444743944319951,
|
| 244 |
+
0.49839342833380457
|
| 245 |
+
]
|
| 246 |
+
}
|
| 247 |
+
},
|
| 248 |
+
"grasp_26": {
|
| 249 |
+
"confidence": 0.8764691948890686,
|
| 250 |
+
"position": [
|
| 251 |
+
0.102186550560873,
|
| 252 |
+
0.04412599018542096,
|
| 253 |
+
0.05553555674850941
|
| 254 |
+
],
|
| 255 |
+
"orientation": {
|
| 256 |
+
"w": 0.36971388196200256,
|
| 257 |
+
"xyz": [
|
| 258 |
+
-0.40075479583539264,
|
| 259 |
+
-0.6030659689075002,
|
| 260 |
+
0.5822531032507919
|
| 261 |
+
]
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"grasp_27": {
|
| 265 |
+
"confidence": 0.87300705909729,
|
| 266 |
+
"position": [
|
| 267 |
+
0.10138082987396047,
|
| 268 |
+
-0.021928245958406478,
|
| 269 |
+
0.05258514545857906
|
| 270 |
+
],
|
| 271 |
+
"orientation": {
|
| 272 |
+
"w": 0.5533284629386133,
|
| 273 |
+
"xyz": [
|
| 274 |
+
-0.5485087776830738,
|
| 275 |
+
-0.46318727553962025,
|
| 276 |
+
0.4224018000491903
|
| 277 |
+
]
|
| 278 |
+
}
|
| 279 |
+
},
|
| 280 |
+
"grasp_28": {
|
| 281 |
+
"confidence": 0.8709978461265564,
|
| 282 |
+
"position": [
|
| 283 |
+
-0.03646650427253917,
|
| 284 |
+
-0.09974084683926776,
|
| 285 |
+
0.052227383479475975
|
| 286 |
+
],
|
| 287 |
+
"orientation": {
|
| 288 |
+
"w": 0.6867471571490201,
|
| 289 |
+
"xyz": [
|
| 290 |
+
-0.7043028566642541,
|
| 291 |
+
0.1302150072028101,
|
| 292 |
+
-0.12401564474485696
|
| 293 |
+
]
|
| 294 |
+
}
|
| 295 |
+
},
|
| 296 |
+
"grasp_29": {
|
| 297 |
+
"confidence": 0.8680638670921326,
|
| 298 |
+
"position": [
|
| 299 |
+
0.09660170710412785,
|
| 300 |
+
0.04018931946484372,
|
| 301 |
+
0.05507292039692402
|
| 302 |
+
],
|
| 303 |
+
"orientation": {
|
| 304 |
+
"w": 0.3871367720099258,
|
| 305 |
+
"xyz": [
|
| 306 |
+
-0.3928752895543729,
|
| 307 |
+
-0.6007099901655931,
|
| 308 |
+
0.5787241435524835
|
| 309 |
+
]
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"grasp_30": {
|
| 313 |
+
"confidence": 0.8670199513435364,
|
| 314 |
+
"position": [
|
| 315 |
+
0.09245037770597264,
|
| 316 |
+
-0.04143888392718509,
|
| 317 |
+
0.052501821890473366
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.5908329252263743,
|
| 321 |
+
"xyz": [
|
| 322 |
+
-0.5998863033423727,
|
| 323 |
+
-0.3980028470638366,
|
| 324 |
+
0.3642068248396077
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_31": {
|
| 329 |
+
"confidence": 0.8620360493659973,
|
| 330 |
+
"position": [
|
| 331 |
+
0.09819488710490987,
|
| 332 |
+
0.031338264408987015,
|
| 333 |
+
0.055041009560227394
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.40479733579744287,
|
| 337 |
+
"xyz": [
|
| 338 |
+
-0.41707478957229716,
|
| 339 |
+
-0.5890720125383789,
|
| 340 |
+
0.5614106348106528
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_32": {
|
| 345 |
+
"confidence": 0.8598382472991943,
|
| 346 |
+
"position": [
|
| 347 |
+
-0.10702938848407939,
|
| 348 |
+
-0.007382144976872951,
|
| 349 |
+
0.05398390628397465
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.47003798324541823,
|
| 353 |
+
"xyz": [
|
| 354 |
+
0.5038824369540544,
|
| 355 |
+
0.5089587578720766,
|
| 356 |
+
0.5158757280790954
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_33": {
|
| 361 |
+
"confidence": 0.8593611121177673,
|
| 362 |
+
"position": [
|
| 363 |
+
-0.039664587762672454,
|
| 364 |
+
-0.09977351763518527,
|
| 365 |
+
0.046533992514014244
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.7046510684886529,
|
| 369 |
+
"xyz": [
|
| 370 |
+
-0.6828737473331546,
|
| 371 |
+
0.13080489820457486,
|
| 372 |
+
-0.14156410380695109
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_34": {
|
| 377 |
+
"confidence": 0.8561841249465942,
|
| 378 |
+
"position": [
|
| 379 |
+
0.022200838837306947,
|
| 380 |
+
-0.10525370278628543,
|
| 381 |
+
0.050498781725764275
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.7007324071999055,
|
| 385 |
+
"xyz": [
|
| 386 |
+
-0.704071665861947,
|
| 387 |
+
-0.08408383159298483,
|
| 388 |
+
0.07865807075469627
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_35": {
|
| 393 |
+
"confidence": 0.8500653505325317,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.11321236455114558,
|
| 396 |
+
0.003122927329968661,
|
| 397 |
+
0.04607868380844593
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.5184286372601399,
|
| 401 |
+
"xyz": [
|
| 402 |
+
0.4910006213101915,
|
| 403 |
+
0.4965247325149864,
|
| 404 |
+
0.493572008872587
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_36": {
|
| 409 |
+
"confidence": 0.8486178517341614,
|
| 410 |
+
"position": [
|
| 411 |
+
-0.03720966988475993,
|
| 412 |
+
-0.10142303147586063,
|
| 413 |
+
0.047614241018891335
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.13280953809955134,
|
| 417 |
+
"xyz": [
|
| 418 |
+
0.1388253399699813,
|
| 419 |
+
0.6866920940435922,
|
| 420 |
+
0.7011013618229748
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_37": {
|
| 425 |
+
"confidence": 0.8484629988670349,
|
| 426 |
+
"position": [
|
| 427 |
+
0.0917643133434467,
|
| 428 |
+
-0.04203627147944644,
|
| 429 |
+
0.049692416563630104
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.5893298330239783,
|
| 433 |
+
"xyz": [
|
| 434 |
+
-0.6017973881878455,
|
| 435 |
+
-0.382313138693849,
|
| 436 |
+
0.37995646521710374
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_38": {
|
| 441 |
+
"confidence": 0.8453684449195862,
|
| 442 |
+
"position": [
|
| 443 |
+
0.09934001899091527,
|
| 444 |
+
0.007474764424841851,
|
| 445 |
+
0.07304378040134907
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.475102929465173,
|
| 449 |
+
"xyz": [
|
| 450 |
+
0.5505764390115078,
|
| 451 |
+
-0.5557878560931355,
|
| 452 |
+
-0.40279355784125265
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_39": {
|
| 457 |
+
"confidence": 0.8351818919181824,
|
| 458 |
+
"position": [
|
| 459 |
+
0.09620886034099385,
|
| 460 |
+
0.04024956113426015,
|
| 461 |
+
0.05559687502682209
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.5736959129804159,
|
| 465 |
+
"xyz": [
|
| 466 |
+
0.6094874961903063,
|
| 467 |
+
-0.3811313903219984,
|
| 468 |
+
-0.39260266775514735
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
}
|
| 472 |
+
}
|
| 473 |
+
},
|
| 474 |
+
{
|
| 475 |
+
"part_name": "lid side ring",
|
| 476 |
+
"mask_color": "Blue",
|
| 477 |
+
"graspable": true,
|
| 478 |
+
"grasp_scenarios": [
|
| 479 |
+
{
|
| 480 |
+
"scenario": "grasp the side ring of the lid to twist it open",
|
| 481 |
+
"confidence": 0.81
|
| 482 |
+
},
|
| 483 |
+
{
|
| 484 |
+
"scenario": "pinch the ring to help align and reseat the lid",
|
| 485 |
+
"confidence": 0.61
|
| 486 |
+
}
|
| 487 |
+
],
|
| 488 |
+
"functional_labels": [
|
| 489 |
+
"provide lid side grip",
|
| 490 |
+
"assist twisting motion",
|
| 491 |
+
"connect lid top to jar neck",
|
| 492 |
+
"help align closure"
|
| 493 |
+
],
|
| 494 |
+
"semantic_description": "This narrow ring beneath the lid top appears as a medium-brown cork or wood-like band with a matte slightly rough texture, encircling the upper neck as a thin cylindrical strip.",
|
| 495 |
+
"id": 2,
|
| 496 |
+
"grasp_group": {
|
| 497 |
+
"grasp_40": {
|
| 498 |
+
"confidence": 0.913568913936615,
|
| 499 |
+
"position": [
|
| 500 |
+
0.043842942628543824,
|
| 501 |
+
-0.09370805957587436,
|
| 502 |
+
0.03916439041495323
|
| 503 |
+
],
|
| 504 |
+
"orientation": {
|
| 505 |
+
"w": 0.13394361773484076,
|
| 506 |
+
"xyz": [
|
| 507 |
+
0.1635345300715284,
|
| 508 |
+
-0.6798434273565748,
|
| 509 |
+
-0.7022310723846206
|
| 510 |
+
]
|
| 511 |
+
}
|
| 512 |
+
},
|
| 513 |
+
"grasp_41": {
|
| 514 |
+
"confidence": 0.9100377559661865,
|
| 515 |
+
"position": [
|
| 516 |
+
0.10534143185941502,
|
| 517 |
+
0.033383210364263505,
|
| 518 |
+
0.04375365562736988
|
| 519 |
+
],
|
| 520 |
+
"orientation": {
|
| 521 |
+
"w": 0.5703994092967807,
|
| 522 |
+
"xyz": [
|
| 523 |
+
0.5683381521392368,
|
| 524 |
+
-0.4212508850893828,
|
| 525 |
+
-0.4173535078422768
|
| 526 |
+
]
|
| 527 |
+
}
|
| 528 |
+
},
|
| 529 |
+
"grasp_42": {
|
| 530 |
+
"confidence": 0.9063581824302673,
|
| 531 |
+
"position": [
|
| 532 |
+
0.03223985916702077,
|
| 533 |
+
-0.1014349449542351,
|
| 534 |
+
0.041916532441973686
|
| 535 |
+
],
|
| 536 |
+
"orientation": {
|
| 537 |
+
"w": 0.7047632248986178,
|
| 538 |
+
"xyz": [
|
| 539 |
+
-0.690536689070392,
|
| 540 |
+
-0.11899933628994674,
|
| 541 |
+
0.11093708054908187
|
| 542 |
+
]
|
| 543 |
+
}
|
| 544 |
+
},
|
| 545 |
+
"grasp_43": {
|
| 546 |
+
"confidence": 0.9063256978988647,
|
| 547 |
+
"position": [
|
| 548 |
+
0.09932713693706319,
|
| 549 |
+
-0.04037699365289882,
|
| 550 |
+
0.046443426981568336
|
| 551 |
+
],
|
| 552 |
+
"orientation": {
|
| 553 |
+
"w": 0.5801891703803989,
|
| 554 |
+
"xyz": [
|
| 555 |
+
-0.5909256013328834,
|
| 556 |
+
-0.4104494516315428,
|
| 557 |
+
0.3817311985128294
|
| 558 |
+
]
|
| 559 |
+
}
|
| 560 |
+
},
|
| 561 |
+
"grasp_44": {
|
| 562 |
+
"confidence": 0.9049919247627258,
|
| 563 |
+
"position": [
|
| 564 |
+
-0.021537051361519843,
|
| 565 |
+
0.10184713563648984,
|
| 566 |
+
0.04333243891596794
|
| 567 |
+
],
|
| 568 |
+
"orientation": {
|
| 569 |
+
"w": 0.06928522495438229,
|
| 570 |
+
"xyz": [
|
| 571 |
+
-0.09182347232364267,
|
| 572 |
+
0.7095694849483761,
|
| 573 |
+
-0.6951828202448234
|
| 574 |
+
]
|
| 575 |
+
}
|
| 576 |
+
},
|
| 577 |
+
"grasp_45": {
|
| 578 |
+
"confidence": 0.9024892449378967,
|
| 579 |
+
"position": [
|
| 580 |
+
-0.043944599863607436,
|
| 581 |
+
0.09244287869660184,
|
| 582 |
+
0.04503520764410496
|
| 583 |
+
],
|
| 584 |
+
"orientation": {
|
| 585 |
+
"w": 0.15784061958668358,
|
| 586 |
+
"xyz": [
|
| 587 |
+
-0.15311020252475144,
|
| 588 |
+
0.6886157124543606,
|
| 589 |
+
-0.6909790194009476
|
| 590 |
+
]
|
| 591 |
+
}
|
| 592 |
+
},
|
| 593 |
+
"grasp_46": {
|
| 594 |
+
"confidence": 0.9022666811943054,
|
| 595 |
+
"position": [
|
| 596 |
+
0.03652675560442731,
|
| 597 |
+
0.09688543638912961,
|
| 598 |
+
0.04284466430544853
|
| 599 |
+
],
|
| 600 |
+
"orientation": {
|
| 601 |
+
"w": 0.12529645121995941,
|
| 602 |
+
"xyz": [
|
| 603 |
+
-0.12723593167125785,
|
| 604 |
+
-0.6953969877276125,
|
| 605 |
+
0.6960853729700067
|
| 606 |
+
]
|
| 607 |
+
}
|
| 608 |
+
},
|
| 609 |
+
"grasp_47": {
|
| 610 |
+
"confidence": 0.9014244079589844,
|
| 611 |
+
"position": [
|
| 612 |
+
0.10312958544818684,
|
| 613 |
+
0.016430382791440934,
|
| 614 |
+
0.048996081575751305
|
| 615 |
+
],
|
| 616 |
+
"orientation": {
|
| 617 |
+
"w": 0.4446097189716282,
|
| 618 |
+
"xyz": [
|
| 619 |
+
-0.46163336198020305,
|
| 620 |
+
-0.5576223666528758,
|
| 621 |
+
0.5275169505440276
|
| 622 |
+
]
|
| 623 |
+
}
|
| 624 |
+
},
|
| 625 |
+
"grasp_48": {
|
| 626 |
+
"confidence": 0.9013172388076782,
|
| 627 |
+
"position": [
|
| 628 |
+
0.08492675906745717,
|
| 629 |
+
-0.06081935280235484,
|
| 630 |
+
0.04427403025329113
|
| 631 |
+
],
|
| 632 |
+
"orientation": {
|
| 633 |
+
"w": 0.6277119381191171,
|
| 634 |
+
"xyz": [
|
| 635 |
+
-0.6245279329861475,
|
| 636 |
+
-0.33589509472275214,
|
| 637 |
+
0.3211184656851505
|
| 638 |
+
]
|
| 639 |
+
}
|
| 640 |
+
},
|
| 641 |
+
"grasp_49": {
|
| 642 |
+
"confidence": 0.9008830785751343,
|
| 643 |
+
"position": [
|
| 644 |
+
-0.05457456671865657,
|
| 645 |
+
0.08721635601250455,
|
| 646 |
+
0.04280352592468262
|
| 647 |
+
],
|
| 648 |
+
"orientation": {
|
| 649 |
+
"w": 0.19803396587085806,
|
| 650 |
+
"xyz": [
|
| 651 |
+
-0.19179002588228053,
|
| 652 |
+
0.678836830184852,
|
| 653 |
+
-0.6805730617047053
|
| 654 |
+
]
|
| 655 |
+
}
|
| 656 |
+
},
|
| 657 |
+
"grasp_50": {
|
| 658 |
+
"confidence": 0.8946437835693359,
|
| 659 |
+
"position": [
|
| 660 |
+
0.10509529447881505,
|
| 661 |
+
0.022410682577174157,
|
| 662 |
+
0.0458089392632246
|
| 663 |
+
],
|
| 664 |
+
"orientation": {
|
| 665 |
+
"w": 0.43286516740770137,
|
| 666 |
+
"xyz": [
|
| 667 |
+
-0.44548124169698883,
|
| 668 |
+
-0.5658450629426028,
|
| 669 |
+
0.5422117435879584
|
| 670 |
+
]
|
| 671 |
+
}
|
| 672 |
+
},
|
| 673 |
+
"grasp_51": {
|
| 674 |
+
"confidence": 0.8912560343742371,
|
| 675 |
+
"position": [
|
| 676 |
+
0.029973569500725716,
|
| 677 |
+
-0.10209363588364795,
|
| 678 |
+
0.04526863805949688
|
| 679 |
+
],
|
| 680 |
+
"orientation": {
|
| 681 |
+
"w": 0.7045285304216309,
|
| 682 |
+
"xyz": [
|
| 683 |
+
-0.6946166544690602,
|
| 684 |
+
-0.10266909766047316,
|
| 685 |
+
0.10298693869482427
|
| 686 |
+
]
|
| 687 |
+
}
|
| 688 |
+
},
|
| 689 |
+
"grasp_52": {
|
| 690 |
+
"confidence": 0.8877893686294556,
|
| 691 |
+
"position": [
|
| 692 |
+
-0.10535084718139842,
|
| 693 |
+
-0.007582641497720033,
|
| 694 |
+
0.042399127036333084
|
| 695 |
+
],
|
| 696 |
+
"orientation": {
|
| 697 |
+
"w": 0.5229187360960015,
|
| 698 |
+
"xyz": [
|
| 699 |
+
-0.5013430845765136,
|
| 700 |
+
0.49852046761997504,
|
| 701 |
+
-0.47611810546442046
|
| 702 |
+
]
|
| 703 |
+
}
|
| 704 |
+
},
|
| 705 |
+
"grasp_53": {
|
| 706 |
+
"confidence": 0.8862656354904175,
|
| 707 |
+
"position": [
|
| 708 |
+
0.08796292281476781,
|
| 709 |
+
0.054592033091466874,
|
| 710 |
+
0.04457642696797848
|
| 711 |
+
],
|
| 712 |
+
"orientation": {
|
| 713 |
+
"w": 0.3326591241089578,
|
| 714 |
+
"xyz": [
|
| 715 |
+
-0.34018001690383753,
|
| 716 |
+
-0.6261131723619693,
|
| 717 |
+
0.6177359942897909
|
| 718 |
+
]
|
| 719 |
+
}
|
| 720 |
+
},
|
| 721 |
+
"grasp_54": {
|
| 722 |
+
"confidence": 0.8862494230270386,
|
| 723 |
+
"position": [
|
| 724 |
+
0.052518532786052674,
|
| 725 |
+
-0.09254894295008853,
|
| 726 |
+
0.04024287685751915
|
| 727 |
+
],
|
| 728 |
+
"orientation": {
|
| 729 |
+
"w": 0.1538952137893182,
|
| 730 |
+
"xyz": [
|
| 731 |
+
0.18285453140506105,
|
| 732 |
+
-0.6683895969176196,
|
| 733 |
+
-0.7043691008623796
|
| 734 |
+
]
|
| 735 |
+
}
|
| 736 |
+
},
|
| 737 |
+
"grasp_55": {
|
| 738 |
+
"confidence": 0.8839239478111267,
|
| 739 |
+
"position": [
|
| 740 |
+
-0.03962369152577594,
|
| 741 |
+
0.09301106742350385,
|
| 742 |
+
0.04420956410467625
|
| 743 |
+
],
|
| 744 |
+
"orientation": {
|
| 745 |
+
"w": 0.13948342599100325,
|
| 746 |
+
"xyz": [
|
| 747 |
+
-0.14287202477234343,
|
| 748 |
+
0.6926412221602681,
|
| 749 |
+
-0.693094579242684
|
| 750 |
+
]
|
| 751 |
+
}
|
| 752 |
+
},
|
| 753 |
+
"grasp_56": {
|
| 754 |
+
"confidence": 0.8834694027900696,
|
| 755 |
+
"position": [
|
| 756 |
+
-0.049932318564970046,
|
| 757 |
+
0.08782820514170453,
|
| 758 |
+
0.04895424656569958
|
| 759 |
+
],
|
| 760 |
+
"orientation": {
|
| 761 |
+
"w": 0.17547145911039552,
|
| 762 |
+
"xyz": [
|
| 763 |
+
-0.19196862193209555,
|
| 764 |
+
0.6998773684068716,
|
| 765 |
+
-0.6652288962628069
|
| 766 |
+
]
|
| 767 |
+
}
|
| 768 |
+
},
|
| 769 |
+
"grasp_57": {
|
| 770 |
+
"confidence": 0.8818725347518921,
|
| 771 |
+
"position": [
|
| 772 |
+
0.011295207950752228,
|
| 773 |
+
-0.11185032018693164,
|
| 774 |
+
0.0394536629319191
|
| 775 |
+
],
|
| 776 |
+
"orientation": {
|
| 777 |
+
"w": 0.7149269121665731,
|
| 778 |
+
"xyz": [
|
| 779 |
+
-0.6969206306740301,
|
| 780 |
+
-0.03441563376991852,
|
| 781 |
+
0.04468454937778195
|
| 782 |
+
]
|
| 783 |
+
}
|
| 784 |
+
},
|
| 785 |
+
"grasp_58": {
|
| 786 |
+
"confidence": 0.8812422752380371,
|
| 787 |
+
"position": [
|
| 788 |
+
0.10873181110946462,
|
| 789 |
+
-0.021191381674725562,
|
| 790 |
+
0.047314492985606194
|
| 791 |
+
],
|
| 792 |
+
"orientation": {
|
| 793 |
+
"w": 0.5473375250883789,
|
| 794 |
+
"xyz": [
|
| 795 |
+
-0.5366985099732411,
|
| 796 |
+
-0.4752037159381658,
|
| 797 |
+
0.4319233397041537
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
"grasp_59": {
|
| 802 |
+
"confidence": 0.87749844789505,
|
| 803 |
+
"position": [
|
| 804 |
+
0.027344814676325768,
|
| 805 |
+
-0.1003290776279755,
|
| 806 |
+
0.03980426676571369
|
| 807 |
+
],
|
| 808 |
+
"orientation": {
|
| 809 |
+
"w": 0.7179293711565677,
|
| 810 |
+
"xyz": [
|
| 811 |
+
-0.683397646160925,
|
| 812 |
+
-0.09136790396548455,
|
| 813 |
+
0.0959008935171956
|
| 814 |
+
]
|
| 815 |
+
}
|
| 816 |
+
}
|
| 817 |
+
}
|
| 818 |
+
},
|
| 819 |
+
{
|
| 820 |
+
"part_name": "base of spice jar",
|
| 821 |
+
"mask_color": "Yellow",
|
| 822 |
+
"graspable": false,
|
| 823 |
+
"grasp_scenarios": [],
|
| 824 |
+
"functional_labels": [
|
| 825 |
+
"support upright standing",
|
| 826 |
+
"provide stable resting surface",
|
| 827 |
+
"protect contents from below",
|
| 828 |
+
"define bottom boundary"
|
| 829 |
+
],
|
| 830 |
+
"semantic_description": "The bottom face is a flat circular light wood base with a matte finish, hard fine-grained texture, and broad diameter at the underside for stable placement.",
|
| 831 |
+
"id": 3,
|
| 832 |
+
"grasp_group": {}
|
| 833 |
+
}
|
| 834 |
+
],
|
| 835 |
+
"quality_check": {
|
| 836 |
+
"success": true,
|
| 837 |
+
"message": "YES"
|
| 838 |
+
}
|
| 839 |
+
}
|
dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6e9c579f38eed6475896a7fa675231d6563ba746a56ae10b74a6d5022582ab4f
|
| 3 |
+
size 3782460
|