{
 "schema_version": "1.0",
 "gripper": "franka_panda_longfinger",
 "convention": {
  "pose_means": "eef_link target pose",
  "frame": "object_local (obj.get_position_orientation)",
  "note": "runtime: T_eef_world = object_world_pose @ pose"
 },
 "objects": {
  "teacup/tfzfam": {
   "category": "teacup",
   "model": "tfzfam",
   "bbox_size": [
    0.07267830893397331,
    0.07267821952700615,
    0.05211848020553589
   ],
   "upright_orientation_xyzw": [
    2.698900061659515e-05,
    1.5566503861919045e-05,
    -5.148335185367614e-05,
    1.0
   ],
   "mesh": "meshes/teacup__tfzfam.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.05166564873464619,
      -0.004486848032965302,
      0.09974126582575989
     ],
     "orientation_xyzw": [
      -0.6756281639330616,
      0.7372425537974039,
      -3.041495601832891e-05,
      -6.756674008237789e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.05166524243771967,
      -0.004486143684461376,
      0.11279046002853864
     ],
     "orientation_xyzw": [
      -0.6756281639330616,
      0.7372425537974039,
      -3.041495601832891e-05,
      -6.756674008237789e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.041115377371672604,
      -0.026610645474030435,
      0.10334852560319117
     ],
     "orientation_xyzw": [
      -0.46858334699796145,
      0.8834192922647014,
      -3.113675132477893e-05,
      1.106756608002099e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.041115635985382176,
      -0.02661109380176206,
      0.09504252991520623
     ],
     "orientation_xyzw": [
      -0.46858334699796145,
      0.8834192922647014,
      -3.113675132477893e-05,
      1.106756608002099e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.041115616518186945,
      -0.026611060053808425,
      0.09566776529009036
     ],
     "orientation_xyzw": [
      -0.46858334699796145,
      0.8834192922647014,
      -3.113675132477893e-05,
      1.106756608002099e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "mug/lgxhsc": {
   "category": "mug",
   "model": "lgxhsc",
   "bbox_size": [
    0.077248215675354,
    0.10513116046786308,
    0.08453962206840515
   ],
   "upright_orientation_xyzw": [
    -0.019145043566823006,
    -0.0024936748668551445,
    -0.0005862078396603465,
    0.9998134970664978
   ],
   "mesh": "meshes/mug__lgxhsc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.009012911480021561,
      0.05168149100031372,
      0.10703585683966521
     ],
     "orientation_xyzw": [
      -0.6758963640552333,
      0.7367437505642611,
      0.015799908077665705,
      0.011095673308040104
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0368229579933232,
      -0.007601314628478479,
      0.11451134665706357
     ],
     "orientation_xyzw": [
      -0.6758963640552333,
      0.7367437505642611,
      0.015799908077665705,
      0.011095673308040104
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.05734491333455533,
      -0.009369277055127703,
      0.11434075014230097
     ],
     "orientation_xyzw": [
      -0.6758963640552336,
      0.736743750564261,
      0.015799908077665698,
      0.011095673308040104
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.05737703322553371,
      -0.009614751831009946,
      0.1207485782869415
     ],
     "orientation_xyzw": [
      -0.6758963640552336,
      0.736743750564261,
      0.015799908077665698,
      0.011095673308040104
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.008830585924102744,
      -0.06874966299764759,
      0.11041382689366504
     ],
     "orientation_xyzw": [
      0.07226469639463522,
      0.9971986073965254,
      0.01891245769007012,
      -0.0038820105026579894
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "coffee_cup/nbhcgu": {
   "category": "coffee_cup",
   "model": "nbhcgu",
   "bbox_size": [
    0.10360360145568848,
    0.08687803894281387,
    0.06819018721580505
   ],
   "upright_orientation_xyzw": [
    -0.020421892404556274,
    0.0004286658950150013,
    9.136161679634824e-05,
    0.9997915029525757
   ],
   "mesh": "meshes/coffee_cup__nbhcgu.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.042967894381087376,
      0.011211237377625919,
      0.10018232730270901
     ],
     "orientation_xyzw": [
      -0.6753818905595528,
      0.7371852308501075,
      0.014766993783663402,
      0.014112874096774313
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.056631460712033614,
      0.0012774964845834067,
      0.10086717804004
     ],
     "orientation_xyzw": [
      -0.6753818905595529,
      0.7371852308501075,
      0.014766993783663336,
      0.014112874096774336
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0019938755303156616,
      -0.06005103774160794,
      0.10977804184003731
     ],
     "orientation_xyzw": [
      0.029819853683203165,
      0.9993465560082919,
      0.02042560560649049,
      -0.00017876321282634132
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.003911677184750529,
      -0.059686299861406035,
      0.10366569417842594
     ],
     "orientation_xyzw": [
      0.029819853683203165,
      0.9993465560082919,
      0.02042560560649049,
      -0.00017876321282634132
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0031271762134376874,
      -0.04655969484827112,
      0.10420284504218812
     ],
     "orientation_xyzw": [
      0.029819853683203165,
      0.9993465560082919,
      0.02042560560649049,
      -0.00017876321282634132
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "goblet/nawrfs": {
   "category": "goblet",
   "model": "nawrfs",
   "bbox_size": [
    0.14731252193450928,
    0.14546029269695282,
    0.21329575777053833
   ],
   "upright_orientation_xyzw": [
    -0.020666662603616714,
    0.0001996937207877636,
    -0.0008481829427182674,
    0.9997860789299011
   ],
   "mesh": "meshes/goblet__nawrfs.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.07132950914460615,
      -0.017250341847740647,
      0.1615057587835739
     ],
     "orientation_xyzw": [
      -0.6760710057624553,
      0.7365465663338172,
      0.015102150284545335,
      0.014109424013358816
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.07242924887975966,
      -0.010861880950374062,
      -0.03910104844558682
     ],
     "orientation_xyzw": [
      0.7068142852614917,
      -0.014013780843520408,
      0.7070966948193215,
      -0.015213292620189762
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0924776578619795,
      -0.0014135914878932614,
      -0.00885168219195975
     ],
     "orientation_xyzw": [
      0.7068142852614917,
      -0.014013780843520408,
      0.7070966948193215,
      -0.015213292620189762
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.010694312909710225,
      -0.07120968098233575,
      -0.04048715793944595
     ],
     "orientation_xyzw": [
      -0.49008362839682146,
      0.48903575177201225,
      0.5105505965238352,
      0.5099021073258526
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.06983618527936512,
      -0.023664761321637705,
      0.1613606335768669
     ],
     "orientation_xyzw": [
      0.7075552459287413,
      -0.706355734152072,
      -0.014472331952940303,
      -0.014754741510770112
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bowl/oyidja": {
   "category": "bowl",
   "model": "oyidja",
   "bbox_size": [
    0.15000009536743164,
    0.14999978989362717,
    0.04083552956581116
   ],
   "upright_orientation_xyzw": [
    -0.020663462579250336,
    0.0002142423763871193,
    8.445793355349451e-06,
    0.9997864961624146
   ],
   "mesh": "meshes/bowl__oyidja.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.07890429072074351,
      -0.023212298278811275,
      0.10650567926569277
     ],
     "orientation_xyzw": [
      -0.7019156713938212,
      0.7048546550529126,
      -0.05642633915829749,
      0.08550072368812879
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.07820739237638274,
      -0.0034758693444995963,
      0.10390105522306377
     ],
     "orientation_xyzw": [
      -0.7019156713938212,
      0.7048546550529126,
      -0.05642633915829749,
      0.08550072368812879
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.058664918202286254,
      0.0637523296076578,
      0.1000412992104026
     ],
     "orientation_xyzw": [
      -0.3328115041991365,
      0.9344936426138462,
      -0.11466800510454753,
      0.0530036148989554
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.05157893359796125,
      0.055055994878055334,
      0.10173781835055551
     ],
     "orientation_xyzw": [
      -0.33508420262575916,
      0.9391304757690137,
      -0.06679123417198911,
      0.03593685671156931
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.05189714951974305,
      -0.0709655755172421,
      0.09944817771553036
     ],
     "orientation_xyzw": [
      -0.3359153041135197,
      0.9351419787575932,
      0.10925474381318317,
      -0.0270885396795441
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/kasebx": {
   "category": "bowl",
   "model": "kasebx",
   "bbox_size": [
    0.14336514472961426,
    0.14336445927619934,
    0.08246326446533203
   ],
   "upright_orientation_xyzw": [
    4.309549694880843e-05,
    5.0108741561416537e-05,
    -2.9838981845387025e-06,
    1.0
   ],
   "mesh": "meshes/bowl__kasebx.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.07054620605254064,
      0.0027241241728042944,
      0.10930395744159815
     ],
     "orientation_xyzw": [
      0.7071088899272265,
      -0.7071046693508519,
      6.59053489416742e-05,
      -4.959112777410123e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.06457840790577409,
      0.009557936102742432,
      0.10785357638095444
     ],
     "orientation_xyzw": [
      0.7071088899272265,
      -0.7071046693508519,
      6.59053489416742e-05,
      -4.959112777410123e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.06622818026495447,
      0.01057920118472272,
      0.10931200937528524
     ],
     "orientation_xyzw": [
      0.7071088899272265,
      -0.7071046693508519,
      6.59053489416742e-05,
      -4.959112777410123e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0018489982180046583,
      0.05584039258045524,
      0.10896003564823555
     ],
     "orientation_xyzw": [
      0.022290628006142302,
      0.9997478774321458,
      -0.00010335816816668149,
      -0.0027016273059508773
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.009849186199899251,
      -0.0824012633449718,
      0.10932567360157695
     ],
     "orientation_xyzw": [
      0.9998355341991767,
      -0.018135605436247315,
      5.0882189175198433e-05,
      4.217950502025422e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "cocktail_glass/xevdnl": {
   "category": "cocktail_glass",
   "model": "xevdnl",
   "bbox_size": [
    0.12676668167114258,
    0.12872274965047836,
    0.158198744058609
   ],
   "upright_orientation_xyzw": [
    6.44650469894259e-07,
    -8.92366074367601e-07,
    1.6093219983304152e-06,
    1.000000238418579
   ],
   "mesh": "meshes/cocktail_glass__xevdnl.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.05528917915254162,
      0.0035816645010491067,
      -0.03891948566059916
     ],
     "orientation_xyzw": [
      0.7071074121831553,
      -6.821256156041193e-07,
      0.7071061501872514,
      1.5937988364393256e-06
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.05515983259263545,
      0.003427525453297904,
      -0.044745315680729106
     ],
     "orientation_xyzw": [
      0.7071074121831553,
      -6.821256156041193e-07,
      0.7071061501872514,
      1.5937988364393256e-06
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.004839974228433682,
      -0.056572667605004026,
      -0.044745345406297696
     ],
     "orientation_xyzw": [
      -0.4999990709804711,
      0.5000015736679425,
      0.499999319196014,
      0.500000036151768
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.10036860617807365,
      0.0034278802439319514,
      0.1176563076429088
     ],
     "orientation_xyzw": [
      -0.6751124348673311,
      0.6751143360128342,
      -0.2102908512774378,
      0.21028930421318218
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.09488469172957859,
      -0.007671545573689384,
      0.10965079601835284
     ],
     "orientation_xyzw": [
      -0.6535622641658834,
      0.6994384192427764,
      0.2030686540669455,
      -0.20592568145078333
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "coffee_cup/dkxddg": {
   "category": "coffee_cup",
   "model": "dkxddg",
   "bbox_size": [
    0.09144020080566406,
    0.06964942067861557,
    0.05049493908882141
   ],
   "upright_orientation_xyzw": [
    -3.055972047150135e-05,
    4.916437319479883e-06,
    -1.9051221897825599e-06,
    1.0
   ],
   "mesh": "meshes/coffee_cup__dkxddg.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0035725231582355564,
      4.2379000675852964e-05,
      0.10066368289085864
     ],
     "orientation_xyzw": [
      0.9999999995191529,
      1.904336789723691e-06,
      4.916437293114273e-06,
      -3.0559720445388267e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0035725231582355564,
      4.2379000675852964e-05,
      0.10066368289085864
     ],
     "orientation_xyzw": [
      0.9914451094799925,
      -0.13052430398258322,
      8.855325475379596e-07,
      -3.0940001654790446e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.006790382876218719,
      -0.0520600289042775,
      0.10051899679342245
     ],
     "orientation_xyzw": [
      0.9999617300018465,
      0.008748575520975781,
      5.183545054028045e-06,
      -3.0515549003158437e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.002447798763902683,
      0.05457995634289239,
      0.1005255572712864
     ],
     "orientation_xyzw": [
      0.9999617300018465,
      0.008748575520975781,
      5.183545054028045e-06,
      -3.0515549003158437e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.05643475306463758,
      0.0124687181932349,
      0.10052245261449391
     ],
     "orientation_xyzw": [
      0.7425919843520944,
      0.6697440883038468,
      2.4118062110327588e-05,
      -1.940069458379476e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "mug/kewbyf": {
   "category": "mug",
   "model": "kewbyf",
   "bbox_size": [
    0.06448698043823242,
    0.08769676834344864,
    0.06462949514389038
   ],
   "upright_orientation_xyzw": [
    2.3679807782173157e-05,
    -3.0742958188056946e-06,
    -1.9399449229240417e-06,
    1.0
   ],
   "mesh": "meshes/mug__kewbyf.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0027079413606027115,
      -0.005678956675488062,
      0.09620453344225842
     ],
     "orientation_xyzw": [
      -0.6087629679996556,
      0.7933521590202335,
      -1.6914941878529395e-05,
      -1.685435647839783e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.010935975129378894,
      0.04213030166191426,
      0.09517058886184385
     ],
     "orientation_xyzw": [
      -0.6087629679996556,
      0.7933521590202335,
      -1.6914941878529395e-05,
      -1.685435647839783e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0013826051194166706,
      -0.05430101682340638,
      0.10239899415254364
     ],
     "orientation_xyzw": [
      0.9989267468471423,
      1.7946083240372812e-06,
      -3.1608567327944778e-06,
      -0.04631797081234851
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.04584268764388183,
      -0.0037850564535335932,
      0.10671079199914178
     ],
     "orientation_xyzw": [
      0.701870412734671,
      0.7118039891770472,
      -0.007596539281809345,
      -0.025598775561432103
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.04849206631584725,
      -0.011711982196651568,
      0.10638640645141194
     ],
     "orientation_xyzw": [
      0.7633824234020573,
      0.6453946629168059,
      -0.009881052763316382,
      -0.024806642569948936
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "chalice/sfkezf": {
   "category": "chalice",
   "model": "sfkezf",
   "bbox_size": [
    0.12008380889892578,
    0.12008640915155411,
    0.1175178587436676
   ],
   "upright_orientation_xyzw": [
    0.0009727982105687261,
    -0.0019052985589951277,
    0.0007676759269088507,
    0.9999974370002747
   ],
   "mesh": "meshes/chalice__sfkezf.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.006755559978808837,
      0.05663997409455461,
      0.11776947182245529
     ],
     "orientation_xyzw": [
      0.9999974170835212,
      -0.0007676766970158243,
      -0.0019052985202847835,
      0.0009727981926906226
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.017627207771929065,
      -0.052643193598891726,
      0.11125537989528132
     ],
     "orientation_xyzw": [
      0.9999974170835212,
      -0.0007676766970158243,
      -0.0019052985202847835,
      0.0009727981926906226
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.05616360032534698,
      0.005386392263436058,
      0.11780515486995773
     ],
     "orientation_xyzw": [
      -0.7065621259463566,
      0.7076477836320763,
      0.000659377306698835,
      -0.002035121702137803
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.05581045651169205,
      -0.0009235351267963281,
      0.1188180527813634
     ],
     "orientation_xyzw": [
      -0.7065621259463566,
      0.7076477836320763,
      0.000659377306698835,
      -0.002035121702137803
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.053268479695480105,
      0.0021329870095926555,
      -0.021413550008219
     ],
     "orientation_xyzw": [
      0.7084522042936346,
      0.00014504335485965555,
      0.7057577052847981,
      0.0012307010405793108
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "mug/ycbmug": {
   "category": "mug",
   "model": "ycbmug",
   "bbox_size": [
    0.09307499974966049,
    0.11696594953536987,
    0.08138397336006165
   ],
   "upright_orientation_xyzw": [
    -5.0407834351062775e-06,
    -1.5924451872706413e-06,
    2.1141022443771362e-07,
    1.000000238418579
   ],
   "mesh": "meshes/mug__ycbmug.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.04464146328927908,
      -0.00026893607328198796,
      0.11959935220928679
     ],
     "orientation_xyzw": [
      -0.7071066313335305,
      0.7071069310197723,
      4.690399820573287e-06,
      2.4383427774891705e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.04532505982438993,
      -0.003795383193946189,
      0.11931269677311808
     ],
     "orientation_xyzw": [
      -0.7071066313335305,
      0.7071069310197723,
      4.690399820573287e-06,
      2.4383427774891705e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0034399573279011984,
      -0.04360685139388503,
      0.10161099071488476
     ],
     "orientation_xyzw": [
      0.9999999999860049,
      -2.121955721154567e-07,
      -1.5924448115389482e-06,
      -5.0407822294485e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.00591847268702802,
      0.05607568125776931,
      0.10451493904884504
     ],
     "orientation_xyzw": [
      0.7071069321304929,
      0.7071066302228095,
      2.4383427701215072e-06,
      -4.690399824403428e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.031915700421068734,
      -0.035961561932586456,
      0.11913064444181598
     ],
     "orientation_xyzw": [
      0.9238794514449065,
      -0.38268362804007344,
      -3.4002510127799213e-06,
      -4.047673286966192e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "coffee_cup/rypdvd": {
   "category": "coffee_cup",
   "model": "rypdvd",
   "bbox_size": [
    0.09143847227096558,
    0.0651249885559082,
    0.08981180191040039
   ],
   "upright_orientation_xyzw": [
    -3.6123674362897873e-06,
    -2.5288754841312766e-06,
    0.025301551446318626,
    0.9996799230575562
   ],
   "mesh": "meshes/coffee_cup__rypdvd.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0057170243595059045,
      9.829042122658807e-06,
      0.11837766314973665
     ],
     "orientation_xyzw": [
      0.025301549179900313,
      0.9996798645514736,
      3.6123672268948774e-06,
      -2.528875333239262e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0018193674864710463,
      -0.002162763615215117,
      0.10971946851287824
     ],
     "orientation_xyzw": [
      -0.23429676789892886,
      0.972165122051121,
      4.143799896935921e-06,
      -1.5077565607308674e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.05048529329245037,
      -0.002919002389666196,
      0.11220454049791495
     ],
     "orientation_xyzw": [
      0.025301549179900313,
      0.9996798645514736,
      3.6123672268948774e-06,
      -2.528875333239262e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0006745845949372303,
      -0.054485450467052714,
      0.11745088042556373
     ],
     "orientation_xyzw": [
      0.02530154917990031,
      0.9996798645514736,
      3.612367226791019e-06,
      -2.5288753332418904e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0049566411632933766,
      0.056689894449727614,
      0.11745167016491453
     ],
     "orientation_xyzw": [
      0.02530154917990031,
      0.9996798645514736,
      3.612367226791019e-06,
      -2.5288753332418904e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "teacup/cpozxi": {
   "category": "teacup",
   "model": "cpozxi",
   "bbox_size": [
    0.0867304801940918,
    0.08690357208251953,
    0.10566282272338867
   ],
   "upright_orientation_xyzw": [
    -3.054877743124962e-05,
    6.327731534838676e-05,
    0.00017074885545298457,
    1.0000001192092896
   ],
   "mesh": "meshes/teacup__cpozxi.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0014274801361198936,
      0.05743386657625074,
      0.11094889766488715
     ],
     "orientation_xyzw": [
      0.0001707480467893405,
      0.9999999829539296,
      3.054877321911347e-05,
      6.327730675049887e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.001466513136441147,
      -0.05686741320572385,
      0.11094191166690538
     ],
     "orientation_xyzw": [
      0.0001707480467893405,
      0.9999999829539296,
      3.054877321911347e-05,
      6.327730675049887e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.029832072832033475,
      -0.03701683550776828,
      0.11093953397120328
     ],
     "orientation_xyzw": [
      0.3005794178303062,
      0.95375678694285,
      4.814721825479765e-05,
      5.1177050218964696e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.025480028755795543,
      0.04202160717508765,
      0.11095136189677272
     ],
     "orientation_xyzw": [
      0.3005794178303062,
      0.95375678694285,
      4.814721825479765e-05,
      5.1177050218964696e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.006203490169892949,
      0.04983978640035772,
      0.11094939966342365
     ],
     "orientation_xyzw": [
      0.02327923027036668,
      0.9997289995297597,
      3.200286097352707e-05,
      6.255447213667983e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "teacup/zdvgol": {
   "category": "teacup",
   "model": "zdvgol",
   "bbox_size": [
    0.07479691505432129,
    0.07479679584503174,
    0.05816313624382019
   ],
   "upright_orientation_xyzw": [
    -8.04997980594635e-05,
    2.582743763923645e-05,
    6.799801485612988e-05,
    1.0000001192092896
   ],
   "mesh": "meshes/teacup__zdvgol.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -8.676401194644061e-06,
      -5.819780597639485e-05,
      0.10259246005636989
     ],
     "orientation_xyzw": [
      6.799722091774962e-05,
      0.9999999941145529,
      8.049978792882377e-05,
      2.582743447158333e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -8.676401194644061e-06,
      -5.819780597639485e-05,
      0.10259246005636989
     ],
     "orientation_xyzw": [
      -0.25875336305453844,
      0.9659434196477006,
      7.107219229470109e-05,
      4.57822642174252e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -8.676401194644061e-06,
      -5.819780597639485e-05,
      0.10259246005636989
     ],
     "orientation_xyzw": [
      -0.4225566324470927,
      0.9063365187543203,
      6.204243925462696e-05,
      5.74282854156888e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.044523666512044584,
      -0.00397261293337668,
      0.001537794647366888
     ],
     "orientation_xyzw": [
      0.707125039778881,
      8.840094622230658e-06,
      -0.7070885142708593,
      -0.0001050037973116376
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.05617937288642162,
      -0.003974771779040698,
      0.10000555181072883
     ],
     "orientation_xyzw": [
      -0.7070586955270504,
      0.7071548585227381,
      3.865919192296169e-05,
      7.518470000148637e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "teacup/kccqwj": {
   "category": "teacup",
   "model": "kccqwj",
   "bbox_size": [
    0.09579730033874512,
    0.07867401838302612,
    0.04744178056716919
   ],
   "upright_orientation_xyzw": [
    -1.1227301001781598e-05,
    7.959588401718065e-07,
    1.7625396139919758e-05,
    1.000000238418579
   ],
   "mesh": "meshes/teacup__kccqwj.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0036110802181167894,
      -0.039273780890775885,
      0.10262428799682244
     ],
     "orientation_xyzw": [
      1.7624606526841653e-05,
      0.9999999997813437,
      1.1227298316291208e-05,
      7.959586590443237e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0033973421712474466,
      0.039254510175217416,
      0.10298550211591323
     ],
     "orientation_xyzw": [
      1.7624606526841653e-05,
      0.9999999997813437,
      1.1227298316291208e-05,
      7.959586590443237e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.041242610572394665,
      0.0010334599921756023,
      0.10282227503768072
     ],
     "orientation_xyzw": [
      -0.7070943176442198,
      0.7071192444196165,
      7.376071019708803e-06,
      8.501726537384519e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.05433763280725404,
      -0.00027198395505796045,
      0.09724757575545595
     ],
     "orientation_xyzw": [
      1.7624606526841653e-05,
      0.9999999997813437,
      1.1227298316291208e-05,
      7.959586590443237e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.011826000260387007,
      -0.03686463517623763,
      0.09999770955645099
     ],
     "orientation_xyzw": [
      -0.17363082060791915,
      0.984810813307985,
      1.0918513662628685e-05,
      2.7334661503201755e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "coffee_cup/siksnl": {
   "category": "coffee_cup",
   "model": "siksnl",
   "bbox_size": [
    0.09515857696533203,
    0.07882815599441528,
    0.07978689670562744
   ],
   "upright_orientation_xyzw": [
    -1.8896229448728263e-05,
    -1.2239906936883926e-06,
    1.638114918023348e-05,
    1.000000238418579
   ],
   "mesh": "meshes/coffee_cup__siksnl.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.04101444778633418,
      -0.000306446329603694,
      0.10850747454617238
     ],
     "orientation_xyzw": [
      -0.707095197392451,
      0.707118364537342,
      1.4227140704329057e-05,
      1.2496156879203464e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.03820362203342169,
      0.014771898704773488,
      0.11212286366756055
     ],
     "orientation_xyzw": [
      -0.5735630176655916,
      0.8191614397710469,
      1.6180933337868456e-05,
      9.835795123452438e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.027793960136330544,
      0.029711453011096314,
      0.11782312807328106
     ],
     "orientation_xyzw": [
      -0.342004750387152,
      0.9396982230237835,
      1.817527250479404e-05,
      5.312714821214402e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.022571551182691045,
      -0.030130617302912308,
      0.11044542318432266
     ],
     "orientation_xyzw": [
      -0.342004750387152,
      0.9396982230237835,
      1.817527250479404e-05,
      5.312714821214402e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.034878238548113304,
      0.021343284652604263,
      0.11326995872797006
     ],
     "orientation_xyzw": [
      -0.46173408310790753,
      0.8870183967302677,
      1.7326332093982637e-05,
      7.639612919782058e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "coffee_cup/ckkwmj": {
   "category": "coffee_cup",
   "model": "ckkwmj",
   "bbox_size": [
    0.09148883819580078,
    0.07221460342407227,
    0.06866815686225891
   ],
   "upright_orientation_xyzw": [
    -0.0010581999085843563,
    0.0010977311758324504,
    -3.118382301181555e-05,
    0.999998927116394
   ],
   "mesh": "meshes/coffee_cup__ckkwmj.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0056677673875488626,
      -0.001784366729301513,
      0.10905756977973179
     ],
     "orientation_xyzw": [
      -3.1184605602437953e-05,
      0.9999988371129028,
      0.0010581998124804379,
      0.0010977310778638408
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.004992119599910369,
      -0.002224654417010053,
      0.1090583718684808
     ],
     "orientation_xyzw": [
      -0.2588488658882505,
      0.9659166319243107,
      0.0007380288192463185,
      0.0013342090632294584
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.016844196847147982,
      -0.041574242160846674,
      0.11095849708046913
     ],
     "orientation_xyzw": [
      -0.25884886588825035,
      0.9659166319243107,
      0.000738028819246319,
      0.0013342090632294584
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.003102540325187781,
      -0.04261281399514754,
      0.1109261304835567
     ],
     "orientation_xyzw": [
      -0.03770962798419022,
      0.9992875758043485,
      0.0010160875277287554,
      0.0011368229846532006
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.003872165684598772,
      0.049666011006129274,
      0.11110612405684311
     ],
     "orientation_xyzw": [
      -0.03770962798419022,
      0.9992875758043485,
      0.0010160875277287554,
      0.0011368229846532006
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/nmhxfz": {
   "category": "bowl",
   "model": "nmhxfz",
   "bbox_size": [
    0.1981048583984375,
    0.19811224937438965,
    0.039078742265701294
   ],
   "upright_orientation_xyzw": [
    4.03205631300807e-05,
    3.604940138757229e-05,
    4.876542789133964e-06,
    1.0000001192092896
   ],
   "mesh": "meshes/bowl__nmhxfz.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.06765713625304419,
      -0.11687475932278346,
      0.08240231070769945
     ],
     "orientation_xyzw": [
      -0.2463561584789448,
      0.9197035759198449,
      0.29534835286053485,
      -0.07888806045477537
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.06785589011711117,
      0.12992230947305103,
      0.08404147971340883
     ],
     "orientation_xyzw": [
      -0.2365604899109542,
      0.8940804868911749,
      -0.3646861424161314,
      0.10799645875291479
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.07024405428206994,
      0.13423804909982628,
      0.0791629221321458
     ],
     "orientation_xyzw": [
      -0.2365604899109542,
      0.8940804868911749,
      -0.3646861424161314,
      0.10799645875291479
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.09180132615311581,
      0.11161654361345315,
      0.08560643366623927
     ],
     "orientation_xyzw": [
      -0.241714137754212,
      0.9113618786075163,
      -0.3190539542630654,
      0.09590816492780219
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.08428595759656884,
      0.08889798942687618,
      0.08922188292722787
     ],
     "orientation_xyzw": [
      0.3083693983877265,
      0.9076269418642982,
      -0.26668559029979444,
      -0.10000222230782524
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/hpqjug": {
   "category": "bowl",
   "model": "hpqjug",
   "bbox_size": [
    0.16193723678588867,
    0.16193914413452148,
    0.07923981547355652
   ],
   "upright_orientation_xyzw": [
    -0.0003492953546810895,
    0.00020136506645940244,
    2.6051575332530774e-06,
    0.9999999403953552
   ],
   "mesh": "meshes/bowl__hpqjug.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.06091965661933721,
      -0.05184271671244684,
      0.1223329951875325
     ],
     "orientation_xyzw": [
      -0.25881650818232993,
      0.9659264219065438,
      0.0002852762835383195,
      0.0002849080023364715
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0006685272591367824,
      -0.07493433904578803,
      0.10386365518969039
     ],
     "orientation_xyzw": [
      2.6043720786557265e-06,
      0.9999999187190414,
      0.00034929534695164933,
      0.0002013650623688854
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.06814930262928114,
      0.02904237571613194,
      0.10210928539458539
     ],
     "orientation_xyzw": [
      -0.5519347682135777,
      0.8338871920601112,
      0.00018013161227668043,
      0.00036070449124373823
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.08646970976998399,
      0.036822575745226925,
      0.09804188458988644
     ],
     "orientation_xyzw": [
      -0.5458841798922427,
      0.8248523024351176,
      -0.12241960911871688,
      0.08150202828199572
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.001764237367416751,
      0.08037838941928362,
      0.11858422020943604
     ],
     "orientation_xyzw": [
      -0.10452586456227789,
      0.9945220867745375,
      0.00032633348999310533,
      0.00023677326929726314
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "teacup/oxfzfe": {
   "category": "teacup",
   "model": "oxfzfe",
   "bbox_size": [
    0.12990093231201172,
    0.09427142143249512,
    0.0706959068775177
   ],
   "upright_orientation_xyzw": [
    -0.0010038702748715878,
    -0.001090569538064301,
    2.776338078547269e-05,
    0.9999990463256836
   ],
   "mesh": "meshes/teacup__oxfzfe.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.007198811758496099,
      -0.04605459607449316,
      0.12013240823565449
     ],
     "orientation_xyzw": [
      -0.10450073778860952,
      0.9945237044459164,
      0.0011123663654537504,
      -0.0009796621238110739
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0050870169297683974,
      0.04691765821720471,
      0.12254771818248986
     ],
     "orientation_xyzw": [
      2.7762591355229866e-05,
      0.9999989010656115,
      0.0010038701299057437,
      -0.0010905693788594785
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.00209834541478427,
      0.0469160888625823,
      0.11828617221882558
     ],
     "orientation_xyzw": [
      0.08718330382859456,
      0.9961911836774722,
      0.0009050007168548133,
      -0.0011739124798361626
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.02446325121378247,
      -0.038239630916660904,
      0.11446150863074842
     ],
     "orientation_xyzw": [
      -0.29234483364352193,
      0.9563118221297557,
      0.0012788574077912482,
      -0.000749413462889656
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.03201255856118867,
      0.03691845960117257,
      0.11290878149034111
     ],
     "orientation_xyzw": [
      -0.29234483364352193,
      0.9563118221297557,
      0.0012788574077912482,
      -0.000749413462889656
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bowl/rlwpcd": {
   "category": "bowl",
   "model": "rlwpcd",
   "bbox_size": [
    0.11548284068703651,
    0.10503721237182617,
    0.06616178154945374
   ],
   "upright_orientation_xyzw": [
    -3.5417938306636643e-06,
    -5.773756129201502e-06,
    6.049274816177785e-06,
    1.0000001192092896
   ],
   "mesh": "meshes/bowl__rlwpcd.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.005052793301697617,
      0.08738620139561604,
      0.10972431173745809
     ],
     "orientation_xyzw": [
      0.01627966738907912,
      0.9609490716701431,
      -0.2762062654189991,
      -0.004685405988855287
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.09690399034984601,
      0.025486457740147926,
      0.1039022121764547
     ],
     "orientation_xyzw": [
      0.6288569381929175,
      0.7192986856665072,
      -0.2371680706800845,
      -0.17578298647750526
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.10096504504431593,
      0.025946737206445136,
      0.10074584593019165
     ],
     "orientation_xyzw": [
      0.6232455007660331,
      0.7117869146245185,
      -0.2588410344612823,
      -0.1947453537910945
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.09577011424231166,
      0.02485790840510002,
      0.09390314708747376
     ],
     "orientation_xyzw": [
      0.6232455007660331,
      0.7117869146245185,
      -0.2588410344612823,
      -0.1947453537910945
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.01568596788265862,
      -0.08708739119920672,
      0.10432383773085545
     ],
     "orientation_xyzw": [
      0.9568274880310926,
      0.049019866694420454,
      -0.0739056039085684,
      -0.27679626537993685
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/wtepsx": {
   "category": "bowl",
   "model": "wtepsx",
   "bbox_size": [
    0.16898441314697266,
    0.16898632049560547,
    0.04942542314529419
   ],
   "upright_orientation_xyzw": [
    3.2044481486082077e-06,
    4.0580343920737505e-06,
    4.886883471044712e-05,
    1.0
   ],
   "mesh": "meshes/bowl__wtepsx.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.011634976641975547,
      -0.08117228212007092,
      0.11660209068329422
     ],
     "orientation_xyzw": [
      4.886804922881646e-05,
      0.9999999987925889,
      -3.2044481463240457e-06,
      4.058034384657111e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.039950469080249136,
      0.08363954746047066,
      0.10933887268818404
     ],
     "orientation_xyzw": [
      4.886804922881646e-05,
      0.9999999987925889,
      -3.2044481463240457e-06,
      4.058034384657111e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.08388897782723428,
      0.04072383520087196,
      0.11056286346556207
     ],
     "orientation_xyzw": [
      -0.7070722244948449,
      0.707141336170624,
      -5.135350643695007e-06,
      6.035766203532491e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.08439280799703197,
      -0.038738203149747505,
      0.1133767074047634
     ],
     "orientation_xyzw": [
      -0.7070722244948449,
      0.707141336170624,
      -5.135350643695007e-06,
      6.035766203532491e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.08383503942697977,
      0.003011050340541831,
      0.1159995797144997
     ],
     "orientation_xyzw": [
      -0.7070722244948449,
      0.707141336170624,
      -5.135350643695007e-06,
      6.035766203532491e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.08327950774580066,
      0.0010896996954343058,
      0.09258171542544091
     ],
     "orientation_xyzw": [
      0.7070989352570288,
      0.7071146270097727,
      9.83289140091482e-07,
      5.12244668682826e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.08430203493477068,
      -0.003727183105494177,
      0.09772410480150731
     ],
     "orientation_xyzw": [
      0.7070989352570288,
      0.7071146270097727,
      9.83289140091482e-07,
      5.12244668682826e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "teacup/wopjex": {
   "category": "teacup",
   "model": "wopjex",
   "bbox_size": [
    0.11462295055389404,
    0.08851385116577148,
    0.092812180519104
   ],
   "upright_orientation_xyzw": [
    -0.02065509930253029,
    0.000271413940936327,
    0.002018388593569398,
    0.9997845888137817
   ],
   "mesh": "meshes/teacup__wopjex.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0026588943198098693,
      -0.04266363809045147,
      0.11839689564421986
     ],
     "orientation_xyzw": [
      0.0020183878035822628,
      0.9997845864584838,
      0.02065509925362498,
      0.00027141395651897576
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.002452153172855284,
      0.034351381769522515,
      0.1139032527231391
     ],
     "orientation_xyzw": [
      0.0020183878035822628,
      0.9997845864584838,
      0.02065509925362498,
      0.00027141395651897576
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.04673858310039874,
      -0.004369296067164049,
      0.11910204509387015
     ],
     "orientation_xyzw": [
      -0.705527244551243,
      0.7083816770676792,
      0.01441344211077797,
      0.014797279386162373
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.05480925532540105,
      -0.004079811799407667,
      0.11288562810292094
     ],
     "orientation_xyzw": [
      -0.6957522801072116,
      0.7028540776871147,
      -0.08949018212797318,
      0.11796786641672216
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.023251383924444848,
      0.03593258436253049,
      0.11854314016427148
     ],
     "orientation_xyzw": [
      -0.2058926224317868,
      0.9783565409590969,
      0.02014730564419548,
      0.004559919515984873
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "mug/ppzttc": {
   "category": "mug",
   "model": "ppzttc",
   "bbox_size": [
    0.08099997043609619,
    0.10911333560943604,
    0.08026161789894104
   ],
   "upright_orientation_xyzw": [
    -0.020643113180994987,
    0.0002960776910185814,
    0.004704817198216915,
    0.9997758269309998
   ],
   "mesh": "meshes/mug__ppzttc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -7.117174237951417e-05,
      -0.005359927645289002,
      0.12266196793546016
     ],
     "orientation_xyzw": [
      -0.7036214358046474,
      0.7102750518779298,
      0.01438752630294184,
      0.014806243375445362
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -7.117174237951417e-05,
      -0.005359927645289002,
      0.12266196793546016
     ],
     "orientation_xyzw": [
      -0.5551670593120993,
      0.831482597832778,
      0.016948351343042022,
      0.011788941545514976
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -7.117174237951417e-05,
      -0.005359927645289002,
      0.12266196793546016
     ],
     "orientation_xyzw": [
      -0.47291710508575324,
      0.8808650214200243,
      0.018000244468331608,
      0.010110240110455382
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.036810955220089495,
      -0.03287305791910894,
      0.1194775445972449
     ],
     "orientation_xyzw": [
      -0.4729171050857534,
      0.8808650214200241,
      0.018000244468331598,
      0.010110240110455386
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0497626612840344,
      0.024541743525166106,
      0.11996733216229552
     ],
     "orientation_xyzw": [
      -0.4729171050857534,
      0.8808650214200241,
      0.018000244468331598,
      0.010110240110455386
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "decanter/ofasfw": {
   "category": "decanter",
   "model": "ofasfw",
   "bbox_size": [
    0.21903514862060547,
    0.21903717517852783,
    0.2524794340133667
   ],
   "upright_orientation_xyzw": [
    9.406358003616333e-08,
    -5.164474714547396e-07,
    -8.986826287582517e-07,
    1.0000001192092896
   ],
   "mesh": "meshes/decanter__ofasfw.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.05216491801464131,
      -0.007574405829827435,
      0.08858433469537844
     ],
     "orientation_xyzw": [
      0.7071071463696301,
      7.019774919176845e-07,
      0.707106416002699,
      -5.68951517865156e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.053492149277890345,
      -0.004295465150632988,
      0.0485653425456622
     ],
     "orientation_xyzw": [
      0.7071071463696301,
      7.019774919176845e-07,
      0.707106416002699,
      -5.68951517865156e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.003143353861278787,
      -0.05444853671228101,
      0.056111223995219034
     ],
     "orientation_xyzw": [
      -0.5000002381490695,
      0.4999998559139571,
      0.500000661032909,
      0.49999924490297964
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0410736986345077,
      0.0027944145019230663,
      0.2576716209213945
     ],
     "orientation_xyzw": [
      0.7071074170042227,
      -0.7071061453681057,
      -2.986704784974286e-07,
      4.3169645288675046e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.05158636008321747,
      0.0027943951161247646,
      0.25511910883326994
     ],
     "orientation_xyzw": [
      0.7020985017250675,
      -0.7020972232912436,
      0.08401541444375342,
      -0.08401543345115431
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "saucepan/fsinsu": {
   "category": "saucepan",
   "model": "fsinsu",
   "bbox_size": [
    0.2998349666595459,
    0.18092191219329834,
    0.0937696099281311
   ],
   "upright_orientation_xyzw": [
    -4.217154491925612e-05,
    1.6439611499663442e-05,
    2.893939381465316e-07,
    1.0
   ],
   "mesh": "meshes/saucepan__fsinsu.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.1365474942854565,
      -0.007559758311481151,
      0.1225094205096487
     ],
     "orientation_xyzw": [
      2.886085395159979e-07,
      0.9999999989756084,
      4.217154484205852e-05,
      1.6439611515944293e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.10519284730961413,
      -0.012854682670743961,
      0.10460299790109485
     ],
     "orientation_xyzw": [
      2.886085395159979e-07,
      0.9999999989756084,
      4.217154484205852e-05,
      1.6439611515944293e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0046592661941591,
      -0.08917245988979425,
      0.11323083358238249
     ],
     "orientation_xyzw": [
      2.886085395159979e-07,
      0.9999999989756084,
      4.217154484205852e-05,
      1.6439611515944293e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.010419849890592713,
      0.08966787525182184,
      0.11467275650709181
     ],
     "orientation_xyzw": [
      2.886085395159979e-07,
      0.9999999989756084,
      4.217154484205852e-05,
      1.6439611515944293e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.10031408988890857,
      -0.005520741747893915,
      0.11654003961205672
     ],
     "orientation_xyzw": [
      -0.707106575476224,
      0.707106985448162,
      1.8195224607020236e-05,
      4.1444346114548214e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "mixing_bowl/deudkt": {
   "category": "mixing_bowl",
   "model": "deudkt",
   "bbox_size": [
    0.2625546455383301,
    0.23220610618591309,
    0.1250402331352234
   ],
   "upright_orientation_xyzw": [
    -5.394686013460159e-07,
    5.156034603714943e-07,
    6.160116754472256e-07,
    1.0
   ],
   "mesh": "meshes/mixing_bowl__deudkt.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.10950978322724653,
      -0.03559017494232159,
      0.14160750690525062
     ],
     "orientation_xyzw": [
      -0.5591923929328249,
      0.8290379169166537,
      1.5891794361713838e-07,
      7.291216546867265e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.12131605489550114,
      -0.04036023080500935,
      0.1386418627182554
     ],
     "orientation_xyzw": [
      -0.5555365629552742,
      0.8236177773368212,
      0.09464472801104068,
      -0.06383775947126678
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.07050909420388735,
      -0.09042253584807215,
      0.14299623093151367
     ],
     "orientation_xyzw": [
      -0.20791108883069231,
      0.9781477286896284,
      4.2047993048522804e-07,
      6.164981169832575e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.008871801070408464,
      -0.11105815271241218,
      0.1370460971408385
     ],
     "orientation_xyzw": [
      -0.017451791287249486,
      0.9998477058934073,
      5.303879161108115e-07,
      5.249399571650049e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.008554281886426979,
      -0.1201509681109442,
      0.13491708851499232
     ],
     "orientation_xyzw": [
      -0.017336716466208577,
      0.9932513316032956,
      0.11466135900498768,
      -0.0020008202266999227
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "water_glass/lvqgvn": {
   "category": "water_glass",
   "model": "lvqgvn",
   "bbox_size": [
    0.06218767166137695,
    0.06185352802276611,
    0.1456853449344635
   ],
   "upright_orientation_xyzw": [
    -0.0002239953028038144,
    -0.00023981908452697098,
    -0.009398947469890118,
    0.9999558329582214
   ],
   "mesh": "meshes/water_glass__lvqgvn.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.00010794244421725478,
      2.1006323376849812e-05,
      0.154505671431461
     ],
     "orientation_xyzw": [
      -0.026849150794319494,
      0.9996394427064927,
      0.00022814659434401918,
      -0.00023587328802576296
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.00010794244421725478,
      2.1006323376849812e-05,
      0.154505671431461
     ],
     "orientation_xyzw": [
      0.7075820697641246,
      -0.7066310967267438,
      -0.00032785614945664087,
      1.4050686043593251e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.00010794244421725478,
      2.1006323376849812e-05,
      0.154505671431461
     ],
     "orientation_xyzw": [
      -0.5669602535097048,
      0.8237450839022561,
      0.0003198056337870447,
      -7.356244363049124e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.00010794244421725478,
      2.1006323376849812e-05,
      0.154505671431461
     ],
     "orientation_xyzw": [
      -0.3096564362721424,
      0.950848454690946,
      0.00028574309025856964,
      -0.0001613628299340147
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.026536586600727056,
      -0.03625221722127313,
      0.15447679869788417
     ],
     "orientation_xyzw": [
      -0.30965643627214245,
      0.950848454690946,
      0.00028574309025856975,
      -0.00016136282993401468
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "beaker/dtjmai": {
   "category": "beaker",
   "model": "dtjmai",
   "bbox_size": [
    0.08380842208862305,
    0.0732269287109375,
    0.04556223750114441
   ],
   "upright_orientation_xyzw": [
    -1.2107077054679394e-05,
    1.0213698260486126e-06,
    -6.374732038239017e-06,
    1.0
   ],
   "mesh": "meshes/beaker__dtjmai.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.04782767934534986,
      0.000919998371730454,
      0.1026426930475889
     ],
     "orientation_xyzw": [
      -0.7009138110205871,
      0.7132459809721834,
      7.919490573014682e-06,
      9.21445495760039e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.054052008212212975,
      -0.0008570188827971597,
      0.10264285811654761
     ],
     "orientation_xyzw": [
      -0.7009138110205871,
      0.7132459809721834,
      7.919490573014682e-06,
      9.21445495760039e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.002759127000933175,
      0.001476904622863036,
      0.10264280986047662
     ],
     "orientation_xyzw": [
      0.9997415648606093,
      -0.022733309095593936,
      7.457946357949708e-07,
      -1.2127172030730585e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.005272480898465713,
      0.05671314636779801,
      0.10264415249380579
     ],
     "orientation_xyzw": [
      0.9997415648606093,
      -0.022733309095593936,
      7.457946357949708e-07,
      -1.2127172030730585e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.020910245073367025,
      0.04340675154359608,
      0.10264377681008656
     ],
     "orientation_xyzw": [
      0.9724914956191425,
      0.23293838412940596,
      3.8134028955758983e-06,
      -1.1536137545024682e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/xplzbo": {
   "category": "bowl",
   "model": "xplzbo",
   "bbox_size": [
    0.17390155792236328,
    0.17390227317810059,
    0.10842922329902649
   ],
   "upright_orientation_xyzw": [
    -3.127148374915123e-05,
    6.453949026763439e-06,
    -0.00048791864537633955,
    0.9999998807907104
   ],
   "mesh": "meshes/bowl__xplzbo.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.08588538613336173,
      0.006072738367091107,
      0.12163435842704944
     ],
     "orientation_xyzw": [
      -0.7012571887107641,
      0.7129083771859582,
      1.7780767159524314e-05,
      2.6521754701656542e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.08272769177691972,
      -0.021790756961512836,
      0.12610349969181242
     ],
     "orientation_xyzw": [
      -0.7012571887107641,
      0.7129083771859582,
      1.7780767159524314e-05,
      2.6521754701656542e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.08354888314242898,
      -0.01987660422558304,
      0.12510483174056275
     ],
     "orientation_xyzw": [
      -0.5595973396720031,
      0.8287646326988487,
      2.2316232470651437e-05,
      2.2837358024752245e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.03733358727373039,
      0.07754394707639099,
      0.12313823869990438
     ],
     "orientation_xyzw": [
      -0.2083889229790449,
      0.9780460396934668,
      2.924627532889864e-05,
      1.2814621829032997e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.007256650430961922,
      -0.0840134221405887,
      0.13117819129212185
     ],
     "orientation_xyzw": [
      -0.0004879194306120577,
      0.9999998804575279,
      3.127148373367492e-05,
      6.453949049176139e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "gravy_boat/krgqwl": {
   "category": "gravy_boat",
   "model": "krgqwl",
   "bbox_size": [
    0.20977989584207535,
    0.15903079509735107,
    0.08697760105133057
   ],
   "upright_orientation_xyzw": [
    -2.0966021111235023e-05,
    9.341099939774722e-06,
    2.083470462821424e-07,
    1.0000001192092896
   ],
   "mesh": "meshes/gravy_boat__krgqwl.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0013825728100455464,
      -0.07922135524203021,
      0.11889998646616093
     ],
     "orientation_xyzw": [
      2.0756162309595197e-07,
      0.9999999997365635,
      2.096601858854813e-05,
      9.341098840234853e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.002505175247752437,
      0.07929387977457977,
      0.11848275300149082
     ],
     "orientation_xyzw": [
      2.0756162309595197e-07,
      0.9999999997365635,
      2.096601858854813e-05,
      9.341098840234853e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.03869340599282757,
      0.07100689947554116,
      0.11862939148827031
     ],
     "orientation_xyzw": [
      -0.20791148753222133,
      0.9781476436741586,
      1.856573713844022e-05,
      1.3496053791545809e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.029679512719227585,
      -0.07206093108345969,
      0.1194993931676808
     ],
     "orientation_xyzw": [
      -0.20791148753222133,
      0.9781476436741586,
      1.856573713844022e-05,
      1.3496053791545809e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.07497471934545391,
      0.03422239630828807,
      0.11771704123772278
     ],
     "orientation_xyzw": [
      -0.47715857728806077,
      0.8788172117076473,
      1.39681087962008e-05,
      1.8213236947232028e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bowl/xpnlup": {
   "category": "bowl",
   "model": "xpnlup",
   "bbox_size": [
    0.1499999761581421,
    0.14999985694885254,
    0.044594526290893555
   ],
   "upright_orientation_xyzw": [
    -2.609333023428917e-06,
    -6.579284672625363e-06,
    -2.622219881232013e-07,
    1.0
   ],
   "mesh": "meshes/bowl__xpnlup.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.06433559946034638,
      0.03820285185253211,
      0.11418146207817727
     ],
     "orientation_xyzw": [
      -0.4771589909458918,
      0.878816987380992,
      5.432489832575831e-06,
      -4.536921847151375e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.06494233478445305,
      -0.03738483812858921,
      0.11415462548534093
     ],
     "orientation_xyzw": [
      -0.4771589909458918,
      0.878816987380992,
      5.432489832575831e-06,
      -4.536921847151375e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.03778066909531637,
      -0.06473787173411572,
      0.11185400798093788
     ],
     "orientation_xyzw": [
      -0.20791194786772557,
      0.978147546070506,
      3.920223040335187e-06,
      -5.893000673859782e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.03298178834682241,
      0.06427740652819965,
      0.11489876260942565
     ],
     "orientation_xyzw": [
      -0.20791194786772557,
      0.978147546070506,
      3.920223040335187e-06,
      -5.893000673859782e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0017330380029545716,
      0.07477108155235783,
      0.11313040713672846
     ],
     "orientation_xyzw": [
      -0.01745266938672422,
      0.9998476905415054,
      2.723759964492578e-06,
      -6.53274347299158e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "beaker/sfvswx": {
   "category": "beaker",
   "model": "sfvswx",
   "bbox_size": [
    0.12555277347564697,
    0.12555277347564697,
    0.1464613676071167
   ],
   "upright_orientation_xyzw": [
    -8.760252967476845e-07,
    -5.282927304506302e-07,
    -3.1289528124034405e-07,
    1.000000238418579
   ],
   "mesh": "meshes/beaker__sfvswx.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0023633508581034444,
      0.061215131559931114,
      0.1582633456802354
     ],
     "orientation_xyzw": [
      -0.017452720052652724,
      0.9998476896816421,
      8.851116426678836e-07,
      -5.129233964102787e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.06221646118934775,
      0.0011025312126934001,
      0.1608174846682008
     ],
     "orientation_xyzw": [
      -0.7009094874783206,
      0.7132502298365079,
      9.951104678152548e-07,
      2.372091627603737e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.06105872014864723,
      -0.003907095864605961,
      0.1590136610830009
     ],
     "orientation_xyzw": [
      -0.7009094874783206,
      0.7132502298365079,
      9.951104678152548e-07,
      2.372091627603737e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.002556560158126493,
      -0.06218920076755421,
      0.1622414714120348
     ],
     "orientation_xyzw": [
      -3.1368060467422177e-07,
      0.9999999999994276,
      8.760250878634342e-07,
      -5.282926038075273e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.002649557334501131,
      0.06124676488531729,
      0.1593904018248575
     ],
     "orientation_xyzw": [
      -3.1368060467422177e-07,
      0.9999999999994276,
      8.760250878634342e-07,
      -5.282926038075273e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "coffee_cup/fgizgn": {
   "category": "coffee_cup",
   "model": "fgizgn",
   "bbox_size": [
    0.09533202648162842,
    0.06314718723297119,
    0.07065558433532715
   ],
   "upright_orientation_xyzw": [
    -2.030283212661743e-06,
    1.6744888853281736e-06,
    -5.21540641784668e-08,
    0.9999999403953552
   ],
   "mesh": "meshes/coffee_cup__fgizgn.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0025392580853025567,
      -3.7776919192486224e-05,
      0.11412940076438448
     ],
     "orientation_xyzw": [
      -0.20791174239478755,
      0.978147589767228,
      1.637770934297677e-06,
      2.0600170249453274e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0025392580853025567,
      -3.7776919192486224e-05,
      0.11412940076438448
     ],
     "orientation_xyzw": [
      -0.11320326625396035,
      0.9935718496930703,
      1.8276748435422317e-06,
      1.8935597277247012e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0025392580853025567,
      -3.7776919192486224e-05,
      0.11412940076438448
     ],
     "orientation_xyzw": [
      -0.017452459351175044,
      0.9998476942293109,
      2.000750248027243e-06,
      1.7096672838051899e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0025392580853025567,
      -3.7776919192486224e-05,
      0.11412940076438448
     ],
     "orientation_xyzw": [
      0.07845904287300466,
      0.996917337889419,
      2.155403538068888e-06,
      1.510032901857629e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0025392580853025567,
      -3.7776919192486224e-05,
      0.11412940076438448
     ],
     "orientation_xyzw": [
      0.18223547325833592,
      0.983254917241396,
      2.301437430474846e-06,
      1.2764597643107388e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "beer_glass/lymciz": {
   "category": "beer_glass",
   "model": "lymciz",
   "bbox_size": [
    0.10561633110046387,
    0.10560369491577148,
    0.21583738923072815
   ],
   "upright_orientation_xyzw": [
    9.170748671749607e-05,
    0.0001637003297219053,
    -0.0033914365340024233,
    0.9999942779541016
   ],
   "mesh": "meshes/beer_glass__lymciz.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.018362047985449357,
      0.042158770053533696,
      0.1863955852234348
     ],
     "orientation_xyzw": [
      0.17889982684530972,
      0.9838672759811967,
      -6.0339818131765255e-05,
      0.0001776715062830764
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.01414945285534513,
      -0.04392594031594468,
      0.1855864203340825
     ],
     "orientation_xyzw": [
      0.17889982684530972,
      0.9838672759811967,
      -6.0339818131765255e-05,
      0.0001776715062830764
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.04669409490121076,
      -0.0022838458552125883,
      0.18255895761890445
     ],
     "orientation_xyzw": [
      -0.6970939584720107,
      0.7169797611186559,
      -0.0001796846411195215,
      5.4050786699194e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.04610645785067593,
      0.0005406272130138029,
      0.18602921616777063
     ],
     "orientation_xyzw": [
      -0.6970939584720107,
      0.7169797611186559,
      -0.0001796846411195215,
      5.4050786699194e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.005802225019987163,
      -0.05001646019795331,
      0.16699819239152974
     ],
     "orientation_xyzw": [
      0.08377670817958284,
      0.9964845347312397,
      -7.709108478324691e-05,
      0.00017107022664396645
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "coffee_cup/nhzrei": {
   "category": "coffee_cup",
   "model": "nhzrei",
   "bbox_size": [
    0.10229349136352539,
    0.0737309455871582,
    0.08583611249923706
   ],
   "upright_orientation_xyzw": [
    -3.0533410608768463e-06,
    -1.8226592146675102e-06,
    -0.02330045774579048,
    0.9997287392616272
   ],
   "mesh": "meshes/coffee_cup__nhzrei.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0007683108730755988,
      0.03554542758492754,
      0.1160554137249576
     ],
     "orientation_xyzw": [
      0.06392029266426892,
      0.9979550070885307,
      2.882866292466556e-06,
      -2.0818391691731524e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0056428124473660085,
      -0.0365044759380736,
      0.1272643169358048
     ],
     "orientation_xyzw": [
      0.06392029266426892,
      0.9979550070885307,
      2.882866292466556e-06,
      -2.0818391691731524e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.04101271351012247,
      -0.0005678000312384568,
      0.12921425858112762
     ],
     "orientation_xyzw": [
      0.7112307187417108,
      -0.702958650779336,
      -3.4625144266957168e-06,
      -8.099174226224872e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.03728635214735803,
      0.015055166875631945,
      0.1330512639717928
     ],
     "orientation_xyzw": [
      -0.5783580374566274,
      0.8157830474437879,
      3.5505517367913856e-06,
      1.9635363737681226e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.03728635214735803,
      0.015055166875631945,
      0.1330512639717928
     ],
     "orientation_xyzw": [
      -0.497506051787208,
      0.8674605053963316,
      3.553025363056499e-06,
      -1.448556385532464e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "beaker/zycgen": {
   "category": "beaker",
   "model": "zycgen",
   "bbox_size": [
    0.07780766487121582,
    0.07780861854553223,
    0.08089536428451538
   ],
   "upright_orientation_xyzw": [
    -4.752073436975479e-07,
    1.4028046280145645e-08,
    0.0019521790090948343,
    0.9999983906745911
   ],
   "mesh": "meshes/beaker__zycgen.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -2.81416180668894e-06,
      1.3206009546273818e-05,
      0.13357776678705044
     ],
     "orientation_xyzw": [
      -0.4754422434738224,
      0.8797469369769654,
      4.1092661844149507e-07,
      2.390773635922482e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -2.81416180668894e-06,
      1.3206009546273818e-05,
      0.13357776678705044
     ],
     "orientation_xyzw": [
      0.0019521776455070138,
      0.9999980944992917,
      4.752072029408976e-07,
      1.4028042498583521e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0026583140802288827,
      -0.037848000464496455,
      0.12101167430223889
     ],
     "orientation_xyzw": [
      0.0019521776455070138,
      0.9999980944992917,
      4.752072029408976e-07,
      1.4028042498583521e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.027173981811842836,
      0.02720001713674418,
      0.13125168406953552
     ],
     "orientation_xyzw": [
      -0.380879125827929,
      0.9246248382497231,
      4.336659090677031e-07,
      1.948141447040783e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.028250536139742485,
      -0.026139501885313124,
      0.13128823113039706
     ],
     "orientation_xyzw": [
      -0.380879125827929,
      0.9246248382497231,
      4.336659090677031e-07,
      1.948141447040783e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "measuring_cup/ahtzhp": {
   "category": "measuring_cup",
   "model": "ahtzhp",
   "bbox_size": [
    0.27414703369140625,
    0.1623762845993042,
    0.11947000026702881
   ],
   "upright_orientation_xyzw": [
    0.00019295197853352875,
    -4.7067627747310326e-05,
    4.178727976977825e-07,
    1.0
   ],
   "mesh": "meshes/measuring_cup__ahtzhp.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.09595901288918059,
      0.0041229654105698526,
      0.1362984854575146
     ],
     "orientation_xyzw": [
      4.1708739107663684e-07,
      0.9999999802769998,
      -0.00019295197459449388,
      -4.706762697053961e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.009316864407253912,
      -0.07662431446718418,
      0.12909357605875077
     ],
     "orientation_xyzw": [
      4.1708739107663684e-07,
      0.9999999802769998,
      -0.00019295197459449388,
      -4.706762697053961e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.008585568421028197,
      0.07478897622759109,
      0.11910606420534231
     ],
     "orientation_xyzw": [
      4.1708739107663684e-07,
      0.9999999802769998,
      -0.00019295197459449388,
      -4.706762697053961e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.049679609597090196,
      0.06468285920074325,
      0.11766398178642129
     ],
     "orientation_xyzw": [
      0.07845950990374852,
      0.9969172813527899,
      -0.00019605005159513154,
      -3.1783695746858025e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.013278135807436482,
      -0.07340293676362546,
      0.13497819351442955
     ],
     "orientation_xyzw": [
      0.07845950990374852,
      0.9969172813527899,
      -0.00019605005159513154,
      -3.1783695746858025e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "casserole/ncbsee": {
   "category": "casserole",
   "model": "ncbsee",
   "bbox_size": [
    0.24506092071533203,
    0.24506139755249023,
    0.1268448531627655
   ],
   "upright_orientation_xyzw": [
    0.0006886931951157749,
    -0.0003594613226596266,
    -5.1621645980048925e-06,
    0.9999997019767761
   ],
   "mesh": "meshes/casserole__ncbsee.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.01252712626779244,
      -0.11894052530420525,
      0.1344858277780979
     ],
     "orientation_xyzw": [
      0.07845392493871903,
      0.9969174379811776,
      -0.0007147731912198638,
      -0.0003043189775210003
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.013924145001371246,
      0.11618088899679668,
      0.11853162531099243
     ],
     "orientation_xyzw": [
      0.07845392493871903,
      0.9969174379811776,
      -0.0007147731912198638,
      -0.0003043189775210003
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.11970838569174005,
      -0.007368131374426166,
      0.13693122959859064
     ],
     "orientation_xyzw": [
      -0.6946618741958034,
      0.7193359973114226,
      -0.0002457016078942529,
      -0.0007369813259806745
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.12043308013305827,
      0.005231590362783846,
      0.1400801181081511
     ],
     "orientation_xyzw": [
      -0.6946618741958034,
      0.7193359973114226,
      -0.0002457016078942529,
      -0.0007369813259806745
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.08609495036021138,
      0.08366538759321142,
      0.1365562361372957
     ],
     "orientation_xyzw": [
      -0.38268808646419333,
      0.9238772780881772,
      -0.0004987096522875449,
      -0.0005956504324528697
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.1220379591571791,
      0.0045309857364564075,
      0.1488466845210814
     ],
     "orientation_xyzw": [
      0.7071102180053993,
      -0.7071029176022412,
      0.0002328020887245209,
      0.0007411571644742796
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.11677593700788111,
      -0.002368415478107981,
      0.1487549220064664
     ],
     "orientation_xyzw": [
      0.7071102180053993,
      -0.7071029176022412,
      0.0002328020887245209,
      0.0007411571644742796
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.0006249940546840844,
      0.12260776748841386,
      0.14806316585300633
     ],
     "orientation_xyzw": [
      -5.1629499766237874e-06,
      0.999999698231249,
      -0.0006886931922539009,
      -0.0003594613218541539
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.0009857720503575627,
      -0.12230746624182486,
      0.14587150015739783
     ],
     "orientation_xyzw": [
      -5.1629499766237874e-06,
      0.999999698231249,
      -0.0006886931922539009,
      -0.0003594613218541539
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.0677159231395635,
      -0.10193899715644271,
      0.14616254311922733
     ],
     "orientation_xyzw": [
      -0.38268808646419333,
      0.9238772780881772,
      -0.0004987096522875449,
      -0.0005956504324528697
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.09984191343956317,
      0.07079281428732906,
      0.14716282731644703
     ],
     "orientation_xyzw": [
      -0.38268808646419333,
      0.9238772780881772,
      -0.0004987096522875449,
      -0.0005956504324528697
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "paper_towel_holder/rntefx": {
   "category": "paper_towel_holder",
   "model": "rntefx",
   "bbox_size": [
    0.13969921320676804,
    0.1397000029683113,
    0.21090206503868103
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0000001192092896
   ],
   "mesh": "meshes/paper_towel_holder__rntefx.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.000747855063868131,
      2.5948525746315735e-05,
      0.24086928123196166
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.000747855063868131,
      2.5948525746315735e-05,
      0.24086928123196166
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.000747855063868131,
      2.5948525746315735e-05,
      0.21086928126196167
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.000747855063868131,
      2.5948525746315735e-05,
      0.2608692812119617
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.10306304209401412,
      -0.0031375352713514104,
      0.1610331590043066
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.10729830140831542,
      -0.003584430521915871,
      0.08274633737921042
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.0527016984316846,
      -0.003584430521915871,
      0.08274633737921042
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      -0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.10479966052608006,
      -0.0040487372871479965,
      0.1461668351574208
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      -0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.02479966060608004,
      -0.0040487372871479965,
      0.2261668350774208
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.007182236373969267,
      -0.0034904402017459923,
      0.25873324849964763
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.000747855063868131,
      2.5948525746315735e-05,
      0.16086928131196165
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.0015410556434080221,
      -0.001223527241450831,
      0.14751135523878295
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      -0.007742034815972355,
      -0.001223527256032676,
      0.14751135523878295
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      -0.027059646808003487,
      -0.001223527286376711,
      0.14751135523878295
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 14,
     "position": [
      0.02786111291837076,
      -0.0012235272001073802,
      0.14751135523878295
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 15,
     "position": [
      0.02786111291837076,
      -0.0012235272001073802,
      0.16189865623667635
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 16,
     "position": [
      0.015772887853687276,
      -0.0012235272190955205,
      0.16189865623667635
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 17,
     "position": [
      -0.0005693967551666266,
      -0.001223527244765922,
      0.16189865623667635
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 18,
     "position": [
      -0.012281397163437466,
      -0.00122352726316309,
      0.16189865623667635
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 19,
     "position": [
      -0.01645965305026105,
      -0.0012235272697262792,
      0.16189865623667635
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 20,
     "position": [
      -0.01645965305026105,
      -0.0012235272697262792,
      0.14649638933692785
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 21,
     "position": [
      -0.003339481801245929,
      -0.00331919094796157,
      0.08033257225140586
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 22,
     "position": [
      -0.0045392045235220085,
      -0.003852710954431404,
      0.03743135358812432
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 23,
     "position": [
      -0.008677486712303797,
      -0.0024282580607659088,
      0.08014588232601974
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 24,
     "position": [
      0.008749588447322335,
      0.0006897025374583698,
      0.09089974719954115
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      -0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 25,
     "position": [
      0.007801296529841753,
      0.0027209855301087438,
      0.03541013753332948
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      -0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 26,
     "position": [
      0.0031910235754121115,
      0.016583106150476045,
      0.05497970735942062
     ],
     "orientation_xyzw": [
      0.5000000004999999,
      -0.49999999949999996,
      -0.5000000000000002,
      -0.5000000000000001
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 27,
     "position": [
      0.0031910235942122504,
      0.016583106150476045,
      0.03617956372446027
     ],
     "orientation_xyzw": [
      0.5000000004999999,
      -0.49999999949999996,
      -0.5000000000000002,
      -0.5000000000000001
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 28,
     "position": [
      0.0002657610365316104,
      -0.013744178734606009,
      0.05497970740157155
     ],
     "orientation_xyzw": [
      0.5000000004999999,
      -0.49999999949999996,
      0.5000000000000002,
      0.5000000000000001
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 29,
     "position": [
      0.0002657610187571507,
      -0.01374417873460601,
      0.037205243251397895
     ],
     "orientation_xyzw": [
      0.5000000004999999,
      -0.49999999949999996,
      0.5000000000000002,
      0.5000000000000001
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 30,
     "position": [
      -0.0021329316498113534,
      -0.023416893814847912,
      0.054979707482311506
     ],
     "orientation_xyzw": [
      0.49999999871460166,
      0.5000000012853983,
      -0.5000000007853983,
      0.4999999992146017
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 31,
     "position": [
      -0.0021329315948446954,
      -0.023416893814847916,
      0.06825157172841681
     ],
     "orientation_xyzw": [
      0.49999999871460166,
      0.5000000012853983,
      -0.5000000007853983,
      0.4999999992146017
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 32,
     "position": [
      -0.0021329315439007745,
      -0.023416893814847916,
      0.08055213402685787
     ],
     "orientation_xyzw": [
      0.49999999871460166,
      0.5000000012853983,
      -0.5000000007853983,
      0.4999999992146017
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 33,
     "position": [
      -0.0033607728725511474,
      0.01658310614392425,
      0.05497970727067019
     ],
     "orientation_xyzw": [
      0.49999999871460177,
      0.5000000012853981,
      0.5000000007853983,
      -0.4999999992146018
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 34,
     "position": [
      -0.0033607727705706543,
      0.016583106143924248,
      0.030356211724401474
     ],
     "orientation_xyzw": [
      0.49999999871460177,
      0.5000000012853981,
      0.5000000007853983,
      -0.4999999992146018
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 35,
     "position": [
      -0.009371694093358043,
      -0.0009886178475472206,
      0.05582421027777473
     ],
     "orientation_xyzw": [
      -1.1107208167712223e-09,
      0.7071067811865476,
      -1.1107208156605013e-09,
      0.7071067811865476
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 36,
     "position": [
      -0.009295087100865865,
      0.0013586736830837193,
      0.04646906625826975
     ],
     "orientation_xyzw": [
      -1.1107208167712223e-09,
      0.7071067811865476,
      -1.1107208156605013e-09,
      0.7071067811865476
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 37,
     "position": [
      -0.009475330240232185,
      -0.00048803462842067144,
      0.07469634885604715
     ],
     "orientation_xyzw": [
      -1.1107208167712223e-09,
      0.7071067811865476,
      -1.1107208156605013e-09,
      0.7071067811865476
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 38,
     "position": [
      0.00797184141113784,
      -0.0024615319323238096,
      0.05681253556321553
     ],
     "orientation_xyzw": [
      -1.1107208167712223e-09,
      0.7071067811865476,
      1.1107208156605013e-09,
      -0.7071067811865476
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 39,
     "position": [
      0.008120250456772352,
      -0.00223549803781402,
      0.03854290472034956
     ],
     "orientation_xyzw": [
      -1.1107208167712223e-09,
      0.7071067811865476,
      1.1107208156605013e-09,
      -0.7071067811865476
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "can_of_bay_leaves/ppwvjf": {
   "category": "can_of_bay_leaves",
   "model": "ppwvjf",
   "bbox_size": [
    0.0625411868095398,
    0.061181092634797096,
    0.07411566376686096
   ],
   "upright_orientation_xyzw": [
    -0.009046952240169048,
    0.020144637674093246,
    -0.008332675322890282,
    0.9997215867042542
   ],
   "mesh": "meshes/can_of_bay_leaves__ppwvjf.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.004907143168694241,
      -0.0014743421933734882,
      0.10845572914836214
     ],
     "orientation_xyzw": [
      -0.008332674699129773,
      0.9997214176586461,
      0.009046950694633318,
      0.020144634275019682
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.004907143168694241,
      -0.0014743421933734882,
      0.10845572914836214
     ],
     "orientation_xyzw": [
      -0.5659452221188281,
      0.824147045104164,
      -0.00376447447378824,
      0.02175964932809396
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.004907143168694241,
      -0.0014743421933734882,
      0.10845572914836214
     ],
     "orientation_xyzw": [
      -0.4843487289397776,
      0.874596281244939,
      -0.0016615736177455435,
      0.022020281107611575
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.004907143168694241,
      -0.0014743421933734882,
      0.10845572914836214
     ],
     "orientation_xyzw": [
      -0.21600435585234273,
      0.9761426456445129,
      0.004660948147408668,
      0.02158539249846041
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.00450587042832591,
      -0.0012900964123922678,
      0.0984654822304913
     ],
     "orientation_xyzw": [
      -0.21600435585234273,
      0.9761426456445129,
      0.004660948147408668,
      0.02158539249846041
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.00450587042832591,
      -0.0012900964123922678,
      0.0984654822304913
     ],
     "orientation_xyzw": [
      -0.025778950080005678,
      0.9994237300193682,
      0.008694000455678797,
      0.020299457210035936
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.004305234058141745,
      -0.0011979735219016577,
      0.09347035877155588
     ],
     "orientation_xyzw": [
      -0.008332674699129773,
      0.9997214176586461,
      0.009046950694633318,
      0.020144634275019682
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.036970255325550976,
      0.0014109827407845692,
      0.0012372478504427899
     ],
     "orientation_xyzw": [
      0.6926653862331198,
      -0.0005050699664525152,
      0.7211542012238502,
      -0.01228925042639353
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.06194649331335751,
      0.0010035774879472614,
      0.0002265274705109216
     ],
     "orientation_xyzw": [
      0.6926653862331198,
      -0.0005050699664525152,
      0.7211542012238502,
      -0.01228925042639353
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.05826066279321176,
      0.0016598381794850656,
      0.00148808990992313
     ],
     "orientation_xyzw": [
      0.7211542012238502,
      0.01228925042639353,
      -0.6926653862331198,
      -0.0005050699664525152
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottom_cabinet/bamfsz": {
   "category": "bottom_cabinet",
   "model": "bamfsz",
   "bbox_size": [
    0.5250993221998215,
    0.4305610656738281,
    0.5425188988447189
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0000001192092896
   ],
   "mesh": "meshes/bottom_cabinet__bamfsz.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.44635211171450767,
      -0.15027762979364467,
      -0.056161196882888675
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.4463521117145076,
      -0.12390397192614733,
      -0.056161196815087376
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.4463521117145076,
      -0.06582782758672065,
      -0.05616119666578544
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.4463521117145076,
      -0.011571443261048527,
      -0.056161196526303324
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.44635211171092926,
      -0.01157144327024775,
      -0.0525828417065915
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.45382299428394035,
      -0.01157144327024775,
      -0.052582841699120614
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.45382299428394035,
      0.02240581493484966,
      -0.052582841611772
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.4525057290454162,
      0.02240581493484966,
      -0.052582841613089265
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.4525057290454162,
      0.06448179134951468,
      -0.05258284150492049
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.4525057290454162,
      0.10139151456446456,
      -0.05258284141003311
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      -0.4999999996073009,
      -0.5000000003926991,
      0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.4463634164561769,
      -0.13258601401589987,
      -0.05616119683739583
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.44636341645617683,
      -0.11472366124070028,
      -0.0561611968833163
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      0.44636341645617683,
      -0.0795916705151059,
      -0.05616119697363349
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      0.44636341645617683,
      -0.02599184900465563,
      -0.05616119711142772
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 14,
     "position": [
      0.44636341645617683,
      0.002632703771468344,
      -0.05616119718501562
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 15,
     "position": [
      0.44636341645617683,
      0.030983297005245766,
      -0.05616119725789922
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 16,
     "position": [
      0.44636341645617683,
      0.060273825149199954,
      -0.0561611973331992
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 17,
     "position": [
      0.44636341645617683,
      0.0907089923526826,
      -0.056161197411441814
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 18,
     "position": [
      0.44636341645617683,
      0.11677345358799625,
      -0.056161197478448235
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 19,
     "position": [
      0.44636341645617683,
      0.045641458857988745,
      -0.05616119729558236
     ],
     "orientation_xyzw": [
      0.5000000008926991,
      0.4999999996073009,
      -0.5000000003926991,
      -0.49999999910730086
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bottle_of_tequila/gbozpr": {
   "category": "bottle_of_tequila",
   "model": "gbozpr",
   "bbox_size": [
    0.07425785064697266,
    0.07419128343462944,
    0.17062726616859436
   ],
   "upright_orientation_xyzw": [
    -4.88299410790205e-05,
    -5.984574090689421e-05,
    -8.291235644719563e-06,
    1.0
   ],
   "mesh": "meshes/bottle_of_tequila__gbozpr.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0002960979001353065,
      -0.00010539960403198059,
      0.1621234885467044
     ],
     "orientation_xyzw": [
      0.7071126421954625,
      -0.7071009159105054,
      -7.684531145044687e-05,
      7.78934669266354e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0009522907961550871,
      -0.004441020071828767,
      0.08212116917981285
     ],
     "orientation_xyzw": [
      0.7071126421954625,
      -0.7071009159105054,
      -7.684531145044687e-05,
      7.78934669266354e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0009522907961550871,
      -0.004441020071828767,
      0.08212116917981285
     ],
     "orientation_xyzw": [
      -0.4771660455527002,
      0.8788131536371782,
      7.146850716126341e-05,
      -2.929382697112769e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.002969508272336377,
      -0.0015602366145955168,
      0.08212169195931228
     ],
     "orientation_xyzw": [
      -0.3007137065466538,
      0.953714454503599,
      6.45659037029638e-05,
      -4.239245090217759e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.039236499282211235,
      0.01194017798781296,
      0.06640178717370268
     ],
     "orientation_xyzw": [
      0.7071490963820797,
      -2.8665193432486724e-05,
      0.7070644617238941,
      -4.039077125431401e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.05423649915770352,
      0.01193992916307745,
      0.06640358253377143
     ],
     "orientation_xyzw": [
      0.7071490963820797,
      -2.8665193432486724e-05,
      0.7070644617238941,
      -4.039077125431401e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.014236499489724096,
      0.01194059269570548,
      0.06639879490692141
     ],
     "orientation_xyzw": [
      0.7071490963820797,
      -2.8665193432486724e-05,
      0.7070644617238941,
      -4.039077125431401e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.014236308175577242,
      0.0003993940259582893,
      0.066397667819625
     ],
     "orientation_xyzw": [
      2.8664082639341027e-05,
      0.7071490963821248,
      4.0389660634499887e-05,
      0.7070644617239576
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.014234940467094002,
      0.0003982781262327426,
      0.07782453966098546
     ],
     "orientation_xyzw": [
      2.8664082639341027e-05,
      0.7071490963821248,
      4.0389660634499887e-05,
      0.7070644617239576
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.022983826910902158,
      -0.000530977489218447,
      0.08920040415490829
     ],
     "orientation_xyzw": [
      0.7071490963820797,
      -2.8665193432486724e-05,
      0.7070644617238941,
      -4.039077125431401e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.006063257006438809,
      -0.021517793690123486,
      0.08836779617537832
     ],
     "orientation_xyzw": [
      -0.49994980626832575,
      0.5000013607733725,
      0.500058482449917,
      0.4999903444736962
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.0019089774712206314,
      -0.022611870449302688,
      0.061740646584663494
     ],
     "orientation_xyzw": [
      -0.49994980626832575,
      0.5000013607733725,
      0.500058482449917,
      0.4999903444736962
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      -0.0019089774712206314,
      -0.022611870449302688,
      0.061740646584663494
     ],
     "orientation_xyzw": [
      -0.5000013599880532,
      -0.499949807053726,
      -0.49999034525918623,
      0.5000584816645339
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      -0.003743796237424369,
      -0.02199887846798217,
      0.09337981170663498
     ],
     "orientation_xyzw": [
      -0.5000013599880532,
      -0.499949807053726,
      -0.49999034525918623,
      0.5000584816645339
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "jar_of_tumeric/miivhi": {
   "category": "jar_of_tumeric",
   "model": "miivhi",
   "bbox_size": [
    0.09321010112762451,
    0.09321045875549316,
    0.13171058893203735
   ],
   "upright_orientation_xyzw": [
    -3.6992132663726807e-06,
    -2.225814387202263e-05,
    8.009374141693115e-08,
    1.0000003576278687
   ],
   "mesh": "meshes/jar_of_tumeric__miivhi.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.05913075277170301,
      0.002653134545667335,
      0.1387969175685057
     ],
     "orientation_xyzw": [
      -0.7071067247252941,
      0.7071068372878021,
      1.8354616692007174e-05,
      -1.3123140977106792e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.05913228454317465,
      0.002653389120001461,
      0.104387668354827
     ],
     "orientation_xyzw": [
      -0.7071067247252941,
      0.7071068372878021,
      1.8354616692007174e-05,
      -1.3123140977106792e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.05913337971613839,
      0.00265357113339782,
      0.07978603544856953
     ],
     "orientation_xyzw": [
      -0.7071067247252941,
      0.7071068372878021,
      1.8354616692007174e-05,
      -1.3123140977106792e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.05913034492660556,
      0.0026530667634321694,
      0.14795862599474274
     ],
     "orientation_xyzw": [
      -0.7071067247252941,
      0.7071068372878021,
      1.8354616692007174e-05,
      -1.3123140977106792e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.051854282975929276,
      0.002653049114351362,
      0.14795368537281145
     ],
     "orientation_xyzw": [
      -0.7071067247252941,
      0.7071068372878021,
      1.8354616692007174e-05,
      -1.3123140977106792e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.05185347103825261,
      0.0026531840551680674,
      0.12971456395052883
     ],
     "orientation_xyzw": [
      -0.7071067247252941,
      0.7071068372878021,
      1.8354616692007174e-05,
      -1.3123140977106792e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.06101667177275695,
      0.0026535363070315206,
      0.08190543424219528
     ],
     "orientation_xyzw": [
      -0.7071067247252941,
      0.7071068372878021,
      1.8354616692007174e-05,
      -1.3123140977106792e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.0014045820412726606,
      -0.04728683652006567,
      0.12275070581118283
     ],
     "orientation_xyzw": [
      7.930831456246372e-08,
      0.9999999997454425,
      3.6992119599712346e-06,
      -2.225813590332159e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.0014050132122647434,
      -0.05645125730562083,
      0.1130976318164119
     ],
     "orientation_xyzw": [
      7.930831456246372e-08,
      0.9999999997454425,
      3.6992119599712346e-06,
      -2.225813590332159e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.0014061581896074708,
      -0.06157367132983542,
      0.0873954419461164
     ],
     "orientation_xyzw": [
      7.930831456246372e-08,
      0.9999999997454425,
      3.6992119599712346e-06,
      -2.225813590332159e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.0014061385726750239,
      0.061973194243140364,
      0.08739635599776549
     ],
     "orientation_xyzw": [
      7.930831456246372e-08,
      0.9999999997454425,
      3.6992119599712346e-06,
      -2.225813590332159e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "graduated_cylinder/egpkea": {
   "category": "graduated_cylinder",
   "model": "egpkea",
   "bbox_size": [
    0.08226776123046875,
    0.08226757869124413,
    0.26028144359588623
   ],
   "upright_orientation_xyzw": [
    1.4435499906539917e-07,
    -3.94647940993309e-08,
    3.0697265174239874e-08,
    1.000000238418579
   ],
   "mesh": "meshes/graduated_cylinder__egpkea.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.000706126470733953,
      8.345083079848426e-05,
      0.20099644796341182
     ],
     "orientation_xyzw": [
      2.991185964955917e-08,
      0.9999999999999883,
      -1.4435496454531883e-07,
      -3.946478480356867e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0007061213403113723,
      8.34320646532562e-05,
      0.13599644802841473
     ],
     "orientation_xyzw": [
      2.991185964955917e-08,
      0.9999999999999883,
      -1.4435496454531883e-07,
      -3.946478480356867e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0007061229189029356,
      8.343783885178791e-05,
      0.15599644800841383
     ],
     "orientation_xyzw": [
      2.991185964955917e-08,
      0.9999999999999883,
      -1.4435496454531883e-07,
      -3.946478480356867e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.000706124102846608,
      8.34421695006867e-05,
      0.17099644799341318
     ],
     "orientation_xyzw": [
      2.991185964955917e-08,
      0.9999999999999883,
      -1.4435496454531883e-07,
      -3.946478480356867e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0007061280493255162,
      8.345660499701597e-05,
      0.22099644794341092
     ],
     "orientation_xyzw": [
      2.991185964955917e-08,
      0.9999999999999883,
      -1.4435496454531883e-07,
      -3.946478480356867e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0007061280493255162,
      8.345660499701597e-05,
      0.22099644794341092
     ],
     "orientation_xyzw": [
      -0.7071067591267467,
      0.7071068032463319,
      -7.416855755629659e-08,
      -1.299801912733952e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.0007061268653818437,
      8.345227434811718e-05,
      0.2059964479584116
     ],
     "orientation_xyzw": [
      -0.7071067591267467,
      0.7071068032463319,
      -7.416855755629659e-08,
      -1.299801912733952e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.0007061248921423896,
      8.344505659995255e-05,
      0.1809964479834127
     ],
     "orientation_xyzw": [
      -0.7071067591267467,
      0.7071068032463319,
      -7.416855755629659e-08,
      -1.299801912733952e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.0007061213403113723,
      8.34320646532562e-05,
      0.13599644802841473
     ],
     "orientation_xyzw": [
      -0.7071067591267467,
      0.7071068032463319,
      -7.416855755629659e-08,
      -1.299801912733952e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.0007061213403113723,
      8.34320646532562e-05,
      0.13599644802841473
     ],
     "orientation_xyzw": [
      -0.38268340436732373,
      0.9238795441083285,
      -1.1826407794218849e-07,
      -9.17029602082709e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.0007061244974944989,
      8.344361305031962e-05,
      0.17599644798841296
     ],
     "orientation_xyzw": [
      -0.38268340436732373,
      0.9238795441083285,
      -1.1826407794218849e-07,
      -9.17029602082709e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.0007061268653818437,
      8.345227434811718e-05,
      0.2059964479584116
     ],
     "orientation_xyzw": [
      -0.38268340436732373,
      0.9238795441083285,
      -1.1826407794218849e-07,
      -9.17029602082709e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      -0.06580329648556359,
      0.0004359081351828643,
      -0.02478156315726331
     ],
     "orientation_xyzw": [
      0.7071068090923561,
      8.036813522918351e-08,
      0.7071067532807224,
      1.237806134922343e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      -0.06561551630157378,
      -0.0017104919360181328,
      0.017473945076432112
     ],
     "orientation_xyzw": [
      0.7071068090923561,
      8.036813522918351e-08,
      0.7071067532807224,
      1.237806134922343e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 14,
     "position": [
      -0.06581107976708557,
      0.0005248740508506416,
      0.046499146324131664
     ],
     "orientation_xyzw": [
      0.7071068090923561,
      8.036813522918351e-08,
      0.7071067532807224,
      1.237806134922343e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 15,
     "position": [
      -0.0658362979704993,
      0.0008131278615175777,
      0.10711957931156714
     ],
     "orientation_xyzw": [
      0.7071068090923561,
      8.036813522918351e-08,
      0.7071067532807224,
      1.237806134922343e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 16,
     "position": [
      -0.0008326448972044353,
      -0.06578083490643848,
      0.09387658827166566
     ],
     "orientation_xyzw": [
      -0.5000000365964554,
      0.5000001077584979,
      0.4999999322062752,
      0.49999992343874844
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 17,
     "position": [
      -0.0013324815232488118,
      -0.06582457675167273,
      -0.04475540057957218
     ],
     "orientation_xyzw": [
      -0.5000000365964554,
      0.5000001077584979,
      0.4999999322062752,
      0.49999992343874844
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 18,
     "position": [
      -0.0013324815232488118,
      -0.06582457675167273,
      -0.04475540057957218
     ],
     "orientation_xyzw": [
      0.5000001069730995,
      0.5000000373818537,
      0.49999992422414646,
      -0.49999993142087706
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 19,
     "position": [
      -0.00023285808429797573,
      -0.06572834619197328,
      0.1285116628009196
     ],
     "orientation_xyzw": [
      0.5000001069730995,
      0.5000000373818537,
      0.49999992422414646,
      -0.49999993142087706
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 20,
     "position": [
      0.0038300796500540394,
      0.06552542821624449,
      0.13131001568132442
     ],
     "orientation_xyzw": [
      -0.49999992265335036,
      -0.49999993299167333,
      0.5000001085438961,
      -0.500000035811057
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 21,
     "position": [
      -0.0013976011597447574,
      0.06564519829366873,
      -0.04694897694165586
     ],
     "orientation_xyzw": [
      -0.49999992265335036,
      -0.49999993299167333,
      0.5000001085438961,
      -0.500000035811057
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 22,
     "position": [
      0.06511094158673349,
      -0.004597852220513048,
      -0.025594220408894877
     ],
     "orientation_xyzw": [
      -1.226698927204082e-07,
      -0.7071067532807227,
      7.925741436857796e-08,
      0.7071068090923565
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 23,
     "position": [
      0.06573302501939965,
      -0.000274227761298471,
      0.1384671462535706
     ],
     "orientation_xyzw": [
      -1.226698927204082e-07,
      -0.7071067532807227,
      7.925741436857796e-08,
      0.7071068090923565
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 24,
     "position": [
      3.8225341580225165e-05,
      2.3452644873963134e-06,
      0.23137023353576233
     ],
     "orientation_xyzw": [
      -0.7071067594803001,
      0.7071068028927785,
      -7.41685575283908e-08,
      -1.2998019127339516e-07
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw0",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 25,
     "position": [
      3.8225341580225165e-05,
      2.3452644873963134e-06,
      0.23137023353576233
     ],
     "orientation_xyzw": [
      0.8660253884357996,
      -0.5000000265845994,
      3.7999976227656035e-08,
      1.4474745889309488e-07
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw29",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 26,
     "position": [
      3.8225341580225165e-05,
      2.3452644873963134e-06,
      0.23137023353576233
     ],
     "orientation_xyzw": [
      0.9659258183440221,
      -0.258819074753792,
      -7.582406550635806e-10,
      1.4965042639571604e-07
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw59",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 27,
     "position": [
      3.8225341580225165e-05,
      2.3452644873963134e-06,
      0.23137023353576233
     ],
     "orientation_xyzw": [
      0.9999999999999883,
      -3.069725788605908e-08,
      -3.946478469019254e-08,
      1.4435496464849192e-07
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw90",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 28,
     "position": [
      3.8225341580225165e-05,
      2.3452644873963134e-06,
      0.23137023353576233
     ],
     "orientation_xyzw": [
      0.9659258342340921,
      0.2588190154512435,
      -7.548186886732523e-08,
      1.292219506183316e-07
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw119",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 29,
     "position": [
      3.8225341580225165e-05,
      2.3452644873963134e-06,
      0.23137023353576233
     ],
     "orientation_xyzw": [
      0.8660254191330574,
      0.49999997341538915,
      -1.063549884208359e-07,
      1.0528267420290232e-07
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw150",
     "source": "topdown_gen",
     "validated": null
    }
   ]
  },
  "fruitcake/nmxadm": {
   "category": "fruitcake",
   "model": "nmxadm",
   "bbox_size": [
    0.13893985748291016,
    0.0887921191751957,
    0.04909241199493408
   ],
   "upright_orientation_xyzw": [
    0.006141056306660175,
    -0.003941652365028858,
    3.359176844242029e-05,
    0.999973475933075
   ],
   "mesh": "meshes/fruitcake__nmxadm.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.09980005004068952,
      0.0015086867886648632,
      0.09597193254440643
     ],
     "orientation_xyzw": [
      -0.6750445013493479,
      0.675359571976167,
      -0.2145635941032335,
      0.2053456447643374
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.09973227021280924,
      0.01728413025288284,
      0.09577763109180629
     ],
     "orientation_xyzw": [
      -0.6750445013493479,
      0.675359571976167,
      -0.2145635941032335,
      0.2053456447643374
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.09990930237098014,
      -0.02391929102913107,
      0.09628512139630072
     ],
     "orientation_xyzw": [
      -0.6750445013493479,
      0.675359571976167,
      -0.2145635941032335,
      0.2053456447643374
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.01394729092435913,
      -0.08392683552101328,
      0.09814604704776612
     ],
     "orientation_xyzw": [
      0.9479676424971281,
      0.03373829953493439,
      -0.019597452109855855,
      -0.31596679539744377
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.002908581353299276,
      -0.08263596072459412,
      0.09787831686586589
     ],
     "orientation_xyzw": [
      0.9479676424971281,
      0.03373829953493439,
      -0.019597452109855855,
      -0.31596679539744377
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.002908581353299276,
      -0.08263596072459412,
      0.09787831686586589
     ],
     "orientation_xyzw": [
      0.9484384863370965,
      0.015664026036405636,
      -0.02561617973008721,
      -0.3155358731728678
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.038238538558457505,
      -0.08101215171734677,
      0.09650837893074317
     ],
     "orientation_xyzw": [
      0.9484384863370965,
      0.015664026036405636,
      -0.02561617973008721,
      -0.3155358731728678
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.0035461707982833977,
      -0.07851813779769695,
      0.09963523134982606
     ],
     "orientation_xyzw": [
      -0.012434578566913441,
      0.9687282385755835,
      0.24770118343722483,
      -0.007423258442810054
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.03388257634226617,
      -0.07955793111552233,
      0.09994310415525264
     ],
     "orientation_xyzw": [
      -0.012434578566913441,
      0.9687282385755835,
      0.24770118343722483,
      -0.007423258442810054
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.050032470988773226,
      -0.07722672015748079,
      0.09925285500151268
     ],
     "orientation_xyzw": [
      -0.012434578566913441,
      0.9687282385755835,
      0.24770118343722483,
      -0.007423258442810054
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.04631271135833663,
      0.05757038691638733,
      0.10229043594364336
     ],
     "orientation_xyzw": [
      -0.014458253413484655,
      0.9733833893580821,
      -0.22872484301388607,
      -0.0008260861195742435
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.0013293530489588508,
      0.056320721914035116,
      0.10266044973727133
     ],
     "orientation_xyzw": [
      -0.014458253413484655,
      0.9733833893580821,
      -0.22872484301388607,
      -0.0008260861195742435
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      -0.044424883160103124,
      0.05504964145564477,
      0.10303680444155619
     ],
     "orientation_xyzw": [
      -0.014458253413484655,
      0.9733833893580821,
      -0.22872484301388607,
      -0.0008260861195742435
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      -0.0414678042459896,
      -0.050038980088092544,
      0.10761438474585051
     ],
     "orientation_xyzw": [
      -0.012910560050549604,
      0.983329126013383,
      0.18125701758472956,
      -0.00656056013055641
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 14,
     "position": [
      -0.023879974495458076,
      -0.049550379500395064,
      0.10746971480896142
     ],
     "orientation_xyzw": [
      -0.012910560050549604,
      0.983329126013383,
      0.18125701758472956,
      -0.00656056013055641
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 15,
     "position": [
      0.05581682252514094,
      -0.047336354096794896,
      0.1068141631713363
     ],
     "orientation_xyzw": [
      -0.012910560050549604,
      0.983329126013383,
      0.18125701758472956,
      -0.00656056013055641
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 16,
     "position": [
      0.07357217135279462,
      -0.018889162164029426,
      0.11602764184822048
     ],
     "orientation_xyzw": [
      0.6731243923729108,
      0.7179861021285668,
      -0.1410075729209755,
      -0.10731436959588664
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 17,
     "position": [
      0.07832717812660955,
      -0.01887004804344059,
      0.1071423552143121
     ],
     "orientation_xyzw": [
      0.6785903843094184,
      0.7071931384210776,
      -0.11678150703051736,
      -0.1604837527870765
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 18,
     "position": [
      0.07739670565295244,
      0.014848353273184066,
      0.10945812695049573
     ],
     "orientation_xyzw": [
      0.6986811209519362,
      0.6876874015413622,
      -0.14157019841500662,
      -0.13743583196303227
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 19,
     "position": [
      -0.08393977682275752,
      -0.009472380578396573,
      0.10603411470179751
     ],
     "orientation_xyzw": [
      0.7111862454723343,
      0.670298460182087,
      0.14245551050125108,
      0.15690929244730983
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 20,
     "position": [
      -0.08229254169250548,
      0.01756365525565539,
      0.10582480508559758
     ],
     "orientation_xyzw": [
      0.7111862454723343,
      0.670298460182087,
      0.14245551050125108,
      0.15690929244730983
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 21,
     "position": [
      0.0010225495892637391,
      0.0015357261622015736,
      0.12549157221156115
     ],
     "orientation_xyzw": [
      -0.7070642011421602,
      0.7071117070718562,
      -0.001555213283924203,
      -0.0071295509512081644
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw0",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 22,
     "position": [
      0.0010225495892637391,
      0.0015357261622015736,
      0.12549157221156115
     ],
     "orientation_xyzw": [
      0.8659855495328121,
      -0.5000157785662658,
      -0.00034304289287124395,
      0.007289136210691776
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw29",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 23,
     "position": [
      0.0010225495892637391,
      0.0015357261622015736,
      0.12549157221156115
     ],
     "orientation_xyzw": [
      0.9658914138315889,
      -0.25884460106652796,
      -0.0022179212634227015,
      0.006951978883283882
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw59",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 24,
     "position": [
      0.0010225495892637391,
      0.0015357261622015736,
      0.12549157221156115
     ],
     "orientation_xyzw": [
      0.9999733744887755,
      -3.3591765034667104e-05,
      -0.00394165196516009,
      0.006141055683668496
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw90",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 25,
     "position": [
      0.0010225495892637391,
      0.0015357261622015736,
      0.12549157221156115
     ],
     "orientation_xyzw": [
      0.9659088022086881,
      0.25877970675973266,
      -0.005396765599359679,
      0.004911629687785465
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw119",
     "source": "topdown_gen",
     "validated": null
    },
    {
     "id": 26,
     "position": [
      0.0010225495892637391,
      0.0015357261622015736,
      0.12549157221156115
     ],
     "orientation_xyzw": [
      0.8660191412978467,
      0.49995759592250993,
      -0.006484098576539741,
      0.0033474842455316865
     ],
     "approach_hint": "top_down",
     "label": "topdown_yaw150",
     "source": "topdown_gen",
     "validated": null
    }
   ]
  },
  "apricot/qmwmwm": {
   "category": "apricot",
   "model": "qmwmwm",
   "bbox_size": [
    0.08981013298034668,
    0.08722971007227898,
    0.08956718444824219
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0000001192092896
   ],
   "mesh": "meshes/apricot__qmwmwm.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -9.077299371591082e-05,
      0.002007484634689125,
      0.1292050790034276
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -9.077299371591082e-05,
      0.002007484634689125,
      0.1292050790034276
     ],
     "orientation_xyzw": [
      0.8812304549748531,
      -0.47268687862560066,
      -7.736802249210697e-33,
      -2.3345744839486978e-33
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -9.077299371591082e-05,
      0.002007484634689125,
      0.1292050790034276
     ],
     "orientation_xyzw": [
      0.9807274713929907,
      -0.19538072283393432,
      -1.1608626676396894e-32,
      -7.751665416749217e-33
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0007338910629794493,
      0.00035551723810538986,
      0.1292050790034276
     ],
     "orientation_xyzw": [
      0.9733223766424068,
      0.22944182514785022,
      -1.1330457593083485e-32,
      -3.0983760692010703e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0007338910629794493,
      0.00035551723810538986,
      0.1292050790034276
     ],
     "orientation_xyzw": [
      0.8721054720669591,
      0.48931793916723165,
      -7.365503620637269e-33,
      -4.032973078116986e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.05173930257796688,
      0.00017310843707853065,
      0.04106752950959697
     ],
     "orientation_xyzw": [
      0.7071067811865477,
      3.8705767444936473e-48,
      0.7071067811865475,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.01906313814079294,
      0.006453258087249001,
      0.041067529509597016
     ],
     "orientation_xyzw": [
      -0.09878595468848174,
      0.7001723610342566,
      -0.09878595468848178,
      -0.7001723610342564
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.020175140421263595,
      0.0025908936809703235,
      -0.04117864684131603
     ],
     "orientation_xyzw": [
      -0.09878595468848174,
      0.7001723610342566,
      -0.09878595468848178,
      -0.7001723610342564
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.00020233287762031556,
      0.02055399863843786,
      -0.04117864684131603
     ],
     "orientation_xyzw": [
      0.5195547323922447,
      -0.4796487048338848,
      0.5195547323922447,
      0.47964870483388455
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "jar_of_dill_seed/reavkt": {
   "category": "jar_of_dill_seed",
   "model": "reavkt",
   "bbox_size": [
    0.06244182586669922,
    0.061514340341091156,
    0.07418465614318848
   ],
   "upright_orientation_xyzw": [
    0.011754621751606464,
    0.019329873844981194,
    0.011402609758079052,
    0.9996791481971741
   ],
   "mesh": "meshes/jar_of_dill_seed__reavkt.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.002925495072798813,
      0.0014929770226000214,
      0.0743500113385522
     ],
     "orientation_xyzw": [
      -0.6988169602545572,
      0.7149426837341311,
      -0.021980055054390272,
      0.00535651149769792
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.002925495072798813,
      0.0014929770226000214,
      0.0743500113385522
     ],
     "orientation_xyzw": [
      -0.5495602293653555,
      0.8351477349932039,
      -0.020554148959281728,
      0.009452089513893482
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.002925495072798813,
      0.0014929770226000214,
      0.0743500113385522
     ],
     "orientation_xyzw": [
      -0.2897344218569484,
      0.9568396677372865,
      -0.01702318519841012,
      0.014900543658525606
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.002925495072798813,
      0.0014929770226000214,
      0.0743500113385522
     ],
     "orientation_xyzw": [
      -0.006045933776176781,
      0.9997257782257868,
      -0.012090182880606391,
      0.0191217811286629
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.002925495072798813,
      0.0014929770226000214,
      0.0743500113385522
     ],
     "orientation_xyzw": [
      0.4328168861841437,
      0.901197940520418,
      -0.002484147279939543,
      0.022486530366211812
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.07457719310922671,
      0.00025826100967793545,
      -0.011261021401230253
     ],
     "orientation_xyzw": [
      0.6932115387182999,
      0.00024891003855914635,
      0.7205481052703884,
      0.016374633518133216
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.07584782667595234,
      0.0006982385457071434,
      0.021267561799110442
     ],
     "orientation_xyzw": [
      0.6932115387182999,
      0.00024891003855914635,
      0.7205481052703884,
      0.016374633518133216
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.07584782667595234,
      0.0006982385457071434,
      0.021267561799110442
     ],
     "orientation_xyzw": [
      -0.00024891112745336366,
      0.693211538717909,
      -0.016374634649967617,
      0.7205481052446671
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.07470565521237049,
      0.002407805132518364,
      -0.00505368614576338
     ],
     "orientation_xyzw": [
      -0.00024891112745336366,
      0.693211538717909,
      -0.016374634649967617,
      0.7205481052446671
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.01520368528314646,
      0.00039689315125965134,
      -0.0015513000355778434
     ],
     "orientation_xyzw": [
      0.01637463238629881,
      0.7205481052961094,
      -0.0002489089496649339,
      -0.693211538718691
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.01520368528314646,
      0.00039689315125965134,
      -0.0015513000355778434
     ],
     "orientation_xyzw": [
      0.7205481052703882,
      -0.016374633518133216,
      -0.6932115387182999,
      0.00024891003855914635
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.0037617730617851316,
      -0.015526746788524406,
      0.004475990747459254
     ],
     "orientation_xyzw": [
      0.5096804573839804,
      -0.5017531942245874,
      -0.4785959654243544,
      -0.5093284454316394
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      -0.0004894184407855161,
      -0.019845782539133085,
      0.011275150834325112
     ],
     "orientation_xyzw": [
      0.5017531934239832,
      0.5096804581721326,
      0.5093284461834159,
      -0.4785959646243032
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "soup_ladle/hgvzdm": {
   "category": "soup_ladle",
   "model": "hgvzdm",
   "bbox_size": [
    0.31696510314941406,
    0.08635500073432922,
    0.10729128122329712
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/soup_ladle__hgvzdm.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0896944038627791,
      0.0037722927380288707,
      0.0953509395687013
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0896944038627791,
      0.0037722927380288707,
      0.15035093951370132
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.06213726528445751,
      0.0037722928521593184,
      0.1432920245270517
     ],
     "orientation_xyzw": [
      0.7015559823564664,
      0.7015559852620254,
      -0.08842624957457464,
      -0.08842624920834911
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.2006831350204344,
      0.007904672158049571,
      0.07447077493790812
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.1787521990534254,
      0.007904672123600536,
      0.07447077493790812
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.057239955640165464,
      -0.004174514693543557,
      0.11266307944042092
     ],
     "orientation_xyzw": [
      0.6896471575012366,
      0.6896471603574743,
      -0.15616272372646595,
      -0.15616272307970352
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "shaker/nbjgci": {
   "category": "shaker",
   "model": "nbjgci",
   "bbox_size": [
    0.04175758361816406,
    0.041855668649077415,
    0.09912076592445374
   ],
   "upright_orientation_xyzw": [
    1.1432998689997476e-06,
    -1.4431170711759478e-06,
    -4.983459120921907e-07,
    0.9999999403953552
   ],
   "mesh": "meshes/shaker__nbjgci.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.00010212807323081611,
      0.003593307627857149,
      0.05242120921754368
     ],
     "orientation_xyzw": [
      0.7071064273371919,
      0.7071071350333292,
      -1.8288730650265469e-06,
      -2.1200279228392217e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.00010212807323081611,
      0.003593307627857149,
      0.05242120921754368
     ],
     "orientation_xyzw": [
      0.7071071339226088,
      -0.7071064284479132,
      -2.120027894111349e-07,
      1.8288730653595602e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.00010212807323081611,
      0.003593307627857149,
      0.05242120921754368
     ],
     "orientation_xyzw": [
      -0.47715919846676325,
      0.8788168747328231,
      -3.161555554355616e-07,
      -1.8137716340415973e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.00010212807323081611,
      0.003593307627857149,
      0.05242120921754368
     ],
     "orientation_xyzw": [
      -0.207912178836641,
      0.9781474970003302,
      -8.182751612868039e-07,
      -1.6492870083976692e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.00010212807323081611,
      0.003593307627857149,
      0.05242120921754368
     ],
     "orientation_xyzw": [
      0.2588185627253189,
      0.9659259555397663,
      -1.4778491399267935e-06,
      -1.0980363360408052e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.039233265891320014,
      0.0005071120643506006,
      -0.018454336307167234
     ],
     "orientation_xyzw": [
      0.7071078016231892,
      1.1608189329521002e-06,
      0.7071057607473334,
      4.5605134285594507e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.039233265891320014,
      0.0005071120643506006,
      -0.018454336307167234
     ],
     "orientation_xyzw": [
      -1.1619296553717697e-06,
      0.7071078016231873,
      -4.5716206206870333e-07,
      0.7071057607473327
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.0007667340684935207,
      0.000507151931893911,
      -0.018454451756585274
     ],
     "orientation_xyzw": [
      -4.5494062364318675e-07,
      -0.7071057607473342,
      1.159708210532431e-06,
      0.7071078016231909
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.0007667340684935207,
      0.000507151931893911,
      -0.018454451756585274
     ],
     "orientation_xyzw": [
      -0.7071057607473333,
      4.56051342855945e-07,
      0.7071078016231891,
      -1.1608189329521e-06
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.0012678127211427058,
      -0.03923210218032271,
      -0.01789060900503327
     ],
     "orientation_xyzw": [
      -0.5000000987634524,
      0.5000010445346662,
      0.5000003990806701,
      0.49999845761757256
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.00039005024376260273,
      -0.039446490065365596,
      -0.007992454180671304
     ],
     "orientation_xyzw": [
      0.5000010437492678,
      0.5000000995488523,
      0.49999845840297136,
      -0.5000003982952741
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.00039001037595530583,
      0.000553509894509974,
      -0.007992545644608651
     ],
     "orientation_xyzw": [
      -0.4999984568321737,
      -0.5000003998660657,
      0.5000010453200646,
      -0.5000000979780526
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      0.00039001037595530583,
      0.000553509894509974,
      -0.007992545644608651
     ],
     "orientation_xyzw": [
      0.50000039908067,
      -0.49999845761757244,
      0.5000000987634523,
      0.5000010445346661
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "pineapple/wfaybl": {
   "category": "pineapple",
   "model": "wfaybl",
   "bbox_size": [
    0.2788410857319832,
    0.11458730697631836,
    0.11042317748069763
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/pineapple__wfaybl.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.041238973584254095,
      -0.0010985220143584157,
      0.13462808646002733
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.05050185753329991,
      -0.001098521999808311,
      0.1414776337470453
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.05050185751062182,
      0.01333879761757956,
      0.13881208272352863
     ],
     "orientation_xyzw": [
      -7.848336823370393e-10,
      0.9992812458637079,
      -0.037907672905041497,
      2.9772617707016895e-11
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.05050185756802002,
      -0.02320202804809722,
      0.13350996918483668
     ],
     "orientation_xyzw": [
      -7.828429483550035e-10,
      0.996746564722312,
      0.08059953916909124,
      -6.330273222136901e-11
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "test_tube_rack/ertfpr": {
   "category": "test_tube_rack",
   "model": "ertfpr",
   "bbox_size": [
    0.0779467225074768,
    0.2605176866054535,
    0.1236284077167511
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0000001192092896
   ],
   "mesh": "meshes/test_tube_rack__ertfpr.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.004644995930884658,
      0.00029249277970666674,
      0.07060832261539185
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.004644995908586579,
      -0.02200558919220751,
      0.07060832261539185
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0046449958771367685,
      -0.05345540464263894,
      0.07060832261539185
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.004644995858223089,
      -0.07236908643986212,
      0.07060832261539185
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.004644995838127204,
      -0.09246497463926934,
      0.07060832261539185
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.004644996010055702,
      0.07946354756889282,
      0.07060832261539186
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.017480139160891913,
      -0.019357086554006756,
      0.1459505108034856
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.01748013913835761,
      -0.04189139240022435,
      0.1459505108034856
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.01748013911074325,
      -0.06950575713231967,
      0.14595051080348562
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.01748013908977424,
      -0.09047476772550218,
      0.14595051080348562
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.01748013922972513,
      0.04947614165909346,
      0.14595051080348562
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.0019272509219224049,
      -0.01935708656063098,
      0.07056740328215819
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      -0.001927251084441682,
      0.019883679765559666,
      0.0705674032821582
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      -0.0019272512781643145,
      0.06665858972634293,
      0.0705674032821582
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 14,
     "position": [
      -0.0019272506553474603,
      -0.08372240554657671,
      0.0705674032821582
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 15,
     "position": [
      -0.0174240053581208,
      -0.08372240561075797,
      0.14877944528563647
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 16,
     "position": [
      -0.017424005514901298,
      -0.045867284519236044,
      0.14877944528563644
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 17,
     "position": [
      -0.017424005713212353,
      0.002015514132314816,
      0.14877944528563644
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 18,
     "position": [
      -0.017424005929108956,
      0.05414439621887525,
      0.14877944528563644
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 19,
     "position": [
      -0.017424006072389326,
      0.0887398698957314,
      0.1487794452856364
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 20,
     "position": [
      -0.09790830986568316,
      0.12310664318147302,
      -0.009407394223722004
     ],
     "orientation_xyzw": [
      -1.1107208167712223e-09,
      0.7071067811865476,
      -1.1107208156605011e-09,
      0.7071067811865475
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 21,
     "position": [
      -0.09790830986568316,
      -0.11774872687253629,
      -0.009407393467052487
     ],
     "orientation_xyzw": [
      -1.1107208167712223e-09,
      0.7071067811865476,
      -1.1107208156605011e-09,
      0.7071067811865475
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 22,
     "position": [
      -0.09857265617510097,
      0.11783496751597673,
      0.009727916255763483
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 23,
     "position": [
      -0.09840880615094355,
      -0.11601254388058352,
      0.014858128154740469
     ],
     "orientation_xyzw": [
      0.7071067811865476,
      0.0,
      0.7071067811865476,
      0.0
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "avocado/arswzs": {
   "category": "avocado",
   "model": "arswzs",
   "bbox_size": [
    0.11412811279296875,
    0.07354766130447388,
    0.08177211880683899
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0000001192092896
   ],
   "mesh": "meshes/avocado__arswzs.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.004449253446524218,
      0.001979886946347583,
      0.1061094291650124
     ],
     "orientation_xyzw": [
      -0.009826329258715459,
      0.9999517204611926,
      -1.2084309045507729e-32,
      -1.3672382393884263e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.013122141921676211,
      -0.0007589080008678904,
      0.1061094291650124
     ],
     "orientation_xyzw": [
      -0.009826329258715459,
      0.9999517204611926,
      -1.2084309045507729e-32,
      -1.3672382393884263e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.013122141921676211,
      -0.0007589080008678904,
      0.09334853879683498
     ],
     "orientation_xyzw": [
      -0.009826329258715459,
      0.9999517204611926,
      -1.2084309045507729e-32,
      -1.3672382393884263e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.013122141921676211,
      -0.0007589080008678904,
      0.09334853879683498
     ],
     "orientation_xyzw": [
      0.99996277526875,
      -0.008628329897467271,
      -1.0783773824861272e-32,
      -1.8276910982923524e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0009915365465208907,
      -0.0005495508907256368,
      0.09334853879683498
     ],
     "orientation_xyzw": [
      0.99996277526875,
      -0.008628329897467271,
      -1.0783773824861272e-32,
      -1.8276910982923524e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.01759478898289705,
      -0.00022877717163560273,
      0.09334853879683498
     ],
     "orientation_xyzw": [
      0.99996277526875,
      -0.008628329897467271,
      -1.0783773824861272e-32,
      -1.8276910982923524e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bag_of_jerky/wblype": {
   "category": "bag_of_jerky",
   "model": "wblype",
   "bbox_size": [
    0.19431567192077637,
    0.17910194396972656,
    0.04934799671173096
   ],
   "upright_orientation_xyzw": [
    7.883645594120026e-07,
    1.621549017727375e-06,
    3.7597055779770017e-07,
    1.0
   ],
   "mesh": "meshes/bag_of_jerky__wblype.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0008209819566067653,
      -0.0008565208079311234,
      0.12519449881628344
     ],
     "orientation_xyzw": [
      -0.7071065156875708,
      0.7071070466831259,
      -1.704066232760469e-06,
      5.891503796010082e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.06425046814394769,
      -0.036585582981277946,
      0.11674604649608784
     ],
     "orientation_xyzw": [
      -0.7012568076328789,
      0.7012574773503725,
      0.09076522424380401,
      -0.09076626177554721
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.08153809423330279,
      0.05908536526176647,
      0.1202096854843861
     ],
     "orientation_xyzw": [
      -0.6975853475611128,
      0.6975860537522709,
      0.11564632757753285,
      -0.11564734063611329
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.08049739207793759,
      0.059085366602713754,
      0.12056449532690165
     ],
     "orientation_xyzw": [
      -0.6975853475611128,
      0.6975860537522709,
      0.11564632757753285,
      -0.11564734063611329
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bottle_of_apple_juice/xvrbdy": {
   "category": "bottle_of_apple_juice",
   "model": "xvrbdy",
   "bbox_size": [
    0.04331254959106445,
    0.04343748092651367,
    0.20251420140266418
   ],
   "upright_orientation_xyzw": [
    -0.000583128712605685,
    -3.217508492525667e-05,
    1.2454314628485008e-06,
    1.0
   ],
   "mesh": "meshes/bottle_of_apple_juice__xvrbdy.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      -0.707105779591608,
      0.7071075416044784,
      0.00043508541350264715,
      0.00038958297981348547
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      -0.559191775757028,
      0.8290381275016767,
      0.000501427605974629,
      0.0002994070326319572
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      -0.4771575846327421,
      0.8788175569213624,
      0.0005278160250719636,
      0.00024996891586786185
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      -0.3907299157827465,
      0.9205051829502062,
      0.0005493445236228993,
      0.00019822918450231242
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      -0.20791043770871975,
      0.9781476927425395,
      0.0005770754289983091,
      8.976727950283082e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      -0.08715448788776754,
      0.9961946366884363,
      0.0005837138756690199,
      1.8770364257892056e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      1.244645852398249e-06,
      0.9999998294621033,
      0.0005831286131854104,
      -3.217507898019717e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      0.7071075427151976,
      0.7071057784808858,
      0.0003895829791300548,
      -0.00043508541411460257
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      0.9238798520115563,
      0.3826822153861996,
      0.00019342776119535819,
      -0.0005510534605842462
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      -0.4617474300493072,
      0.887011256844379,
      0.0005320981952470226,
      0.00024071918460684305
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      4.520031594531489e-05,
      -2.2628615328931682e-05,
      0.1138184849323283
     ],
     "orientation_xyzw": [
      0.642788452986132,
      0.7660435128851886,
      0.00042602069192408947,
      -0.000399475387571552
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_black_pepper/ejtiig": {
   "category": "bottle_of_black_pepper",
   "model": "ejtiig",
   "bbox_size": [
    0.06267448514699936,
    0.06007254123687744,
    0.07402321696281433
   ],
   "upright_orientation_xyzw": [
    0.0012780005345121026,
    -0.02569933794438839,
    -0.006855555810034275,
    0.9996455311775208
   ],
   "mesh": "meshes/bottle_of_black_pepper__ejtiig.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0040852271942923915,
      -0.00012126847238695647,
      0.07956164252480104
     ],
     "orientation_xyzw": [
      0.7020084281505768,
      0.7117036445966004,
      -0.019075856372360627,
      -0.017268490875974363
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0040852271942923915,
      -0.00012126847238695647,
      0.07956164252480104
     ],
     "orientation_xyzw": [
      0.9996453932794344,
      0.00685555407917442,
      -0.02569933439810005,
      0.0012780003783931344
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0040852271942923915,
      -0.00012126847238695647,
      0.07956164252480104
     ],
     "orientation_xyzw": [
      0.8227937520936898,
      -0.5677573006506524,
      -0.020318631416020038,
      0.015787409250806957
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0040852271942923915,
      -0.00012126847238695647,
      0.07956164252480104
     ],
     "orientation_xyzw": [
      -0.34834097540865494,
      0.9370146614529969,
      0.007588762539313034,
      -0.024586576756320932
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0040852271942923915,
      -0.00012126847238695647,
      0.07956164252480104
     ],
     "orientation_xyzw": [
      0.08029536845723072,
      0.9964389417976622,
      -0.0035129817364370312,
      -0.025490155605488198
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0040852271942923915,
      -0.00012126847238695647,
      0.07956164252480104
     ],
     "orientation_xyzw": [
      0.7020084259146937,
      0.711703646802025,
      -0.019075856318110065,
      -0.01726849093590294
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_champagne/mjpyvh": {
   "category": "bottle_of_champagne",
   "model": "mjpyvh",
   "bbox_size": [
    0.07550716400146484,
    0.06893718242645264,
    0.2691779136657715
   ],
   "upright_orientation_xyzw": [
    0.0019413633272051811,
    -0.04417605698108673,
    7.55839137127623e-05,
    0.9990218877792358
   ],
   "mesh": "meshes/bottle_of_champagne__mjpyvh.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.012779238689777437,
      -0.002197280908923152,
      0.14544069430275586
     ],
     "orientation_xyzw": [
      0.7064685852840953,
      0.7063616957091444,
      -0.032609940080465846,
      -0.029864437874159322
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.012779238689777437,
      -0.002197280908923152,
      0.14544069430275586
     ],
     "orientation_xyzw": [
      0.17355276226267388,
      0.9838313604827835,
      -0.00958296125793734,
      -0.043167808551280044
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.012779238689777437,
      -0.002197280908923152,
      0.14544069430275586
     ],
     "orientation_xyzw": [
      -0.4612299206732278,
      0.8861781239875971,
      0.018676222470753033,
      -0.04008106230895126
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.012779238689777437,
      -0.002197280908923152,
      0.14544069430275586
     ],
     "orientation_xyzw": [
      0.9753247055309968,
      -0.21630170119368725,
      -0.04270871944602907,
      0.011456793830364253
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.012779238689777437,
      -0.002197280908923152,
      0.14544069430275586
     ],
     "orientation_xyzw": [
      0.7653437392276036,
      0.6421009795846123,
      -0.035088706760101035,
      -0.026908651015885854
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_cocoa/ganhpw": {
   "category": "bottle_of_cocoa",
   "model": "ganhpw",
   "bbox_size": [
    0.10967254638671875,
    0.09747934341430664,
    0.13061368465423584
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/bottle_of_cocoa__ganhpw.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.02770330017803839,
      -0.00684657807724451,
      0.15882021995221543
     ],
     "orientation_xyzw": [
      0.7609531388002075,
      0.6385154961867084,
      -0.07398561235121986,
      -0.08817261958549802
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.015177717155562279,
      -0.026032716570723414,
      0.15895568449599684
     ],
     "orientation_xyzw": [
      0.8758376207309145,
      0.46989186778731135,
      -0.024630504003470777,
      -0.10725405806913622
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.017094701252604982,
      -0.03848409158955879,
      0.15878741346206335
     ],
     "orientation_xyzw": [
      0.05375782403156087,
      0.9906599339048896,
      0.11848714098916237,
      0.04078957135305172
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.048717508161689065,
      -0.010304639095756064,
      0.15637647183796882
     ],
     "orientation_xyzw": [
      0.5155088606666398,
      0.8416378560451605,
      0.11690030763346895,
      0.11059227785468961
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.04070930471842086,
      0.01495547224820493,
      0.15927325613017151
     ],
     "orientation_xyzw": [
      0.8442125878233334,
      0.5192930318247536,
      0.09215458476981406,
      0.0956419686371471
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.011081373712287892,
      0.032031454255929195,
      0.160695939133833
     ],
     "orientation_xyzw": [
      0.9941575448656451,
      -0.01273945609384487,
      0.03837380955893683,
      0.10007963321815457
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bottle_of_coconut_milk/idenxg": {
   "category": "bottle_of_coconut_milk",
   "model": "idenxg",
   "bbox_size": [
    0.09978127479553223,
    0.09978055953979492,
    0.2835577130317688
   ],
   "upright_orientation_xyzw": [
    -0.0003655647742561996,
    -0.000310953997541219,
    -6.099860001995694e-06,
    0.9999999403953552
   ],
   "mesh": "meshes/bottle_of_coconut_milk__idenxg.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.00042330572726894284,
      -2.401215016090784e-05,
      0.17758953183202547
     ],
     "orientation_xyzw": [
      0.766040434922615,
      0.6427922072751067,
      -3.2240749851202066e-06,
      -0.00047991621404297436
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.00042330572726894284,
      -2.401215016090784e-05,
      0.17758953183202547
     ],
     "orientation_xyzw": [
      0.9990483725476834,
      -0.043613289028209094,
      -0.0003266037318412763,
      -0.0003516531949353305
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.00042330572726894284,
      -2.401215016090784e-05,
      0.17758953183202547
     ],
     "orientation_xyzw": [
      -0.537304691212183,
      0.8433880710985979,
      0.0004753896381836774,
      -6.583812777140579e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.00042330572726894284,
      -2.401215016090784e-05,
      0.17758953183202547
     ],
     "orientation_xyzw": [
      -6.100645061072338e-06,
      0.9999998848164008,
      0.00036556475418269766,
      -0.00031095397997160743
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.00042330572726894284,
      -2.401215016090784e-05,
      0.17758953183202547
     ],
     "orientation_xyzw": [
      0.6427828617478979,
      0.7660482767510255,
      8.016148336370387e-05,
      -0.0004731850628937712
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_cologne/lyipur": {
   "category": "bottle_of_cologne",
   "model": "lyipur",
   "bbox_size": [
    0.0777597427368164,
    0.07999992370605469,
    0.1200011670589447
   ],
   "upright_orientation_xyzw": [
    -2.3208558559417725e-06,
    4.430767148733139e-07,
    -5.1704191719181836e-06,
    1.0000001192092896
   ],
   "mesh": "meshes/bottle_of_cologne__lyipur.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0015830074125115512,
      0.0010989512285118342,
      0.11979459519098837
     ],
     "orientation_xyzw": [
      0.6427836477692953,
      0.7660477675411733,
      2.0626827100004544e-06,
      -1.152400792283327e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0015830074125115512,
      0.0010989512285118342,
      0.11979459519098837
     ],
     "orientation_xyzw": [
      0.422613574636005,
      0.9063099726516282,
      2.2906617745701235e-06,
      -5.792721182781886e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0015830074125115512,
      0.0010989512285118342,
      0.11979459519098837
     ],
     "orientation_xyzw": [
      -0.537303969208922,
      0.8433886676181718,
      1.7193248251561545e-06,
      1.6206818607385533e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0015830074125115512,
      0.0010989512285118342,
      0.11979459519098837
     ],
     "orientation_xyzw": [
      0.939694389008788,
      -0.3420152851259985,
      -3.7742348907380956e-07,
      -2.3324320049897863e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0015830074125115512,
      0.0010989512285118342,
      0.11979459519098837
     ],
     "orientation_xyzw": [
      0.737273844745808,
      0.6755940185112295,
      1.8946176818634452e-06,
      -1.4117759693717724e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_ground_cloves/vzamzb": {
   "category": "bottle_of_ground_cloves",
   "model": "vzamzb",
   "bbox_size": [
    0.06000399589538574,
    0.0599970817565918,
    0.07186532020568848
   ],
   "upright_orientation_xyzw": [
    -0.00010295183164998889,
    9.599156328476965e-05,
    -0.00036997473216615617,
    1.0
   ],
   "mesh": "meshes/bottle_of_ground_cloves__vzamzb.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.00029866312484345015,
      0.00023970354403165907,
      0.07942616736628301
     ],
     "orientation_xyzw": [
      0.7370273287920017,
      0.6758629275232292,
      0.00014032564244263792,
      -1.1053091438038189e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.00029866312484345015,
      0.00023970354403165907,
      0.07942616736628301
     ],
     "orientation_xyzw": [
      0.9847434305891588,
      0.1740125170728758,
      0.00011241062481169422,
      -8.471899543031193e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.00029866312484345015,
      0.00023970354403165907,
      0.07942616736628301
     ],
     "orientation_xyzw": [
      0.9064640739483578,
      -0.4222829179915867,
      4.348857370592216e-05,
      -0.00013387382385777016
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.00029866312484345015,
      0.00023970354403165907,
      0.07942616736628301
     ],
     "orientation_xyzw": [
      -0.3830252148014142,
      0.9237378767880388,
      5.8380704555793e-05,
      0.00012808259090464212
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.00029866312484345015,
      0.00023970354403165907,
      0.07942616736628301
     ],
     "orientation_xyzw": [
      0.25846165569223845,
      0.9660215073813678,
      0.00012428826799489753,
      6.607483027677967e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.00029866312484345015,
      0.00023970354403165907,
      0.07942616736628301
     ],
     "orientation_xyzw": [
      0.6753173795947711,
      0.7375272313642357,
      0.00014075500139789024,
      1.2191549354452122e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_hot_sauce/zqhkzh": {
   "category": "bottle_of_hot_sauce",
   "model": "zqhkzh",
   "bbox_size": [
    0.04125833511352539,
    0.05040311813354492,
    0.18866512179374695
   ],
   "upright_orientation_xyzw": [
    -0.025920912623405457,
    0.016075078397989273,
    -0.007474236190319061,
    0.9995068311691284
   ],
   "mesh": "meshes/bottle_of_hot_sauce__zqhkzh.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.001868429783907408,
      -0.006870155113503826,
      0.11071400444729267
     ],
     "orientation_xyzw": [
      0.6697464175139826,
      0.7419632298416678,
      0.029971065914431144,
      -0.0056601235020988065
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.001868429783907408,
      -0.006870155113503826,
      0.11071400444729267
     ],
     "orientation_xyzw": [
      -0.09455855202565705,
      0.995051947613141,
      0.024421239440386003,
      0.018273063626593342
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.001868429783907408,
      -0.006870155113503826,
      0.11071400444729267
     ],
     "orientation_xyzw": [
      0.7120431157590973,
      -0.7014729499488704,
      -0.00696205589792917,
      -0.029695648970519274
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.001868429783907408,
      -0.006870155113503826,
      0.11071400444729267
     ],
     "orientation_xyzw": [
      0.9919314596601586,
      -0.12305152394977063,
      0.012554195382524886,
      -0.02779737340835613
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.001868429783907408,
      -0.006870155113503826,
      0.11071400444729267
     ],
     "orientation_xyzw": [
      0.861861158754035,
      0.5062262747438597,
      0.026881881590723057,
      -0.014410629141315705
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_lotion/tkryrh": {
   "category": "bottle_of_lotion",
   "model": "tkryrh",
   "bbox_size": [
    0.07292795181274414,
    0.07292795181274414,
    0.18089979887008667
   ],
   "upright_orientation_xyzw": [
    -0.00010073932207887992,
    9.209658310282975e-05,
    2.9741652696202436e-08,
    1.0
   ],
   "mesh": "meshes/bottle_of_lotion__tkryrh.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.00038961636479030264,
      0.0015678803682488722,
      0.0876306033516228
     ],
     "orientation_xyzw": [
      0.8660254112426534,
      0.4999999684518007,
      0.00013012764034216027,
      -4.119452031552347e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.00038961636479030264,
      0.0015678803682488722,
      0.0876306033516228
     ],
     "orientation_xyzw": [
      0.9999999906849039,
      -3.052705059214319e-08,
      9.209658216582077e-05,
      -0.00010073932116244629
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.00038961636479030264,
      0.0015678803682488722,
      0.0876306033516228
     ],
     "orientation_xyzw": [
      -0.675590179426796,
      0.7372773500060059,
      1.2053269277051349e-05,
      0.00013595922177173157
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.00038961636479030264,
      0.0015678803682488722,
      0.0876306033516228
     ],
     "orientation_xyzw": [
      -0.675590179426796,
      0.7372773500060059,
      1.2053269277051349e-05,
      0.00013595922177173157
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.00038961636479030264,
      0.0015678803682488722,
      0.0876306033516228
     ],
     "orientation_xyzw": [
      -0.1736481473611559,
      0.9848077488971374,
      8.321646075005838e-05,
      0.00010819062780702728
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.00038961636479030264,
      0.0015678803682488722,
      0.0876306033516228
     ],
     "orientation_xyzw": [
      0.6755902221243758,
      0.7372773108808823,
      0.00013649236752224915,
      -1.5777578910374737e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_orange_juice/rtqqor": {
   "category": "bottle_of_orange_juice",
   "model": "rtqqor",
   "bbox_size": [
    0.04455828666687012,
    0.042182326316833496,
    0.20251381397247314
   ],
   "upright_orientation_xyzw": [
    0.004328942392021418,
    -0.0054974015802145,
    -1.3497019608621486e-06,
    0.9999755620956421
   ],
   "mesh": "meshes/bottle_of_orange_juice__rtqqor.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.001012919022669219,
      0.0008008426904661338,
      0.11887701814760698
     ],
     "orientation_xyzw": [
      0.6755726723412045,
      0.7372602004879989,
      -0.006905621494402072,
      -0.001128518469098424
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.001012919022669219,
      0.0008008426904661338,
      0.11887701814760698
     ],
     "orientation_xyzw": [
      0.2588114042606929,
      0.9659025291728193,
      -0.005604269239257658,
      -0.0041896692534084574
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.001012919022669219,
      0.0008008426904661338,
      0.11887701814760698
     ],
     "orientation_xyzw": [
      -0.300699725652508,
      0.9536931969089154,
      -0.0024754850911754716,
      -0.0065447028750290695
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.001012919022669219,
      0.0008008426904661338,
      0.11887701814760698
     ],
     "orientation_xyzw": [
      0.9238574314840767,
      -0.38267281733810865,
      -0.003422322119383439,
      0.006103185518253947
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.001012919022669219,
      0.0008008426904661338,
      0.11887701814760698
     ],
     "orientation_xyzw": [
      0.9238574314840767,
      -0.38267281733810865,
      -0.003422322119383439,
      0.006103185518253947
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.001012919022669219,
      0.0008008426904661338,
      0.11887701814760698
     ],
     "orientation_xyzw": [
      0.9659018305157068,
      0.25881401168454515,
      -0.00643049462075753,
      0.0027586049176085937
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.001012919022669219,
      0.0008008426904661338,
      0.11887701814760698
     ],
     "orientation_xyzw": [
      0.7070885173164525,
      0.7070904238618013,
      -0.0069482741597121055,
      -0.0008262253690869358
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.001012919022669219,
      0.0008008426904661338,
      0.11887701814760698
     ],
     "orientation_xyzw": [
      0.7070885173164525,
      0.7070904238618013,
      -0.0069482741597121055,
      -0.0008262253690869358
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_molasses/jvsjop": {
   "category": "bottle_of_molasses",
   "model": "jvsjop",
   "bbox_size": [
    0.0808401107788086,
    0.0807499885559082,
    0.19054999947547913
   ],
   "upright_orientation_xyzw": [
    -0.005084614735096693,
    -0.0025461141485720873,
    -0.00025981166982091963,
    0.9999839067459106
   ],
   "mesh": "meshes/bottle_of_molasses__jvsjop.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0015756761989373696,
      -0.0008303792493979288,
      0.16443909620058933
     ],
     "orientation_xyzw": [
      0.706911611264072,
      0.7072790381898766,
      0.0017949907753147844,
      -0.005395739555726263
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0015756761989373696,
      -0.0008303792493979288,
      0.16443909620058933
     ],
     "orientation_xyzw": [
      0.9658429325441679,
      0.25906580951033537,
      -0.0011433621639652884,
      -0.005570342915719502
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0015756761989373696,
      -0.0008303792493979288,
      0.16443909620058933
     ],
     "orientation_xyzw": [
      0.9397662566637428,
      -0.3417704592836832,
      -0.0041316048904397945,
      -0.0039071521938603545
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0015756761989373696,
      -0.0008303792493979288,
      0.16443909620058933
     ],
     "orientation_xyzw": [
      -0.5375100261825669,
      0.8432381844745762,
      0.005656346093100372,
      0.0005845905505238531
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0015756761989373696,
      -0.0008303792493979288,
      0.16443909620058933
     ],
     "orientation_xyzw": [
      0.0433591154624933,
      0.999043367982128,
      0.004968714831752526,
      -0.002765478287279817
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0015756761989373696,
      -0.0008303792493979288,
      0.16443909620058933
     ],
     "orientation_xyzw": [
      0.3417704578075016,
      0.9397662572005946,
      0.003907152200350267,
      -0.004131604884302451
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.0015756761989373696,
      -0.0008303792493979288,
      0.16443909620058933
     ],
     "orientation_xyzw": [
      0.6425781669172519,
      0.7661990364154916,
      0.0022584299980841055,
      -0.00521876337655269
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_paprika/nrdgrp": {
   "category": "bottle_of_paprika",
   "model": "nrdgrp",
   "bbox_size": [
    0.06000018119812012,
    0.060000061988830566,
    0.07185804843902588
   ],
   "upright_orientation_xyzw": [
    -7.998896762728691e-06,
    -0.0001529427245259285,
    0.00030346857965923846,
    1.0000001192092896
   ],
   "mesh": "meshes/bottle_of_paprika__nrdgrp.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -1.7970223402480094e-05,
      0.00032217130144902097,
      0.07942452120045099
     ],
     "orientation_xyzw": [
      0.6430200417917404,
      0.7658493340068251,
      -9.218216140470432e-05,
      -0.00012230249446000042
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -1.7970223402480094e-05,
      0.00032217130144902097,
      0.07942452120045099
     ],
     "orientation_xyzw": [
      0.21673587556391757,
      0.9762302683220241,
      -2.5293568652082975e-05,
      -0.0001510486226922183
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -1.7970223402480094e-05,
      0.00032217130144902097,
      0.07942452120045099
     ],
     "orientation_xyzw": [
      -0.4223432017524416,
      0.9064359858688563,
      7.188583813338853e-05,
      -0.00013523267840368332
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -1.7970223402480094e-05,
      0.00032217130144902097,
      0.07942452120045099
     ],
     "orientation_xyzw": [
      0.818977934467245,
      -0.573824990219417,
      -0.0001298713011551907,
      8.117201592070723e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -1.7970223402480094e-05,
      0.00032217130144902097,
      0.07942452120045099
     ],
     "orientation_xyzw": [
      0.9914051934170003,
      -0.13082705763850752,
      -0.0001526783168227149,
      1.2032564338553757e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -1.7970223402480094e-05,
      0.00032217130144902097,
      0.07942452120045099
     ],
     "orientation_xyzw": [
      0.9064359865322714,
      0.42234320032861533,
      -0.00013523267851660135,
      -7.18858379209654e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -1.7970223402480094e-05,
      0.00032217130144902097,
      0.07942452120045099
     ],
     "orientation_xyzw": [
      0.7073213260969078,
      0.706892154570314,
      -0.00010249074554211325,
      -0.00011380289148609033
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_soda/eqyqlx": {
   "category": "bottle_of_soda",
   "model": "eqyqlx",
   "bbox_size": [
    0.0693042017519474,
    0.06001925468444824,
    0.22372561693191528
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/bottle_of_soda__eqyqlx.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0004003901655475299,
      -4.3348832563920456e-08,
      0.11532346489045288
     ],
     "orientation_xyzw": [
      0.7071067826508217,
      0.7071067797222733,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0004003901655475299,
      -4.3348832563920456e-08,
      0.11532346489045288
     ],
     "orientation_xyzw": [
      0.939692621173918,
      0.3420201422596212,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0004003901655475299,
      -4.3348832563920456e-08,
      0.11532346489045288
     ],
     "orientation_xyzw": [
      0.9762960069971618,
      -0.21643961449188923,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0004003901655475299,
      -4.3348832563920456e-08,
      0.11532346489045288
     ],
     "orientation_xyzw": [
      0.8191520441888838,
      -0.5735764364940152,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0004003901655475299,
      -4.3348832563920456e-08,
      0.11532346489045288
     ],
     "orientation_xyzw": [
      -0.4226182620570605,
      0.9063077868891284,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0004003901655475299,
      -4.3348832563920456e-08,
      0.11532346489045288
     ],
     "orientation_xyzw": [
      -0.1305261928689508,
      0.9914448612883812,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.0004003901655475299,
      -4.3348832563920456e-08,
      0.11532346489045288
     ],
     "orientation_xyzw": [
      0.3420201422596212,
      0.939692621173918,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.0004003901655475299,
      -4.3348832563920456e-08,
      0.11532346489045288
     ],
     "orientation_xyzw": [
      0.6087614278663737,
      0.7933533411677888,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_water/atvnqy": {
   "category": "bottle_of_water",
   "model": "atvnqy",
   "bbox_size": [
    0.06493568420410156,
    0.06493592262268066,
    0.19384008646011353
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/bottle_of_water__atvnqy.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -1.8504128527285448e-06,
      0.00023373294232496576,
      0.09515939237687256
     ],
     "orientation_xyzw": [
      0.6087614278663737,
      0.7933533411677888,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -1.8504128527285448e-06,
      0.00023373294232496576,
      0.09515939237687256
     ],
     "orientation_xyzw": [
      0.04361938653709356,
      0.9990482216180195,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -1.8504128527285448e-06,
      0.00023373294232496576,
      0.09515939237687256
     ],
     "orientation_xyzw": [
      -0.5735764364940152,
      0.8191520441888838,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -1.8504128527285448e-06,
      0.00023373294232496576,
      0.09515939237687256
     ],
     "orientation_xyzw": [
      0.8191520441888838,
      -0.5735764364940152,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -1.8504128527285448e-06,
      0.00023373294232496576,
      0.09515939237687256
     ],
     "orientation_xyzw": [
      0.9961946981678033,
      0.08715574187831422,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -1.8504128527285448e-06,
      0.00023373294232496576,
      0.09515939237687256
     ],
     "orientation_xyzw": [
      0.8191520450898557,
      0.5735764352072938,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_water/migvlt": {
   "category": "bottle_of_water",
   "model": "migvlt",
   "bbox_size": [
    0.07032942771911621,
    0.07033008337020874,
    0.22846001386642456
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/bottle_of_water__migvlt.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0,
      -2.018867000456779e-08,
      0.10436717750641968
     ],
     "orientation_xyzw": [
      0.8191520450898557,
      0.5735764352072938,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0,
      -2.018867000456779e-08,
      0.10436717750641968
     ],
     "orientation_xyzw": [
      0.9537169510762461,
      0.30070579846392914,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0,
      -2.018867000456779e-08,
      0.10436717750641968
     ],
     "orientation_xyzw": [
      0.9914448612883812,
      -0.13052619286895079,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0,
      -2.018867000456779e-08,
      0.10436717750641968
     ],
     "orientation_xyzw": [
      -0.6427876097533893,
      0.7660444430628842,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0,
      -2.018867000456779e-08,
      0.10436717750641968
     ],
     "orientation_xyzw": [
      -0.2588190456082784,
      0.9659258261535509,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0,
      -2.018867000456779e-08,
      0.10436717750641968
     ],
     "orientation_xyzw": [
      0.3826834312766696,
      0.9238795329621252,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.0,
      -2.018867000456779e-08,
      0.10436717750641968
     ],
     "orientation_xyzw": [
      0.6427876085500897,
      0.7660444440725726,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_water/rrkhva": {
   "category": "bottle_of_water",
   "model": "rrkhva",
   "bbox_size": [
    0.06470775604248047,
    0.06537842750549316,
    0.15069788694381714
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0000001192092896
   ],
   "mesh": "meshes/bottle_of_water__rrkhva.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -5.623293067033197e-05,
      0.0002272536027107354,
      0.07046536686036255
     ],
     "orientation_xyzw": [
      0.6427876085500897,
      0.7660444440725726,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -5.623293067033197e-05,
      0.0002272536027107354,
      0.07046536686036255
     ],
     "orientation_xyzw": [
      0.30070579846392914,
      0.9537169510762461,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -5.623293067033197e-05,
      0.0002272536027107354,
      0.07046536686036255
     ],
     "orientation_xyzw": [
      -0.17364817826851522,
      0.9848077529061324,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -5.623293067033197e-05,
      0.0002272536027107354,
      0.07046536686036255
     ],
     "orientation_xyzw": [
      -0.6755902076478302,
      0.7372773367806458,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -5.623293067033197e-05,
      0.0002272536027107354,
      0.07046536686036255
     ],
     "orientation_xyzw": [
      0.9659258261535508,
      -0.2588190456082784,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -5.623293067033197e-05,
      0.0002272536027107354,
      0.07046536686036255
     ],
     "orientation_xyzw": [
      0.939692621173918,
      0.3420201422596212,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -5.623293067033197e-05,
      0.0002272536027107354,
      0.07046536686036255
     ],
     "orientation_xyzw": [
      0.7372773378418608,
      0.6755902064897172,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_whiskey/wfflbd": {
   "category": "bottle_of_whiskey",
   "model": "wfflbd",
   "bbox_size": [
    0.04840116947889328,
    0.12156248092651367,
    0.16428586840629578
   ],
   "upright_orientation_xyzw": [
    -0.00011694192653521895,
    0.0002837094652932137,
    -3.436047336435877e-05,
    1.0
   ],
   "mesh": "meshes/bottle_of_whiskey__wfflbd.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      3.542313379872986e-05,
      0.0002426043289863933,
      0.07991163519463265
     ],
     "orientation_xyzw": [
      0.73725408909504,
      0.6756155074790519,
      0.0002881773658487122,
      0.0001054526989352396
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0012735212611206807,
      -0.014730562444205262,
      0.07990739021106215
     ],
     "orientation_xyzw": [
      0.7372540890950402,
      0.6756155074790517,
      0.00028817736584871214,
      0.00010545269893523963
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0024057490540491866,
      -0.027682247507805693,
      0.07990371832981363
     ],
     "orientation_xyzw": [
      0.7372540890950402,
      0.6756155074790517,
      0.00028817736584871214,
      0.00010545269893523963
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.001912010736546118,
      0.021709107604070535,
      0.07991772107847402
     ],
     "orientation_xyzw": [
      0.7372540890950402,
      0.6756155074790517,
      0.00028817736584871214,
      0.00010545269893523963
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0032885949587151686,
      0.037456014207502344,
      0.07992218542197797
     ],
     "orientation_xyzw": [
      0.7372540890950402,
      0.6756155074790517,
      0.00028817736584871214,
      0.00010545269893523963
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      3.542313379872986e-05,
      0.0002426043289863933,
      0.07991163519463265
     ],
     "orientation_xyzw": [
      0.707131043998816,
      -0.7070824509536909,
      0.00011792245191578577,
      -0.0002833033025476371
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      3.692091961576535e-05,
      -0.021531242042224945,
      0.07990654306841372
     ],
     "orientation_xyzw": [
      0.7071310443523571,
      -0.7070824506001255,
      0.00011792245205743734,
      -0.0002833033024886758
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      3.347057564077281e-05,
      0.028627638342967682,
      0.07991827344188873
     ],
     "orientation_xyzw": [
      0.7071310443523571,
      -0.7070824506001255,
      0.00011792245205743734,
      -0.0002833033024886758
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "box_of_baking_powder/zevydc": {
   "category": "box_of_baking_powder",
   "model": "zevydc",
   "bbox_size": [
    0.08293294906616211,
    0.13899016380310059,
    0.18731963634490967
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/box_of_baking_powder__zevydc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.055266884353753626,
      -0.0009708832496447603,
      0.16072301814396586
     ],
     "orientation_xyzw": [
      0.6875537763121495,
      -0.687553775624596,
      0.16513571728842588,
      -0.16513571745356156
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.05526688436644438,
      0.011719872875136088,
      0.16072301814396586
     ],
     "orientation_xyzw": [
      0.6875537763121495,
      -0.687553775624596,
      0.16513571728842588,
      -0.16513571745356156
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.05526688438146508,
      0.02674057191483059,
      0.16072301814396586
     ],
     "orientation_xyzw": [
      0.6875537763121495,
      -0.687553775624596,
      0.16513571728842588,
      -0.16513571745356156
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0552668843276932,
      -0.027031307254815746,
      0.16072301814396586
     ],
     "orientation_xyzw": [
      0.6875537763121495,
      -0.687553775624596,
      0.16513571728842588,
      -0.16513571745356156
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.05526688432760412,
      -0.027120389435803506,
      0.16072301814396586
     ],
     "orientation_xyzw": [
      0.6914060725485162,
      0.6836797733879295,
      0.16606095681323488,
      0.16420526460969023
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.05516122318071221,
      -0.01656702776753447,
      0.1607768803275356
     ],
     "orientation_xyzw": [
      0.6914060725485162,
      0.6836797733879295,
      0.16606095681323488,
      0.16420526460969023
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.05501250150192904,
      -0.0017128102024275879,
      0.16085269319346648
     ],
     "orientation_xyzw": [
      0.6914060725485162,
      0.6836797733879295,
      0.16606095681323488,
      0.16420526460969023
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.05473065687881682,
      0.026437634208355952,
      0.1609963672617003
     ],
     "orientation_xyzw": [
      0.6914060725485162,
      0.6836797733879295,
      0.16606095681323488,
      0.16420526460969023
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.05690694857385649,
      0.02532865207087819,
      0.15928333147615847
     ],
     "orientation_xyzw": [
      0.6935819571010334,
      0.68744563479544,
      -0.1497089613823844,
      -0.15475721264743175
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.05674396205005569,
      0.009049671733067482,
      0.15920024691458987
     ],
     "orientation_xyzw": [
      0.6935819571010334,
      0.68744563479544,
      -0.1497089613823844,
      -0.15475721264743175
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.05656019804058078,
      -0.009304549384595842,
      0.15910657075165768
     ],
     "orientation_xyzw": [
      0.6935819571010334,
      0.68744563479544,
      -0.1497089613823844,
      -0.15475721264743175
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.056278476368925086,
      -0.03744271348964292,
      0.1589629593595741
     ],
     "orientation_xyzw": [
      0.6935819571010334,
      0.68744563479544,
      -0.1497089613823844,
      -0.15475721264743175
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      0.056278476368925086,
      -0.03744271348964291,
      0.1589629593595741
     ],
     "orientation_xyzw": [
      0.7150200783004401,
      -0.6651193273711401,
      -0.16070388087755821,
      0.14330677114318857
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      0.05632822453047124,
      -0.020068879798707973,
      0.15910918808726143
     ],
     "orientation_xyzw": [
      -0.6901725109158876,
      0.6908685382845744,
      0.15534575664381223,
      -0.14909816859155614
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 14,
     "position": [
      0.056423102772972446,
      0.01306598900593763,
      0.15938807125108026
     ],
     "orientation_xyzw": [
      -0.6901725109158876,
      0.6908685382845744,
      0.15534575664381223,
      -0.14909816859155614
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 15,
     "position": [
      0.056495462615067014,
      0.0383366286312249,
      0.15960076428970296
     ],
     "orientation_xyzw": [
      -0.6901725109158876,
      0.6908685382845744,
      0.15534575664381223,
      -0.14909816859155614
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 16,
     "position": [
      0.056511127403945816,
      0.04380733203664411,
      0.15964680904946987
     ],
     "orientation_xyzw": [
      -0.6901725109158876,
      0.6908685382845744,
      0.15534575664381223,
      -0.14909816859155614
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 17,
     "position": [
      0.0006724289146647508,
      -0.07964083300271131,
      0.1653385470053889
     ],
     "orientation_xyzw": [
      -0.007777208992553621,
      0.9805111964132803,
      0.19618219048036162,
      0.007060939513315668
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 18,
     "position": [
      0.0006724289146647506,
      -0.07964083300271131,
      0.1653385470053889
     ],
     "orientation_xyzw": [
      0.980539641860263,
      -0.002168412337045784,
      0.00507072110545023,
      -0.19624371713752886
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 19,
     "position": [
      0.001615895147184828,
      0.07412430653085622,
      0.16715190965686966
     ],
     "orientation_xyzw": [
      0.9863203226754933,
      -0.0038277556971322547,
      0.003970202880934706,
      0.16474770666907035
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 20,
     "position": [
      0.0016158951471848277,
      0.07412430653085622,
      0.16715190965686966
     ],
     "orientation_xyzw": [
      -0.012733624826552988,
      0.986245550273938,
      -0.1647911438495432,
      0.0012034418943339595
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 21,
     "position": [
      0.00864429545300921,
      0.07430368497850252,
      0.1671390926981843
     ],
     "orientation_xyzw": [
      -0.012733624826552988,
      0.986245550273938,
      -0.1647911438495432,
      0.0012034418943339595
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "box_of_baking_soda/pskrgy": {
   "category": "box_of_baking_soda",
   "model": "pskrgy",
   "bbox_size": [
    0.04738050699234009,
    0.07785940170288086,
    0.13331356644630432
   ],
   "upright_orientation_xyzw": [
    5.309418611432193e-07,
    1.0899245239670563e-07,
    -1.4215567034625565e-07,
    1.0
   ],
   "mesh": "meshes/box_of_baking_soda__pskrgy.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.00025212617215555823,
      -9.930574177555816e-05,
      0.10162671184040048
     ],
     "orientation_xyzw": [
      0.7071068820592282,
      -0.7071066803136447,
      4.525018926179681e-07,
      2.9836328831933655e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.00025212124625772884,
      -0.017364304104745,
      0.10162673017382175
     ],
     "orientation_xyzw": [
      0.7071068820592282,
      -0.7071066803136445,
      4.5250189246878656e-07,
      2.983632884685182e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0002521329049028599,
      0.023498599689586383,
      0.10162668678216809
     ],
     "orientation_xyzw": [
      0.7071068820592282,
      -0.7071066803136445,
      4.5250189246878656e-07,
      2.983632884685182e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.00025212617215555823,
      -9.930574177555816e-05,
      0.10162671184040048
     ],
     "orientation_xyzw": [
      0.7071066814243656,
      0.7071068809485076,
      -2.9836328760854817e-07,
      4.525018930866361e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "box_of_rice/pstqvm": {
   "category": "box_of_rice",
   "model": "pstqvm",
   "bbox_size": [
    0.05327033996582031,
    0.14203357696533203,
    0.203560471534729
   ],
   "upright_orientation_xyzw": [
    3.78737212258784e-07,
    -6.607168074879155e-07,
    3.390014171600342e-07,
    1.0
   ],
   "mesh": "meshes/box_of_rice__pstqvm.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -2.6615976922334517e-05,
      0.003445052763050416,
      0.1017803146808109
     ],
     "orientation_xyzw": [
      0.707107022360776,
      0.7071065400118266,
      -7.350049864074519e-07,
      -1.9938968232094708e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -2.6645958835248365e-05,
      -0.04050742081436261,
      0.10178034797370546
     ],
     "orientation_xyzw": [
      0.7071070223607764,
      0.7071065400118263,
      -7.350049865071467e-07,
      -1.9938968242064172e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -2.663638532204466e-05,
      -0.026472973201297392,
      0.10178033734296395
     ],
     "orientation_xyzw": [
      0.7071070223607764,
      0.7071065400118263,
      -7.350049865071467e-07,
      -1.9938968242064172e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -2.6608902948482155e-05,
      0.01381525995185474,
      0.10178030682563947
     ],
     "orientation_xyzw": [
      0.7071070223607764,
      0.7071065400118263,
      -7.350049865071467e-07,
      -1.9938968242064172e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -2.6585622420726068e-05,
      0.04794372880598644,
      0.10178028097418168
     ],
     "orientation_xyzw": [
      0.7071070223607764,
      0.7071065400118263,
      -7.350049865071467e-07,
      -1.9938968242064172e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -2.664609362275749e-05,
      -0.04104031886895227,
      0.10178034837736205
     ],
     "orientation_xyzw": [
      -0.7071065418296545,
      0.7071070205429495,
      1.9938968431018982e-07,
      -7.350049859945565e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -2.663878873517171e-05,
      -0.03025027100781054,
      0.10178034020417193
     ],
     "orientation_xyzw": [
      -0.7071065418296545,
      0.7071070205429495,
      1.9938968431018982e-07,
      -7.350049859945565e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -2.6620159613066714e-05,
      -0.002733198806020554,
      0.10178031936068122
     ],
     "orientation_xyzw": [
      -0.7071065418296545,
      0.7071070205429495,
      1.9938968431018982e-07,
      -7.350049859945565e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -2.6596652319341702e-05,
      0.031989419632683265,
      0.10178029305917027
     ],
     "orientation_xyzw": [
      -0.7071065418296545,
      0.7071070205429495,
      1.9938968431018982e-07,
      -7.350049859945565e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "box_of_sanitary_napkins/tkrzkb": {
   "category": "box_of_sanitary_napkins",
   "model": "tkrzkb",
   "bbox_size": [
    0.07076030969619751,
    0.09004491567611694,
    0.09587964415550232
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/box_of_sanitary_napkins__tkrzkb.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0007351806931076157,
      -0.024501721631076834,
      0.07293989655855714
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.000735180712383703,
      -0.005225631551740765,
      0.07293989655855714
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0007351807401441052,
      0.022534774419288237,
      0.07293989655855714
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      -1.7431521676632338e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0007351806170963589,
      -0.023549418080785416,
      0.07293989655855714
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0007351807125496663,
      -0.0005019310645901874,
      0.07293989655855714
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0007351808246198882,
      0.026557759769492893,
      0.07293989655855714
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      -7.219428758205166e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "box_of_wagashi/mlmrwy": {
   "category": "box_of_wagashi",
   "model": "mlmrwy",
   "bbox_size": [
    0.20481204986572266,
    0.20481157302856445,
    0.04189097881317139
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/box_of_wagashi__mlmrwy.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.11619504216886259,
      -0.05016054531111875,
      0.1055545104088491
     ],
     "orientation_xyzw": [
      0.6894520267077588,
      0.6894520295631883,
      -0.15702197617530134,
      -0.15702197552498026
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.1161950420896896,
      -0.031043993148275537,
      0.10555451040884908
     ],
     "orientation_xyzw": [
      0.6894520267077588,
      0.6894520295631883,
      -0.15702197617530134,
      -0.15702197552498026
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.11619504194185096,
      0.0046520924800394015,
      0.1055545104088491
     ],
     "orientation_xyzw": [
      0.6894520267077588,
      0.6894520295631883,
      -0.15702197617530134,
      -0.15702197552498026
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.11619504173254779,
      0.05518897050577771,
      0.1055545104088491
     ],
     "orientation_xyzw": [
      0.6894520267077588,
      0.6894520295631883,
      -0.15702197617530134,
      -0.15702197552498026
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.11619504165213447,
      0.07460500853427156,
      0.1055545104088491
     ],
     "orientation_xyzw": [
      0.6894520267077588,
      0.6894520295631883,
      -0.15702197617530134,
      -0.15702197552498026
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.11619504163175907,
      0.07952470609322039,
      0.1055545104088491
     ],
     "orientation_xyzw": [
      -0.6829351742995828,
      0.6959078573379051,
      0.15553776857183454,
      -0.15849228481998376
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.11622111393410242,
      0.0787534736514393,
      0.10554198483499992
     ],
     "orientation_xyzw": [
      0.7022530188836491,
      -0.6764088228793567,
      -0.15993738742079183,
      0.15405140020387986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.11679638558341282,
      0.06173663513282496,
      0.10526561463063959
     ],
     "orientation_xyzw": [
      0.7022530188836491,
      -0.6764088228793567,
      -0.15993738742079183,
      0.15405140020387986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.11755557059137414,
      0.03927954255453245,
      0.1049008893464211
     ],
     "orientation_xyzw": [
      0.7022530188836491,
      -0.6764088228793567,
      -0.15993738742079183,
      0.15405140020387986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.1182607875571366,
      0.018418853102249822,
      0.10456209122004068
     ],
     "orientation_xyzw": [
      0.7022530188836491,
      -0.6764088228793567,
      -0.15993738742079183,
      0.15405140020387986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.11987047193756185,
      -0.02919645907325443,
      0.10378877169055048
     ],
     "orientation_xyzw": [
      0.7022530188836491,
      -0.6764088228793567,
      -0.15993738742079183,
      0.15405140020387986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.12043533029928119,
      -0.045905267057776505,
      0.10351740420520657
     ],
     "orientation_xyzw": [
      0.7022530188836491,
      -0.6764088228793567,
      -0.15993738742079183,
      0.15405140020387986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      0.12125371181927286,
      -0.07011342365476876,
      0.10312423991804597
     ],
     "orientation_xyzw": [
      0.7022530188836491,
      -0.6764088228793567,
      -0.15993738742079183,
      0.15405140020387986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      0.06437946393847876,
      0.10767353832566136,
      0.10732401925367124
     ],
     "orientation_xyzw": [
      0.9827906529706621,
      0.028036898991831784,
      0.005206574412750112,
      0.1825085102435114
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 14,
     "position": [
      0.018496317914159306,
      0.10505351153227782,
      0.10732401925367124
     ],
     "orientation_xyzw": [
      0.9827906529706621,
      0.028036898991831784,
      0.005206574412750112,
      0.1825085102435114
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 15,
     "position": [
      -0.07139589756601825,
      0.09992047176752766,
      0.10732401925367124
     ],
     "orientation_xyzw": [
      0.9827906529706621,
      0.028036898991831784,
      0.005206574412750112,
      0.1825085102435114
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 16,
     "position": [
      0.03696364869561511,
      0.10623521648296641,
      0.1072751757225187
     ],
     "orientation_xyzw": [
      -0.016342142356522208,
      0.9830546625975475,
      -0.18243364732779524,
      0.007377604699295145
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 17,
     "position": [
      -0.004307035986743995,
      0.10479715227273233,
      0.10692239554525637
     ],
     "orientation_xyzw": [
      -0.016342142356522208,
      0.9830546625975475,
      -0.18243364732779524,
      0.007377604699295145
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 18,
     "position": [
      -0.06962102447638985,
      0.1025213065968609,
      0.10636409415979535
     ],
     "orientation_xyzw": [
      -0.016342142356522208,
      0.9830546625975475,
      -0.18243364732779524,
      0.007377604699295145
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 19,
     "position": [
      -0.10754182176145792,
      0.05646691511503667,
      0.10901671641865562
     ],
     "orientation_xyzw": [
      0.6944490942447921,
      0.6944490971209174,
      0.13319329404568017,
      0.13319329349404777
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 20,
     "position": [
      -0.10754182149274442,
      -0.008414763401779837,
      0.10901671641865562
     ],
     "orientation_xyzw": [
      0.6944490942447921,
      0.6944490971209174,
      0.13319329404568017,
      0.13319329349404777
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 21,
     "position": [
      -0.10754182118037324,
      -0.08383772231280902,
      0.10901671641865562
     ],
     "orientation_xyzw": [
      0.6944490942447921,
      0.6944490971209174,
      0.13319329404568017,
      0.13319329349404777
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 22,
     "position": [
      -0.10754182179066607,
      0.06351931229564027,
      0.10901671641865562
     ],
     "orientation_xyzw": [
      -0.6828550299189479,
      0.7058527474649811,
      -0.1309695855006035,
      0.13538048117927004
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 23,
     "position": [
      -0.10828529794828658,
      0.039364119991540575,
      0.10872063148686759
     ],
     "orientation_xyzw": [
      -0.6828550299189479,
      0.7058527474649811,
      -0.1309695855006035,
      0.13538048117927004
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 24,
     "position": [
      -0.1096778932054942,
      -0.005880647974236569,
      0.10816603875714467
     ],
     "orientation_xyzw": [
      -0.6828550299189479,
      0.7058527474649811,
      -0.1309695855006035,
      0.13538048117927004
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 25,
     "position": [
      -0.1119394084839716,
      -0.07935622064776512,
      0.10726540382742662
     ],
     "orientation_xyzw": [
      -0.6828550299189479,
      0.7058527474649811,
      -0.1309695855006035,
      0.13538048117927004
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 26,
     "position": [
      -0.08190955567538433,
      -0.10864057111341865,
      0.10973695359073278
     ],
     "orientation_xyzw": [
      0.9850531474804474,
      -0.016619486190410898,
      0.002892185416216907,
      -0.17142264897366685
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 27,
     "position": [
      -0.004886985286560761,
      -0.11124030906537842,
      0.10973695359073278
     ],
     "orientation_xyzw": [
      0.985175646794015,
      0.005903867068579183,
      0.006810272269044662,
      -0.17131173196617994
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 28,
     "position": [
      0.06081748143039904,
      -0.11062920206001116,
      0.11075168952126271
     ],
     "orientation_xyzw": [
      0.985175646794015,
      0.005903867068579183,
      0.006810272269044662,
      -0.17131173196617994
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 29,
     "position": [
      0.06081748143039904,
      -0.11062920206001116,
      0.11075168952126271
     ],
     "orientation_xyzw": [
      -0.010834346402990518,
      0.9851337612834051,
      0.17127550281074413,
      0.0076675585786852764
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 30,
     "position": [
      0.0010234870010918978,
      -0.11174894202530279,
      0.10962606214066943
     ],
     "orientation_xyzw": [
      -0.010834346402990518,
      0.9851337612834051,
      0.17127550281074413,
      0.0076675585786852764
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 31,
     "position": [
      -0.05577000157533424,
      -0.11281249262991315,
      0.10855691955551203
     ],
     "orientation_xyzw": [
      -0.010834346402990518,
      0.9851337612834051,
      0.17127550281074413,
      0.0076675585786852764
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "box_of_yogurt/znhjgm": {
   "category": "box_of_yogurt",
   "model": "znhjgm",
   "bbox_size": [
    0.06454658508300781,
    0.06407725811004639,
    0.05398017168045044
   ],
   "upright_orientation_xyzw": [
    3.478489816188812e-07,
    -2.038318598351907e-07,
    -1.5392060959129594e-08,
    1.0000001192092896
   ],
   "mesh": "meshes/box_of_yogurt__znhjgm.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0001317233794950413,
      -0.00018857526115924336,
      0.08602651472599382
     ],
     "orientation_xyzw": [
      0.7071067688383864,
      0.7071067935345936,
      -3.900972175554629e-07,
      1.0183547066771067e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0001317233794950413,
      -0.00018857526115924336,
      0.08602651472599382
     ],
     "orientation_xyzw": [
      0.04361937115968073,
      0.9990482222893305,
      -3.564088839112162e-07,
      -1.8846487539161418e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0001317233794950413,
      -0.00018857526115924336,
      0.08602651472599382
     ],
     "orientation_xyzw": [
      -0.6755902189959913,
      0.7372773263818614,
      -1.1875434792611686e-07,
      -3.8528393072393977e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0001317233794950413,
      -0.00018857526115924336,
      0.08602651472599382
     ],
     "orientation_xyzw": [
      0.9990482209465462,
      0.04361940191449932,
      -2.1881079015117992e-07,
      3.386268460629411e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0001317233794950413,
      -0.00018857526115924336,
      0.08602651472599382
     ],
     "orientation_xyzw": [
      0.707106771059828,
      0.7071067913131519,
      -3.900972172355372e-07,
      1.0183547189323731e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "boxed_ink_cartridge/ltblou": {
   "category": "boxed_ink_cartridge",
   "model": "ltblou",
   "bbox_size": [
    0.1324092447757721,
    0.09580254554748535,
    0.05532258749008179
   ],
   "upright_orientation_xyzw": [
    -0.00021458057744894177,
    -0.0018372280756011605,
    -5.132475052960217e-06,
    0.9999983310699463
   ],
   "mesh": "meshes/boxed_ink_cartridge__ltblou.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.09373568079655271,
      0.0006419066500825806,
      0.10074660984614811
     ],
     "orientation_xyzw": [
      0.6816309095950494,
      0.6817180248227747,
      -0.18779049708007642,
      -0.1880812774381824
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.06892787415236429,
      0.002831574523154395,
      0.11648154656400626
     ],
     "orientation_xyzw": [
      0.6948722359605931,
      0.6948225525984576,
      0.13124921547350596,
      0.13094975956174468
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0047017253696566156,
      0.060884323473913884,
      0.1088821571266176
     ],
     "orientation_xyzw": [
      0.010968754829662404,
      0.9784394383588705,
      -0.20619981376960764,
      -0.0041938863651743
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.013644696820678535,
      0.0613099692860691,
      0.10894975329760836
     ],
     "orientation_xyzw": [
      0.010968754829662404,
      0.9784394383588705,
      -0.20619981376960764,
      -0.0041938863651743
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.01692940036987253,
      -0.07475981920622547,
      0.107719389283033
     ],
     "orientation_xyzw": [
      0.011724238362381428,
      0.977058562183207,
      0.2126468052878459,
      0.0006667084664985288
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "butternut_squash/xfpdui": {
   "category": "butternut_squash",
   "model": "xfpdui",
   "bbox_size": [
    0.19592773914337158,
    0.10590744018554688,
    0.10590267181396484
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/butternut_squash__xfpdui.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.03265349743096119,
      -0.002545615306555428,
      0.09500482723057822
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.00791272889292758,
      0.0003954051179899372,
      0.10257675227490722
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.03819989285781148,
      -0.0016854186060412664,
      0.14546141516383226
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.03374892523736009,
      -0.0005712904238148591,
      0.1454119678031468
     ],
     "orientation_xyzw": [
      0.9997030997404652,
      0.02436621368422501,
      -2.1562181054379124e-32,
      -6.006735432420706e-34
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "can/dhqrwr": {
   "category": "can",
   "model": "dhqrwr",
   "bbox_size": [
    0.1260625123977661,
    0.12606263160705566,
    0.1830289661884308
   ],
   "upright_orientation_xyzw": [
    -0.0020924911368638277,
    0.001953885657712817,
    -0.000611803203355521,
    0.9999958276748657
   ],
   "mesh": "meshes/can__dhqrwr.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0021170074945520974,
      -0.04903133156887306,
      0.18615828297677142
     ],
     "orientation_xyzw": [
      -0.0009121725159231028,
      0.9871618858778715,
      0.15970979649883935,
      0.0018330067225436999
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.002238298828895513,
      0.0631847609403395,
      0.182296701923058
     ],
     "orientation_xyzw": [
      -0.00014604091771369475,
      0.9736713844120698,
      -0.22794701841599008,
      0.0020422155601329704
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.002238298828895508,
      0.0631847609403395,
      0.182296701923058
     ],
     "orientation_xyzw": [
      0.030071588132415204,
      0.9843876848427099,
      -0.1734041343115711,
      0.0027553077611883695
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.05067160144726341,
      -0.006616491796464701,
      0.1813368593969275
     ],
     "orientation_xyzw": [
      0.6882633033519583,
      0.7015926092201882,
      -0.12427783631226451,
      -0.13644213186622572
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "can_of_soda/bfrzvk": {
   "category": "can_of_soda",
   "model": "bfrzvk",
   "bbox_size": [
    0.06556761264801025,
    0.07000064849853516,
    0.12519505620002747
   ],
   "upright_orientation_xyzw": [
    0.00010958097118418664,
    -0.0002147587510989979,
    -9.330278771813028e-10,
    1.0
   ],
   "mesh": "meshes/can_of_soda__bfrzvk.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0009252600701649675,
      -0.0014215801677050532,
      0.07003194561473153
     ],
     "orientation_xyzw": [
      0.7071067585107091,
      0.7071067627587581,
      -0.0002293428101001512,
      -7.437191960656596e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0009252600701649675,
      -0.0014215801677050532,
      0.07003194561473153
     ],
     "orientation_xyzw": [
      0.08715573841568533,
      0.9961946692950678,
      -0.0001278814370738291,
      -0.00020439091245010526
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0009252600701649675,
      -0.0014215801677050532,
      0.07003194561473153
     ],
     "orientation_xyzw": [
      0.8433914216841001,
      -0.5372995921274882,
      -0.00012224787709241532,
      0.00020780944056197982
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0009252600701649675,
      -0.0014215801677050532,
      0.07003194561473153
     ],
     "orientation_xyzw": [
      0.9990481925403306,
      0.043619386201451026,
      -0.00021933419672668113,
      0.00010010902649869217
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0009252600701649675,
      -0.0014215801677050532,
      0.07003194561473153
     ],
     "orientation_xyzw": [
      0.7071067614392574,
      0.7071067598302099,
      -0.0002293428104856549,
      -7.437191873420689e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "can_of_tomato_paste/sqqdzb": {
   "category": "can_of_tomato_paste",
   "model": "sqqdzb",
   "bbox_size": [
    0.08045721054077148,
    0.08041226863861084,
    0.12345364689826965
   ],
   "upright_orientation_xyzw": [
    -0.000645685475319624,
    0.0012824045261368155,
    4.460021500563016e-06,
    0.9999991059303284
   ],
   "mesh": "meshes/can_of_tomato_paste__sqqdzb.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.05443445767236411,
      -0.0016846921106392016,
      0.13872318270301004
     ],
     "orientation_xyzw": [
      0.6879604456801635,
      0.6881659392743537,
      -0.16255462455837072,
      -0.16344436128812898
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.05890920835591763,
      -0.0016839206192650012,
      0.13876368510701972
     ],
     "orientation_xyzw": [
      0.6856390784613319,
      0.6854102144262064,
      0.17380795120732553,
      0.17292393745236462
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.007525814885312018,
      0.05943544505855867,
      0.13593071755086225
     ],
     "orientation_xyzw": [
      0.9664746365974539,
      0.08115005369878428,
      0.017215154014438124,
      0.24299194239884403
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.011265081807177947,
      -0.05266991697610692,
      0.1374947110615015
     ],
     "orientation_xyzw": [
      0.9702690472495019,
      0.08000656557409987,
      -0.021923553728664915,
      -0.22736816665155113
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "candle_holder/svqdrl": {
   "category": "candle_holder",
   "model": "svqdrl",
   "bbox_size": [
    0.13567781448364258,
    0.13564449548721313,
    0.2696171998977661
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0000001192092896
   ],
   "mesh": "meshes/candle_holder__svqdrl.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.05942207569404835,
      -0.002244084187617124,
      0.2328635462397603
     ],
     "orientation_xyzw": [
      0.6945416397848719,
      0.6945416369083633,
      -0.13270988105583847,
      -0.13270988160546873
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0711404478486499,
      -0.00224408364688031,
      0.23318691741054254
     ],
     "orientation_xyzw": [
      0.6905186794735284,
      0.6905186766136813,
      0.15226278329550505,
      0.15226278392611547
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0028586920429076756,
      0.0681237874933897,
      0.23236870301668178
     ],
     "orientation_xyzw": [
      -7.652280945455623e-10,
      0.9743186370523494,
      -0.22517369627123857,
      1.7685101360753609e-10
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0028586922587844656,
      -0.06930764043063606,
      0.23315430947394275
     ],
     "orientation_xyzw": [
      -7.671402329054845e-10,
      0.9767532471430849,
      0.21436672828459158,
      -1.6836324050565255e-10
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "chess_set/nzgefv": {
   "category": "chess_set",
   "model": "nzgefv",
   "bbox_size": [
    0.2774837017059326,
    0.2774837017059326,
    0.06479716300964355
   ],
   "upright_orientation_xyzw": [
    0.001414081547409296,
    -0.007987509481608868,
    0.008627151139080524,
    0.9999299645423889
   ],
   "mesh": "meshes/chess_set__nzgefv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.016527982717853027,
      -0.09034768813686817,
      0.10603141877534242
     ],
     "orientation_xyzw": [
      0.008627149656401148,
      0.9999298837244048,
      -0.0014140814268350412,
      -0.007987508837085735
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.016527982717853027,
      -0.09034768813686817,
      0.10603141877534242
     ],
     "orientation_xyzw": [
      0.9999298837108533,
      -0.008627151227087387,
      -0.0079875088348645,
      0.00141408143938188
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.08088626734392287,
      0.10716626605638695,
      0.11199018071339761
     ],
     "orientation_xyzw": [
      0.9999298837108533,
      -0.008627151227087387,
      -0.0079875088348645,
      0.00141408143938188
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.05506393410992514,
      0.1147377894022662,
      0.11204742217947676
     ],
     "orientation_xyzw": [
      0.9999298837108533,
      -0.008627151227087387,
      -0.0079875088348645,
      0.00141408143938188
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "chocolate_cake/wpeesw": {
   "category": "chocolate_cake",
   "model": "wpeesw",
   "bbox_size": [
    0.0642855167388916,
    0.0642845630645752,
    0.056871771812438965
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0000001192092896
   ],
   "mesh": "meshes/chocolate_cake__wpeesw.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0003832242500160543,
      0.0007870009442641272,
      0.09846479408893556
     ],
     "orientation_xyzw": [
      1.0,
      -7.853981905351228e-10,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0003832242500160543,
      0.0007870009442641272,
      0.09846479408893556
     ],
     "orientation_xyzw": [
      0.8191520441888838,
      -0.5735764364940152,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0003832242500160543,
      0.0007870009442641272,
      0.09846479408893556
     ],
     "orientation_xyzw": [
      0.1305261913115928,
      0.9914448614934114,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0003832242500160543,
      0.0007870009442641272,
      0.09846479408893556
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "clamp/feswhy": {
   "category": "clamp",
   "model": "feswhy",
   "bbox_size": [
    0.2577342987060547,
    0.1096944808959961,
    0.03046351671218872
   ],
   "upright_orientation_xyzw": [
    -0.008949263021349907,
    0.017699670046567917,
    -6.448186468333006e-06,
    0.999803364276886
   ],
   "mesh": "meshes/clamp__feswhy.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.027672535557078267,
      -0.002220372253420411,
      0.10222578078020343
     ],
     "orientation_xyzw": [
      0.7069631300320424,
      0.706972252072156,
      0.01884363999999507,
      0.006187471767383422
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.11164330165295386,
      0.03898583519977099,
      0.1049223954493767
     ],
     "orientation_xyzw": [
      0.7069631300320424,
      0.706972252072156,
      0.01884363999999507,
      0.006187471767383422
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.08188408339118022,
      0.039071163390559355,
      0.10403357674783063
     ],
     "orientation_xyzw": [
      0.9994574873617575,
      0.008884731065631611,
      0.017622270317755748,
      -0.026367557703771867
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "cruet/njqmqv": {
   "category": "cruet",
   "model": "njqmqv",
   "bbox_size": [
    0.09516596794128418,
    0.09516644477844238,
    0.1916598677635193
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/cruet__njqmqv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.004270033956858075,
      0.0026923821526696774,
      0.10116361374623414
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.004270033956858075,
      0.0026923821526696774,
      0.10116361374623414
     ],
     "orientation_xyzw": [
      0.1736481767215827,
      0.9848077531788985,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.004270033956858075,
      0.0026923821526696774,
      0.10116361374623414
     ],
     "orientation_xyzw": [
      0.843391445695665,
      -0.5372996085308233,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.004270033956858075,
      0.0026923821526696774,
      0.10116361374623414
     ],
     "orientation_xyzw": [
      0.9537169510762461,
      0.30070579846392914,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "electric_kettle/hkdsla": {
   "category": "electric_kettle",
   "model": "hkdsla",
   "bbox_size": [
    0.2277235984802246,
    0.1672511100769043,
    0.26453453302383423
   ],
   "upright_orientation_xyzw": [
    -1.700432039797306e-05,
    -0.003609750885516405,
    0.0018000805284827948,
    0.9999919533729553
   ],
   "mesh": "meshes/electric_kettle__hkdsla.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.06035098612624077,
      -0.0016006043885466092,
      0.21103883585182798
     ],
     "orientation_xyzw": [
      0.0018000795831618062,
      0.9999918645295108,
      1.700432172222492e-05,
      -0.0036097505647926637
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.06964635429739678,
      -0.0029782596009658062,
      0.16453027161929917
     ],
     "orientation_xyzw": [
      0.9999918645266831,
      -0.0018000811539454096,
      -0.003609750564819374,
      -1.7004316052119682e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.06964635429739678,
      -0.0029782596009658062,
      0.16453027161929917
     ],
     "orientation_xyzw": [
      0.0018000795831618062,
      0.9999918645295108,
      1.700432172222492e-05,
      -0.0036097505647926637
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "glaze_bottle/zdxagk": {
   "category": "glaze_bottle",
   "model": "zdxagk",
   "bbox_size": [
    0.07536399364471436,
    0.08495402336120605,
    0.25806182622909546
   ],
   "upright_orientation_xyzw": [
    -0.0006170165142975748,
    -9.914961992762983e-05,
    2.9863015242881374e-06,
    0.9999998807907104
   ],
   "mesh": "meshes/glaze_bottle__zdxagk.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0003135632492424682,
      0.0004561539210622552,
      0.18064802956381767
     ],
     "orientation_xyzw": [
      0.6427897706696025,
      0.7660423749261873,
      0.00040892989449151405,
      -0.0004725635491930975
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0003135632492424682,
      0.0004561539210622552,
      0.18064802956381767
     ],
     "orientation_xyzw": [
      -0.1305232066274435,
      0.991445057475059,
      0.000624679427327599,
      -1.7764563276146908e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0003135632492424682,
      0.0004561539210622552,
      0.18064802956381767
     ],
     "orientation_xyzw": [
      -0.5735738782543731,
      0.8191535971014658,
      0.0005623001818915157,
      0.0002726874989424671
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0003135632492424682,
      0.0004561539210622552,
      0.18064802956381767
     ],
     "orientation_xyzw": [
      0.9961942432262065,
      -0.08715870136136136,
      -0.0001525488471003229,
      -0.0006060270752062914
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0003135632492424682,
      0.0004561539210622552,
      0.18064802956381767
     ],
     "orientation_xyzw": [
      0.8191535980024338,
      0.5735738769676496,
      0.00027268749805920756,
      -0.0005623001823198521
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "gravy_boat/arryyl": {
   "category": "gravy_boat",
   "model": "arryyl",
   "bbox_size": [
    0.24121475219726562,
    0.10804867744445801,
    0.13929086923599243
   ],
   "upright_orientation_xyzw": [
    -0.00011405861005187035,
    0.0002426067367196083,
    6.566010415554047e-05,
    1.0
   ],
   "mesh": "meshes/gravy_boat__arryyl.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.09576962699902787,
      0.00042524873983295074,
      0.0606303292447535
     ],
     "orientation_xyzw": [
      6.56593162236149e-05,
      0.9999999619107315,
      0.00011405860545987527,
      0.00024260672756846403
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.09576962699902787,
      0.00042524873983295074,
      0.0606303292447535
     ],
     "orientation_xyzw": [
      0.9999999619106283,
      -6.566088701993613e-05,
      0.0002426067273893012,
      -0.00011405860584096104
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.003868981515271801,
      -0.047452638412881915,
      0.11061254106063947
     ],
     "orientation_xyzw": [
      0.9999999619106283,
      -6.566088701993613e-05,
      0.0002426067273893012,
      -0.00011405860584096104
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.003868981515271801,
      -0.047452638412881915,
      0.11061254106063947
     ],
     "orientation_xyzw": [
      6.56593162236149e-05,
      0.9999999619107315,
      0.00011405860545987527,
      0.00024260672756846403
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.008676349603107706,
      0.04782504830751617,
      0.10885988621566221
     ],
     "orientation_xyzw": [
      6.56593162236149e-05,
      0.9999999619107315,
      0.00011405860545987527,
      0.00024260672756846403
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.008676349603107706,
      0.04782504830751617,
      0.10885988621566221
     ],
     "orientation_xyzw": [
      0.9999999619106283,
      -6.566088701993613e-05,
      0.0002426067273893012,
      -0.00011405860584096104
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "griddle_pan/ryvqep": {
   "category": "griddle_pan",
   "model": "ryvqep",
   "bbox_size": [
    0.32766008377075195,
    0.15836715698242188,
    0.031693726778030396
   ],
   "upright_orientation_xyzw": [
    -4.6364302761503495e-06,
    -1.7402901448804187e-06,
    -1.1601349569900776e-07,
    1.0
   ],
   "mesh": "meshes/griddle_pan__ryvqep.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.16323537337556182,
      0.0003816955201699016,
      0.10227101887593965
     ],
     "orientation_xyzw": [
      0.9999999999877308,
      1.1522809744905618e-07,
      -1.7402901485005104e-06,
      -4.636430272408428e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.16323537337556182,
      0.0003816955201699016,
      0.10227101887593965
     ],
     "orientation_xyzw": [
      -1.1679889383010715e-07,
      0.9999999999877307,
      4.6364302751420695e-06,
      -1.7402901412176227e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.07286214184954846,
      0.0032889413760686555,
      0.11497905321517222
     ],
     "orientation_xyzw": [
      -0.6914427681620517,
      0.6914439794962197,
      -0.14800373884805879,
      0.14801018499355426
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "head_cabbage/tqohvs": {
   "category": "head_cabbage",
   "model": "tqohvs",
   "bbox_size": [
    0.14263486862182617,
    0.14824867248535156,
    0.13972190022468567
   ],
   "upright_orientation_xyzw": [
    -0.018340006470680237,
    0.006239705719053745,
    -0.00018352200277149677,
    0.9998124241828918
   ],
   "mesh": "meshes/head_cabbage__tqohvs.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.007637997548060388,
      -0.00412480079810936,
      0.16445973287928844
     ],
     "orientation_xyzw": [
      0.7071417842618346,
      -0.7068228579309619,
      -0.010174637402422916,
      -0.015761383537796405
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.007637997548060388,
      -0.004124800798109361,
      0.16445973287928844
     ],
     "orientation_xyzw": [
      0.9883040173006635,
      -0.1513381145979867,
      0.0011247259928661147,
      -0.01872643716079688
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.007637997548060387,
      -0.004124800798109361,
      0.16445973287928844
     ],
     "orientation_xyzw": [
      0.8867143399051641,
      0.4619369382818967,
      0.011973459217641149,
      -0.014442324316389909
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.00767260570285449,
      -0.003963958988033536,
      0.16007714986138993
     ],
     "orientation_xyzw": [
      0.4985102715955094,
      0.8666807743664764,
      0.017865705297866893,
      -0.005723725317140374
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "holly_decoration/shmkir": {
   "category": "holly_decoration",
   "model": "shmkir",
   "bbox_size": [
    0.12247467041015625,
    0.11087512969970703,
    0.06813684105873108
   ],
   "upright_orientation_xyzw": [
    -0.00015992484986782074,
    0.00011515617370605469,
    -1.4656223356723785e-05,
    1.0000001192092896
   ],
   "mesh": "meshes/holly_decoration__shmkir.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.002084477717460081,
      -7.457200767097673e-05,
      0.1094615267489721
     ],
     "orientation_xyzw": [
      0.8441711541896182,
      -0.5360737109738517,
      1.1477127544773282e-05,
      -0.00019673628723522563
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.006915513114927734,
      0.008326098012501457,
      0.10945674169608761
     ],
     "orientation_xyzw": [
      0.9661462757065814,
      -0.25799483541615964,
      6.999521469459034e-05,
      -0.00018422150007976374
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.03543712059629626,
      -0.02277222709684378,
      0.1045824937075441
     ],
     "orientation_xyzw": [
      0.41947923552238536,
      0.8830654188736936,
      0.1844477334353764,
      0.10105281087399715
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "jar_of_cumin/tsktnz": {
   "category": "jar_of_cumin",
   "model": "tsktnz",
   "bbox_size": [
    0.06000041961669922,
    0.06000000238418579,
    0.07185804843902588
   ],
   "upright_orientation_xyzw": [
    0.0008270084508694708,
    -0.004730845335870981,
    -0.0009638352203182876,
    0.999988317489624
   ],
   "mesh": "meshes/jar_of_cumin__tsktnz.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.000851548301028406,
      0.00024301239233060116,
      0.07940327656890174
     ],
     "orientation_xyzw": [
      0.7077798322508839,
      -0.7064167638390576,
      -0.002760428665966279,
      0.0039299948655927616
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.000851548301028406,
      0.00024301239233060116,
      0.07940327656890174
     ],
     "orientation_xyzw": [
      0.7064167649508356,
      0.7077798311412474,
      -0.0039299948699288365,
      -0.0027604286597930584
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.000851548301028406,
      0.00024301239233060116,
      0.07940327656890174
     ],
     "orientation_xyzw": [
      0.8428634602720719,
      0.5381060513617422,
      -0.004434304412540246,
      -0.0018443889070366855
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.000851548301028406,
      0.00024301239233060116,
      0.07940327656890174
     ],
     "orientation_xyzw": [
      0.9990782778834192,
      -0.042655947245815985,
      -0.004690267541706309,
      0.0010325775761124496
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.000851548301028406,
      0.00024301239233060116,
      0.07940327656890174
     ],
     "orientation_xyzw": [
      0.7939305678938945,
      -0.6079894641666207,
      -0.0032497800808485864,
      0.003536064972479136
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.000851548301028406,
      0.00024301239233060116,
      0.07940327656890174
     ],
     "orientation_xyzw": [
      0.04265594567646734,
      0.999078277950423,
      -0.0010325775687449374,
      -0.004690267543328277
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.000851548301028406,
      0.00024301239233060116,
      0.07940327656890174
     ],
     "orientation_xyzw": [
      0.6420415566606039,
      0.7666547949988735,
      -0.003674452833359339,
      -0.003092446028452461
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "lemonade_bottle/yprkek": {
   "category": "lemonade_bottle",
   "model": "yprkek",
   "bbox_size": [
    0.08738946914672852,
    0.08642745018005371,
    0.2549801468849182
   ],
   "upright_orientation_xyzw": [
    1.016072928905487e-06,
    -3.9003498386591673e-07,
    -7.394771819235757e-05,
    1.0000001192092896
   ],
   "mesh": "meshes/lemonade_bottle__yprkek.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.005740442662336095,
      0.000271040398650603,
      0.1914722645801014
     ],
     "orientation_xyzw": [
      0.6427309595604774,
      0.7660919746487906,
      -1.0290665509564648e-06,
      3.543349124981198e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.005740442662336095,
      0.000271040398650603,
      0.1914722645801014
     ],
     "orientation_xyzw": [
      -0.38275175045633447,
      0.9238512312712623,
      -7.894689602818779e-07,
      -7.491795232021921e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.005740442662336095,
      0.000271040398650603,
      0.1914722645801014
     ],
     "orientation_xyzw": [
      0.8191944566122443,
      -0.5735158605083082,
      2.6329750324198956e-07,
      1.0560329642650384e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.005740442662336095,
      0.000271040398650603,
      0.1914722645801014
     ],
     "orientation_xyzw": [
      0.9999999972653341,
      7.394692373971486e-05,
      -3.9003493550546936e-07,
      1.0160728047998015e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.005740442662336095,
      0.000271040398650603,
      0.1914722645801014
     ],
     "orientation_xyzw": [
      0.8659884282160929,
      0.5000640380937587,
      -8.45816564567997e-07,
      6.849273945941643e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "mouse/pljjtu": {
   "category": "mouse",
   "model": "pljjtu",
   "bbox_size": [
    0.11933797597885132,
    0.06628561019897461,
    0.039049357175827026
   ],
   "upright_orientation_xyzw": [
    -0.0002815689367707819,
    0.00028261455008760095,
    -0.0020817224867641926,
    0.9999977350234985
   ],
   "mesh": "meshes/mouse__pljjtu.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.004406172007526797,
      -0.00019377359307841478,
      0.10377376514617283
     ],
     "orientation_xyzw": [
      -0.0020817233109090855,
      0.9999977536354773,
      0.0002815689417897806,
      0.0002826145555692346
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0248471504863728,
      -0.00027887582268240873,
      0.10376218727093092
     ],
     "orientation_xyzw": [
      -0.002081723310909085,
      0.9999977536354773,
      0.0002815689417898442,
      0.0002826145555692347
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.030376784012772523,
      -4.896119514900558e-05,
      0.10379346639118732
     ],
     "orientation_xyzw": [
      -0.002081723310909085,
      0.9999977536354773,
      0.0002815689417898442,
      0.0002826145555692347
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.024021322072761184,
      -7.54210736418378e-05,
      0.10378986662483795
     ],
     "orientation_xyzw": [
      0.9999977536387473,
      0.0020817217401162325,
      0.0002826145551269472,
      -0.0002815689422337742
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0043633986816389945,
      -0.00019359551438919914,
      0.10377378937320432
     ],
     "orientation_xyzw": [
      0.9999977536387473,
      0.0020817217401162325,
      0.0002826145551269472,
      -0.0002815689422337742
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.04089258902649003,
      -0.00034567792088204766,
      0.10375309905216051
     ],
     "orientation_xyzw": [
      0.9999977536387473,
      0.0020817217401162325,
      0.0002826145551269472,
      -0.0002815689422337742
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "muffin/pxrntz": {
   "category": "muffin",
   "model": "pxrntz",
   "bbox_size": [
    0.07680892944335938,
    0.07997095584869385,
    0.06089526414871216
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0000001192092896
   ],
   "mesh": "meshes/muffin__pxrntz.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0011741675461908322,
      0.000653012747234838,
      0.10783977977382081
     ],
     "orientation_xyzw": [
      1.0,
      -7.853981905351228e-10,
      0.0,
      1.9361562972676115e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0011741675461908322,
      0.000653012747234838,
      0.10783977977382081
     ],
     "orientation_xyzw": [
      0.8978971542295789,
      -0.4402052935011386,
      5.320278679491194e-33,
      1.0851898322324669e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0007414490109611094,
      0.0005767441621889091,
      0.10783977977382081
     ],
     "orientation_xyzw": [
      -0.6928987659677233,
      0.7210348813479182,
      1.708127336711938e-32,
      -1.7774882162376364e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0007414490109611094,
      0.0005767441621889091,
      0.10783977977382081
     ],
     "orientation_xyzw": [
      -0.45766629532343944,
      0.8891240420351474,
      1.1282345250562352e-32,
      -2.1918599895425362e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0007414490109611094,
      0.0005767441621889091,
      0.10783977977382081
     ],
     "orientation_xyzw": [
      -0.19140732018944523,
      0.9815106916268896,
      4.718554745955429e-33,
      -2.4196106646277803e-32
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "mug/waqrdy": {
   "category": "mug",
   "model": "waqrdy",
   "bbox_size": [
    0.08161258697509766,
    0.11832952499389648,
    0.13504430651664734
   ],
   "upright_orientation_xyzw": [
    1.5893436284386553e-05,
    2.0577150280587375e-05,
    1.2527161743491888e-06,
    1.0
   ],
   "mesh": "meshes/mug__waqrdy.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0020874322306011182,
      0.05264675619815831,
      0.12563017059864132
     ],
     "orientation_xyzw": [
      -0.7071058947893288,
      0.7071076671046368,
      -2.5788599050656778e-05,
      3.3118859267298938e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0020874322306011182,
      0.05264675619815831,
      0.12563017059864132
     ],
     "orientation_xyzw": [
      0.7071076659939175,
      0.707105895900051,
      3.311885886221252e-06,
      2.5788599055859075e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0020874322306011182,
      0.05264675619815831,
      0.12563017059864132
     ],
     "orientation_xyzw": [
      0.7660452490434743,
      0.6427866486960514,
      5.546907744527026e-06,
      2.5401815773904316e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.04887555237699307,
      -0.004372839752077379,
      0.12889016507337037
     ],
     "orientation_xyzw": [
      -0.7070666834179196,
      0.7070686910321344,
      0.007424197284502478,
      -0.007446654092156746
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.05059957016671051,
      -0.004372524048680172,
      0.13098252962063447
     ],
     "orientation_xyzw": [
      -0.7070562796618078,
      0.7070577842826548,
      -0.008398942107082018,
      0.008376445999841801
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "oil_bottle/gcixra": {
   "category": "oil_bottle",
   "model": "gcixra",
   "bbox_size": [
    0.07999268174171448,
    0.06815981864929199,
    0.163221538066864
   ],
   "upright_orientation_xyzw": [
    -3.63087747246027e-06,
    -2.2319058189168572e-05,
    -7.501104846596718e-06,
    1.0000001192092896
   ],
   "mesh": "meshes/oil_bottle__gcixra.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0030083989911373764,
      -0.00414433966112922,
      0.1470637836697413
     ],
     "orientation_xyzw": [
      0.7071120854208892,
      -0.7071014765508538,
      -1.834937328506916e-05,
      1.3214537717996422e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0030083989911373764,
      -0.00414433966112922,
      0.1470637836697413
     ],
     "orientation_xyzw": [
      0.7372722699602583,
      0.6755957366919394,
      -1.4002348870269358e-05,
      -1.7755498685903026e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0030083989911373764,
      -0.00414433966112922,
      0.1470637836697413
     ],
     "orientation_xyzw": [
      0.939695185898645,
      -0.3420130949065947,
      -2.2214884860414644e-05,
      4.221658218138787e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0030083989911373764,
      -0.00414433966112922,
      0.1470637836697413
     ],
     "orientation_xyzw": [
      -0.5735825808758716,
      0.8191477414999389,
      1.5775924680697172e-05,
      -1.620011444222628e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0030083989911373764,
      -0.00414433966112922,
      0.1470637836697413
     ],
     "orientation_xyzw": [
      0.3826765010516518,
      0.9238824032481309,
      -5.1866397674278045e-06,
      -2.200959507567541e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0030083989911373764,
      -0.00414433966112922,
      0.1470637836697413
     ],
     "orientation_xyzw": [
      0.642781862188664,
      0.7660492654718427,
      -1.156499914168208e-05,
      -1.943127124830363e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "pack_of_cigarettes/qabdgg": {
   "category": "pack_of_cigarettes",
   "model": "qabdgg",
   "bbox_size": [
    0.12521648406982422,
    0.05544471740722656,
    0.07997632026672363
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/pack_of_cigarettes__qabdgg.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.03862040029617353,
      -2.9753950702676302e-08,
      0.07498816009836182
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0019684074506687178,
      -2.9817707454996994e-08,
      0.07498816009836182
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.043039863487318926,
      -2.988222234950465e-08,
      0.07498816009836182
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      1.936155749885399e-41,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.04375617556390888,
      -2.985876132991887e-08,
      0.07498816009836182
     ],
     "orientation_xyzw": [
      1.0,
      -7.853981905351228e-10,
      0.0,
      1.9361562972676115e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0022267057766465724,
      -2.9786531586317947e-08,
      0.07498816009836182
     ],
     "orientation_xyzw": [
      1.0,
      -7.853981905351228e-10,
      0.0,
      1.9361562972676115e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.03863214279158776,
      -2.9729346057603596e-08,
      0.07498816009836182
     ],
     "orientation_xyzw": [
      1.0,
      -7.853981905351228e-10,
      0.0,
      1.9361562972676115e-41
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "pencil_case/acikzo": {
   "category": "pencil_case",
   "model": "acikzo",
   "bbox_size": [
    0.06289386749267578,
    0.19338148832321167,
    0.057547688484191895
   ],
   "upright_orientation_xyzw": [
    0.000998806208372116,
    -0.006860532332211733,
    7.3026749305427074e-06,
    0.9999760389328003
   ],
   "mesh": "meshes/pencil_case__acikzo.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.001062044334864355,
      0.06488846522973758,
      0.10343106100211073
     ],
     "orientation_xyzw": [
      -0.7070846241756675,
      0.7070949510097676,
      0.0041448659980237645,
      -0.005557391178231766
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0010619910213671058,
      0.005606263319968388,
      0.10354948718585445
     ],
     "orientation_xyzw": [
      -0.7070846241756675,
      0.7070949510097676,
      0.0041448659980237645,
      -0.005557391178231766
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0010619342570184081,
      -0.057513129599120555,
      0.10367557880497154
     ],
     "orientation_xyzw": [
      -0.7070846241756675,
      0.7070949510097676,
      0.0041448659980237645,
      -0.005557391178231766
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0010620393452229037,
      0.0595669831695453,
      0.10344169156166906
     ],
     "orientation_xyzw": [
      0.7070949498990815,
      0.7070846252863697,
      -0.005557391171721024,
      -0.004144866006753295
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0010619956786847343,
      0.010841566930597422,
      0.10353902878576163
     ],
     "orientation_xyzw": [
      0.7070949498990815,
      0.7070846252863697,
      -0.005557391171721024,
      -0.004144866006753295
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0010619265947823008,
      -0.06624587903196356,
      0.10369302394027367
     ],
     "orientation_xyzw": [
      0.7070949498990815,
      0.7070846252863697,
      -0.005557391171721024,
      -0.004144866006753295
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "pewter_teapot/dwfdpi": {
   "category": "pewter_teapot",
   "model": "dwfdpi",
   "bbox_size": [
    0.2973442077636719,
    0.22002434730529785,
    0.23660549521446228
   ],
   "upright_orientation_xyzw": [
    0.0049210041761398315,
    -0.010416197590529919,
    0.13562420010566711,
    0.9906933903694153
   ],
   "mesh": "meshes/pewter_teapot__dwfdpi.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.13068210951130274,
      0.004740577154644507,
      0.1513055915227844
     ],
     "orientation_xyzw": [
      0.00515247963633153,
      0.9999203660808906,
      -0.0035193176328990883,
      -0.010969405346404046
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.13035250956096925,
      0.004636701622603182,
      0.1363095729412881
     ],
     "orientation_xyzw": [
      0.00515247963633153,
      0.9999203660808906,
      -0.0035193176328990883,
      -0.010969405346404046
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.007945485532638828,
      -0.08678019546498801,
      0.15299280113933295
     ],
     "orientation_xyzw": [
      0.00515247963633153,
      0.9999203660808906,
      -0.0035193176328990883,
      -0.010969405346404046
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.006406981110104695,
      0.09041653240596424,
      0.15324544407287968
     ],
     "orientation_xyzw": [
      0.00515247963633153,
      0.9999203660808906,
      -0.0035193176328990883,
      -0.010969405346404046
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.05845216756877631,
      0.06714329841805827,
      0.1493437039553062
     ],
     "orientation_xyzw": [
      0.9218341913144948,
      -0.38741322934729067,
      -0.008787624523245849,
      0.0074492352287600806
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.06691954290402409,
      -0.06951934355615637,
      0.15317547316960936
     ],
     "orientation_xyzw": [
      0.9218341913144948,
      -0.38741322934729067,
      -0.008787624523245849,
      0.0074492352287600806
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "quartz/vfuilh": {
   "category": "quartz",
   "model": "vfuilh",
   "bbox_size": [
    0.03376960754394531,
    0.1176689863204956,
    0.03174656629562378
   ],
   "upright_orientation_xyzw": [
    0.0008289504330605268,
    -0.004634554963558912,
    0.0012698560021817684,
    0.9999881982803345
   ],
   "mesh": "meshes/quartz__vfuilh.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0024184648851182772,
      -0.029110763178412526,
      0.0966009912106332
     ],
     "orientation_xyzw": [
      -0.7062004507077417,
      0.7079962974236107,
      0.0026909685358385764,
      -0.003863281374664504
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0023087970967999904,
      0.014201802313951096,
      0.09652867399099312
     ],
     "orientation_xyzw": [
      -0.7062004507077417,
      0.7079962974236107,
      0.0026909685358385764,
      -0.003863281374664504
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0022512186720873503,
      0.03694201919582587,
      0.09649070558066657
     ],
     "orientation_xyzw": [
      -0.7062004507077417,
      0.7079962974236107,
      0.0026909685358385764,
      -0.003863281374664504
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0024123432132678447,
      -0.02669308398625913,
      0.09659695450973023
     ],
     "orientation_xyzw": [
      0.7079962963143134,
      0.7062004518198597,
      -0.0038632813704375392,
      -0.0026909685419070056
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.002344252806092944,
      0.00019880400064985643,
      0.09655205422469623
     ],
     "orientation_xyzw": [
      0.7079962963143134,
      0.7062004518198597,
      -0.0038632813704375392,
      -0.0026909685419070056
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.002290025112289025,
      0.021615698509997523,
      0.09651629531225092
     ],
     "orientation_xyzw": [
      0.7079962963143134,
      0.7062004518198597,
      -0.0038632813704375392,
      -0.0026909685419070056
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "skimmer/wvmcce": {
   "category": "skimmer",
   "model": "wvmcce",
   "bbox_size": [
    0.39962005615234375,
    0.11097419261932373,
    0.03491124510765076
   ],
   "upright_orientation_xyzw": [
    -0.010454128496348858,
    -0.003554861294105649,
    -0.0002322875807294622,
    0.9999390840530396
   ],
   "mesh": "meshes/skimmer__wvmcce.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.1428517998300573,
      -0.020228044317332446,
      0.11258635240967474
     ],
     "orientation_xyzw": [
      0.7006432835794318,
      0.6987898023842414,
      0.10903175949653947,
      0.09436035544609597
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.1428517998300573,
      -0.020228044317332446,
      0.11258635240967474
     ],
     "orientation_xyzw": [
      -0.6795124180012913,
      0.7193546222296856,
      -0.09136577403013975,
      0.1115531110937666
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.12832983499932013,
      -0.033603063609071775,
      0.11517091150915243
     ],
     "orientation_xyzw": [
      0.7981005620682452,
      -0.5855421872280595,
      0.06750568911081352,
      -0.12497528451740156
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.14420716863928434,
      -0.00015661458876268698,
      0.10033792491674344
     ],
     "orientation_xyzw": [
      -0.00023228834847051935,
      0.9999390082495884,
      0.010454127706635454,
      -0.0035548610164084743
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.11766839618796265,
      -0.0001709160142866754,
      0.10052647259752828
     ],
     "orientation_xyzw": [
      -0.00023228834847051935,
      0.9999390082495884,
      0.010454127706635454,
      -0.0035548610164084743
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "soap_dispenser/zwudcz": {
   "category": "soap_dispenser",
   "model": "zwudcz",
   "bbox_size": [
    0.06892246007919312,
    0.06891441345214844,
    0.13892415165901184
   ],
   "upright_orientation_xyzw": [
    -0.01266133040189743,
    -0.01638883724808693,
    3.866288170684129e-05,
    0.9997856616973877
   ],
   "mesh": "meshes/soap_dispenser__zwudcz.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.00265278680566388,
      -0.0017840607103983897,
      0.09769337628787522
     ],
     "orientation_xyzw": [
      3.866209117826772e-05,
      0.9997855246746258,
      0.01266132867950645,
      -0.016388834992017067
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.00265278680566388,
      -0.0017840607103983897,
      0.09769337628787522
     ],
     "orientation_xyzw": [
      0.7069824619012055,
      0.7069277865579938,
      -0.002635744974358636,
      -0.020541567728783468
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.00265278680566388,
      -0.0017840607103983897,
      0.09769337628787522
     ],
     "orientation_xyzw": [
      0.984589822204812,
      -0.17364901051941142,
      -0.018338468428450872,
      -0.00962308329096062
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.00265278680566388,
      -0.0017840607103983897,
      0.09769337628787522
     ],
     "orientation_xyzw": [
      -0.3006044325471371,
      0.953524028001753,
      0.017003541506246805,
      -0.01182297477673841
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.00265278680566388,
      -0.0017840607103983897,
      0.09769337628787522
     ],
     "orientation_xyzw": [
      0.3419831185979891,
      0.9394778568107222,
      0.006292445443454129,
      -0.01973089675273802
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.00265278680566388,
      -0.0017840607103983897,
      0.09769337628787522
     ],
     "orientation_xyzw": [
      0.9061297465329021,
      0.42249257897848647,
      -0.009502420092796874,
      -0.01840128171367594
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "soupspoon/wrctgd": {
   "category": "soupspoon",
   "model": "wrctgd",
   "bbox_size": [
    0.20755350589752197,
    0.06745970249176025,
    0.047298043966293335
   ],
   "upright_orientation_xyzw": [
    -0.00400321651250124,
    -0.05595661327242851,
    0.0006237527122721076,
    0.9984251260757446
   ],
   "mesh": "meshes/soupspoon__wrctgd.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0984456435337631,
      -0.0010551841889102668,
      0.09590464969030153
     ],
     "orientation_xyzw": [
      -0.7045093643731393,
      0.7052598520794732,
      0.058781945538038234,
      -0.053101595401248675
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.043061839309591766,
      0.021511543144649793,
      0.10224357234503706
     ],
     "orientation_xyzw": [
      -0.0644985986942081,
      0.9901192468470583,
      -0.11485450429354824,
      -0.04808586728947302
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.032884699865760994,
      0.012534130738355836,
      0.11071012815731494
     ],
     "orientation_xyzw": [
      -0.06621382285614341,
      0.9852571585396299,
      -0.15098348148031723,
      -0.04569518059131155
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.05694238187628574,
      0.00969034436845564,
      0.11339208983282793
     ],
     "orientation_xyzw": [
      -0.06621382285614341,
      0.9852571585396299,
      -0.15098348148031723,
      -0.04569518059131155
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "stockpot/fuzmdd": {
   "category": "stockpot",
   "model": "fuzmdd",
   "bbox_size": [
    0.19205451011657715,
    0.2779397964477539,
    0.1725793182849884
   ],
   "upright_orientation_xyzw": [
    0.0,
    0.0,
    0.0,
    1.0
   ],
   "mesh": "meshes/stockpot__fuzmdd.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.09295866018044632,
      -0.008308966637086634,
      0.10867833162326383
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.08805547941781172,
      0.007970286933003147,
      0.09527910928723546
     ],
     "orientation_xyzw": [
      0.7071067815401009,
      -0.7071067808329942,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.03822040236344604,
      -0.08046462237118962,
      0.17104267091054687
     ],
     "orientation_xyzw": [
      -7.853981905351228e-10,
      1.0,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.08777023654482352,
      0.006890930986107491,
      0.1279831030921456
     ],
     "orientation_xyzw": [
      0.7071067797222733,
      0.7071067826508217,
      0.0,
      0.0
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "tiramisu/pjchip": {
   "category": "tiramisu",
   "model": "pjchip",
   "bbox_size": [
    0.09699535369873047,
    0.06884026527404785,
    0.036748141050338745
   ],
   "upright_orientation_xyzw": [
    0.0008247073274105787,
    -0.0046944934874773026,
    -6.156904419185594e-06,
    0.9999886751174927
   ],
   "mesh": "meshes/tiramisu__pjchip.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.001382802852655792,
      -0.0016691200862339894,
      0.09420793407104804
     ],
     "orientation_xyzw": [
      -6.157689596619671e-06,
      0.9999886407116664,
      -0.0008247072953484947,
      -0.0046944933266052915
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.001382802852655792,
      -0.0016691200862339894,
      0.09420793407104804
     ],
     "orientation_xyzw": [
      0.9999886407116761,
      6.156118818080476e-06,
      -0.004694493325309844,
      0.0008247073027225712
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "wine_bottle/inkqch": {
   "category": "wine_bottle",
   "model": "inkqch",
   "bbox_size": [
    0.06706738471984863,
    0.06707024574279785,
    0.21958813071250916
   ],
   "upright_orientation_xyzw": [
    -0.00031590339494869113,
    -0.00033102446468546987,
    1.6336169210262597e-05,
    0.9999998807907104
   ],
   "mesh": "meshes/wine_bottle__inkqch.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0003573938536558304,
      0.00020326526890313037,
      0.14454985845908927
     ],
     "orientation_xyzw": [
      0.7071182595948505,
      0.7070951545410225,
      -1.0692211822082137e-05,
      -0.00045744708305153525
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0003573938536558304,
      0.00020326526890313037,
      0.14454985845908927
     ],
     "orientation_xyzw": [
      0.9999998951804678,
      -1.6336954843445004e-05,
      -0.00033102446969694634,
      -0.00031590339923457484
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0003573938536558304,
      0.00020326526890313037,
      0.14454985845908927
     ],
     "orientation_xyzw": [
      -0.3826682999626152,
      0.9238856871017999,
      0.00041853426528181385,
      -0.00018493573470548623
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0003573938536558304,
      0.00020326526890313037,
      0.14454985845908927
     ],
     "orientation_xyzw": [
      0.21645553920823538,
      0.9762923692080743,
      0.00023676841958343933,
      -0.0003915518773725982
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0003573938536558304,
      0.00020326526890313037,
      0.14454985845908927
     ],
     "orientation_xyzw": [
      0.6428000554052424,
      0.7660338630888718,
      2.9217616957813215e-05,
      -0.0004566382463672317
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "wine_sauce_bottle/vqtevv": {
   "category": "wine_sauce_bottle",
   "model": "vqtevv",
   "bbox_size": [
    0.07512402161955833,
    0.08489227294921875,
    0.25806179642677307
   ],
   "upright_orientation_xyzw": [
    -9.877287084236741e-06,
    -4.055036697536707e-07,
    -1.3408339327725116e-08,
    1.000000238418579
   ],
   "mesh": "meshes/wine_sauce_bottle__vqtevv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0003688782789911132,
      0.0005715162738872249,
      0.18564912004175613
     ],
     "orientation_xyzw": [
      0.6427875982472998,
      0.7660444526538539,
      7.305786416946882e-06,
      -6.659629989062881e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0003688782789911132,
      0.0005715162738872249,
      0.18564912004175613
     ],
     "orientation_xyzw": [
      0.08715572851674219,
      0.9961946992877401,
      9.804356714406341e-06,
      -1.264822587848932e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0003688782789911132,
      0.0005715162738872249,
      0.18564912004175613
     ],
     "orientation_xyzw": [
      -0.6427876199933625,
      0.7660444344067409,
      7.827091751536998e-06,
      6.038362482915301e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0003688782789911132,
      0.0005715162738872249,
      0.18564912004175613
     ],
     "orientation_xyzw": [
      0.9537169469976806,
      0.3007058112369933,
      2.583421159684511e-06,
      -9.542071152289258e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0003688782789911132,
      0.0005715162738872249,
      0.18564912004175613
     ],
     "orientation_xyzw": [
      0.7071067724280384,
      0.7071067898759543,
      6.697560674026514e-06,
      -7.271029348285691e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bag_of_ice_cream/himfgn": {
   "category": "bag_of_ice_cream",
   "model": "himfgn",
   "bbox_size": [
    0.08769559860229492,
    0.16646242141723633,
    0.03321543335914612
   ],
   "upright_orientation_xyzw": [
    -0.007731664925813675,
    -0.058326605707407,
    0.0023025257978588343,
    0.9982649683952332
   ],
   "mesh": "meshes/bag_of_ice_cream__himfgn.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.03459727017465363,
      -0.01256057186577916,
      0.10786450004313516
     ],
     "orientation_xyzw": [
      -0.6993280011536553,
      0.7017229939320515,
      0.10165791582054753,
      -0.09050334104602706
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.03447169162817403,
      -0.03539428047103663,
      0.1075181154742281
     ],
     "orientation_xyzw": [
      -0.6993280011536553,
      0.7017229939320515,
      0.10165791582054753,
      -0.09050334104602706
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.03480476380373367,
      0.025167600634054307,
      0.10843683180898758
     ],
     "orientation_xyzw": [
      -0.6993280011536553,
      0.7017229939320515,
      0.10165791582054753,
      -0.09050334104602706
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.040420524383427026,
      0.02559957604529521,
      0.1072332033760774
     ],
     "orientation_xyzw": [
      -0.694888428207697,
      0.7004687684587859,
      -0.10996816119118907,
      0.11991905720567023
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.040658762738680056,
      -0.017718851623614227,
      0.1065760681225263
     ],
     "orientation_xyzw": [
      -0.694888428207697,
      0.7004687684587859,
      -0.10996816119118907,
      0.11991905720567023
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bag_of_rice/eddcjz": {
   "category": "bag_of_rice",
   "model": "eddcjz",
   "bbox_size": [
    0.3174631595611572,
    0.29855650663375854,
    0.08870670199394226
   ],
   "upright_orientation_xyzw": [
    0.006408934481441975,
    -0.039771635085344315,
    -0.00018984125927090645,
    0.9991883635520935
   ],
   "mesh": "meshes/bag_of_rice__eddcjz.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.008556416297377776,
      0.1467513541296476,
      0.11867841745010552
     ],
     "orientation_xyzw": [
      -0.009331314176392623,
      0.9709321359228522,
      -0.23602747483358774,
      -0.038661933884758776
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.09978864879566245,
      0.15807962882624957,
      0.10863380143237744
     ],
     "orientation_xyzw": [
      -0.010051792075263905,
      0.9663543809322908,
      -0.25412082145507314,
      -0.03848090477163533
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.17099620630822596,
      0.009913508355634326,
      0.10922538077081975
     ],
     "orientation_xyzw": [
      0.6547127251684643,
      0.713864009742444,
      -0.1851514866419638,
      -0.16573578397918065
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.17335059408854667,
      -0.07117664414168466,
      0.10186939298294333
     ],
     "orientation_xyzw": [
      0.6409405286210279,
      0.6985247980433764,
      -0.23652907628820088,
      -0.21286695694660546
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.02134028092123058,
      -0.1472654139663467,
      0.11784103015710203
     ],
     "orientation_xyzw": [
      0.007892395688880989,
      0.9796614527112392,
      0.1966764335545484,
      -0.03898113192633248
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bottle_of_chili_pepper/hjalqq": {
   "category": "bottle_of_chili_pepper",
   "model": "hjalqq",
   "bbox_size": [
    0.05984633415937424,
    0.05984354019165039,
    0.07186207175254822
   ],
   "upright_orientation_xyzw": [
    8.672766853123903e-05,
    -1.785741187632084e-05,
    -0.008232505060732365,
    0.9999661445617676
   ],
   "mesh": "meshes/bottle_of_chili_pepper__hjalqq.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.00037599928205844183,
      -0.0002560730736283186,
      0.0898046853930683
     ],
     "orientation_xyzw": [
      0.7012615574087941,
      0.7129040750760354,
      -7.395281681908938e-05,
      4.869862385968064e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.00037599928205844183,
      -0.0002560730736283186,
      0.0898046853930683
     ],
     "orientation_xyzw": [
      0.974481078995881,
      0.22446963901260347,
      -3.620542161798778e-05,
      8.080682227861827e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.00037599928205844183,
      -0.0002560730736283186,
      0.0898046853930683
     ],
     "orientation_xyzw": [
      0.798338083592577,
      -0.6022095120845871,
      3.8629220683569745e-05,
      7.967658621377663e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.00037599928205844183,
      -0.0002560730736283186,
      0.0898046853930683
     ],
     "orientation_xyzw": [
      -0.26676226279139764,
      0.9637623603927672,
      -7.915065371823268e-05,
      -3.969570628268092e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.00037599928205844183,
      -0.0002560730736283186,
      0.0898046853930683
     ],
     "orientation_xyzw": [
      0.37506461888159576,
      0.9269986644125374,
      -8.695965040661991e-05,
      1.669114383298385e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.00037599928205844183,
      -0.0002560730736283186,
      0.0898046853930683
     ],
     "orientation_xyzw": [
      0.7012615551691399,
      0.7129040772791136,
      -7.395281697208055e-05,
      4.869862362735098e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bottle_of_face_cream/dztaed": {
   "category": "bottle_of_face_cream",
   "model": "dztaed",
   "bbox_size": [
    0.07658970355987549,
    0.07670831680297852,
    0.0540737509727478
   ],
   "upright_orientation_xyzw": [
    0.0016760603757575154,
    0.0025184538681060076,
    -0.0001320692535955459,
    0.9999955296516418
   ],
   "mesh": "meshes/bottle_of_face_cream__dztaed.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.00028729516432033237,
      -0.0010986712888445998,
      0.08731160239851338
     ],
     "orientation_xyzw": [
      0.7070101512023104,
      0.7071969275320057,
      0.0005956620781376821,
      0.00296596912761335
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0013220420153685077,
      0.000377053247835872,
      0.08730501135562763
     ],
     "orientation_xyzw": [
      -0.043751131665717057,
      0.9990378805089385,
      -0.0017843183504047248,
      0.0024429478507933342
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0013220420153685077,
      0.000377053247835872,
      0.08730501135562763
     ],
     "orientation_xyzw": [
      0.2142054729101566,
      0.9767839390515994,
      -0.00109731483457925,
      0.002819164119220291
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0013220420153685077,
      0.000377053247835872,
      0.08730501135562763
     ],
     "orientation_xyzw": [
      0.41746866618540296,
      0.9086862830301794,
      -0.0004712449448091355,
      0.0029882627694496075
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0013220420153685077,
      0.000377053247835872,
      0.08730501135562763
     ],
     "orientation_xyzw": [
      0.6296231506941684,
      0.776894803898038,
      0.0002839533026854028,
      0.0030118361009823986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0013220420153685077,
      0.000377053247835872,
      0.08730501135562763
     ],
     "orientation_xyzw": [
      0.7981153425816724,
      0.602497093893043,
      0.001000576687702613,
      0.0028549312547437758
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/qzodht": {
   "category": "bowl",
   "model": "qzodht",
   "bbox_size": [
    0.19860219955444336,
    0.20152783393859863,
    0.06901171803474426
   ],
   "upright_orientation_xyzw": [
    6.346555892378092e-06,
    1.632643397897482e-05,
    -0.004620978143066168,
    0.99998939037323
   ],
   "mesh": "meshes/bowl__qzodht.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.01985831751990686,
      0.09242495677414507,
      0.10007606547492674
     ],
     "orientation_xyzw": [
      -0.0482355020702504,
      0.998835990557609,
      -7.05266396270581e-06,
      1.6034060867200422e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.01985831751990686,
      0.09242495677414507,
      0.10007606547492674
     ],
     "orientation_xyzw": [
      -0.17819709903435907,
      0.9839948138018348,
      -9.085192353680732e-06,
      1.4976329882870437e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.03955452567304908,
      -0.0922545009222298,
      0.10699932832354196
     ],
     "orientation_xyzw": [
      -0.17819709903435907,
      0.9839948138018348,
      -9.085192353680732e-06,
      1.4976329882870437e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.09804318556632255,
      0.005888944291215893,
      0.10752584577812292
     ],
     "orientation_xyzw": [
      0.7103667562187844,
      -0.7038317066972553,
      1.603222380880002e-05,
      -7.0568389955052035e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.09752583986542797,
      -0.0025957415301407208,
      0.10521682809329937
     ],
     "orientation_xyzw": [
      0.7103667562187844,
      -0.7038317066972553,
      1.603222380880002e-05,
      -7.0568389955052035e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.09752583986542797,
      -0.0025957415301407208,
      0.10521682809329937
     ],
     "orientation_xyzw": [
      0.7059495696357411,
      -0.6994541490099482,
      0.07837706643013595,
      -0.07909572694960926
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.035159242085585435,
      -0.09381989883727214,
      0.10750904789967557
     ],
     "orientation_xyzw": [
      -0.2632798040459131,
      0.9647195159603201,
      -1.0355893607120793e-05,
      1.4127513739505327e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.03454901705665904,
      -0.09278485149345968,
      0.10027402739165737
     ],
     "orientation_xyzw": [
      -0.26238985320109265,
      0.9614551212149255,
      0.07929561445346037,
      -0.02162915521119615
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/sqqahm": {
   "category": "bowl",
   "model": "sqqahm",
   "bbox_size": [
    0.1303386688232422,
    0.12800180912017822,
    0.06507036089897156
   ],
   "upright_orientation_xyzw": [
    7.526250556111336e-08,
    -3.5564880818128586e-06,
    -0.0005278802709653974,
    1.0
   ],
   "mesh": "meshes/bowl__sqqahm.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0392071847657577,
      -0.0500025126004804,
      0.09772840697692714
     ],
     "orientation_xyzw": [
      -0.25932890266150027,
      0.9657890661173006,
      8.477887350627827e-07,
      -3.4547825771172554e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.044619134997508615,
      0.05231728424947176,
      0.10007381921651785
     ],
     "orientation_xyzw": [
      -0.25932890266150027,
      0.9657890661173006,
      8.477887350627827e-07,
      -3.4547825771172554e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.05272830224297571,
      -0.0058178670332703075,
      0.10031250428682745
     ],
     "orientation_xyzw": [
      0.7067334138832096,
      0.707479951439141,
      -2.5680351063135575e-06,
      -2.461597872902542e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.06507479078835345,
      0.0012761333554769006,
      0.0976187245963273
     ],
     "orientation_xyzw": [
      0.7067334138832096,
      0.707479951439141,
      -2.5680351063135575e-06,
      -2.461597872902542e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.06507479078835345,
      0.0012761333554769006,
      0.0976187245963273
     ],
     "orientation_xyzw": [
      0.6986904147245317,
      0.6994284726099619,
      0.10643163955055629,
      0.10631943461633876
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.02202605734430115,
      -0.046218875470251844,
      0.09859716056037993
     ],
     "orientation_xyzw": [
      0.9764101251512977,
      -0.21592421700534914,
      -3.4558948439900687e-06,
      8.432432755350989e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.02740358414071043,
      -0.0577828285456952,
      0.09532115016489127
     ],
     "orientation_xyzw": [
      0.9657127902767915,
      -0.21355908134197002,
      0.03187140219209343,
      -0.1441372234868482
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/szgdpc": {
   "category": "bowl",
   "model": "szgdpc",
   "bbox_size": [
    0.1568737030029297,
    0.1568737030029297,
    0.0635518729686737
   ],
   "upright_orientation_xyzw": [
    5.814436008222401e-06,
    0.00017454425687901676,
    -0.0001378806628054008,
    1.0000001192092896
   ],
   "mesh": "meshes/bowl__szgdpc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.026624147086520375,
      -0.07181161092711623,
      0.11116620223523405
     ],
     "orientation_xyzw": [
      0.9763258256618839,
      -0.2163049968127054,
      0.00017166531060965455,
      -3.210167639139541e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.02828758643101258,
      0.0711123508254814,
      0.09411863082852193
     ],
     "orientation_xyzw": [
      0.9763258256618839,
      -0.2163049968127054,
      0.00017166531060965455,
      -3.210167639139541e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.06814250355370476,
      0.0362739188424604,
      0.09442048844490815
     ],
     "orientation_xyzw": [
      0.8659564426789105,
      0.500119394628313,
      0.00014825252131551287,
      9.230756424822637e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.06943244639842415,
      -0.03410381946274434,
      0.09568035990891109
     ],
     "orientation_xyzw": [
      0.8659564426789105,
      0.500119394628313,
      0.00014825252131551287,
      9.230756424822637e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.06943244639842415,
      -0.03410381946274434,
      0.09568035990891109
     ],
     "orientation_xyzw": [
      0.8554771980180653,
      0.49408200879875125,
      -0.07747515371776259,
      -0.13431058338403376
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0558018686042764,
      -0.05260132884176311,
      0.09378006268307468
     ],
     "orientation_xyzw": [
      0.911826273200227,
      -0.37752125849527574,
      0.06186152630057693,
      -0.14907614983521378
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/tvtive": {
   "category": "bowl",
   "model": "tvtive",
   "bbox_size": [
    0.18779587745666504,
    0.18777358531951904,
    0.11734938621520996
   ],
   "upright_orientation_xyzw": [
    -1.444714143872261e-06,
    4.0442682802677155e-07,
    -0.000146534395753406,
    1.0
   ],
   "mesh": "meshes/bowl__tvtive.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.062269670017056584,
      0.06305639015784108,
      0.12317656441203974
     ],
     "orientation_xyzw": [
      0.9239355987260226,
      -0.3825480484913438,
      -1.7922649716204462e-07,
      -1.4895092584786998e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.06057073945654717,
      -0.07099514049677695,
      0.12289472147133373
     ],
     "orientation_xyzw": [
      0.9239355987260226,
      -0.3825480484913438,
      -1.7922649716204462e-07,
      -1.4895092584786998e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.06867685157809408,
      0.06289249964649646,
      0.12297390398573518
     ],
     "orientation_xyzw": [
      0.923823446757398,
      0.3828188072953447,
      9.265098248542937e-07,
      -1.1799743694845043e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.06753716030587502,
      -0.06450508716760499,
      0.11765889709836988
     ],
     "orientation_xyzw": [
      0.923823446757398,
      0.3828188072953447,
      9.265098248542937e-07,
      -1.1799743694845043e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0045427878626428655,
      -0.09300762269247109,
      0.12264316546862275
     ],
     "orientation_xyzw": [
      0.991463977219547,
      -0.13038091069534147,
      2.123938612745371e-07,
      -1.485142693128323e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.02866548332971532,
      0.08896318221997758,
      0.11785331074998275
     ],
     "orientation_xyzw": [
      0.991463977219547,
      -0.13038091069534147,
      2.123938612745371e-07,
      -1.485142693128323e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bowl/wryghu": {
   "category": "bowl",
   "model": "wryghu",
   "bbox_size": [
    0.1296248435974121,
    0.12962055206298828,
    0.06834200024604797
   ],
   "upright_orientation_xyzw": [
    5.639693699777126e-05,
    -1.5911413356661797e-05,
    0.0014779410557821393,
    0.9999989867210388
   ],
   "mesh": "meshes/bowl__wryghu.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.010656423519693337,
      -0.06385636397592032,
      0.09835652348899722
     ],
     "orientation_xyzw": [
      0.991250866770663,
      -0.13199134703692647,
      -8.414010854395378e-06,
      5.799130491374205e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.012616803996220867,
      0.0635814429377054,
      0.09848291973017674
     ],
     "orientation_xyzw": [
      0.991250866770663,
      -0.13199134703692647,
      -8.414010854395378e-06,
      5.799130491374205e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.06354925145360647,
      0.004222273908919291,
      0.10182755924661431
     ],
     "orientation_xyzw": [
      0.7650936029861268,
      -0.643919075067605,
      2.406240060772925e-05,
      5.343021524612232e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.06389799346989813,
      -0.010396455514071664,
      0.09832438837390185
     ],
     "orientation_xyzw": [
      0.7650936029861268,
      -0.643919075067605,
      2.406240060772925e-05,
      5.343021524612232e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.03784673440319686,
      -0.05240892778385176,
      0.0999069767432772
     ],
     "orientation_xyzw": [
      0.2602463422969087,
      0.9655422507002442,
      -5.859343005789894e-05,
      -7.72643712579275e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.03390155362258043,
      0.05524456196826621,
      0.09858517002248342
     ],
     "orientation_xyzw": [
      0.2602463422969087,
      0.9655422507002442,
      -5.859343005789894e-05,
      -7.72643712579275e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "box_of_crackers/cmdigf": {
   "category": "box_of_crackers",
   "model": "cmdigf",
   "bbox_size": [
    0.06376242637634277,
    0.14600050449371338,
    0.1902274191379547
   ],
   "upright_orientation_xyzw": [
    -1.2340251487330534e-05,
    -1.0153057701245416e-06,
    2.4960175437627186e-07,
    1.0000001192092896
   ],
   "mesh": "meshes/box_of_crackers__cmdigf.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0014902150809534434,
      0.001306442426554823,
      0.07961930026032905
     ],
     "orientation_xyzw": [
      0.7071069568702258,
      0.707106605394417,
      8.007944972804662e-06,
      -9.443803963461523e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0014902011243424728,
      -0.02688378146259007,
      0.07961860451152138
     ],
     "orientation_xyzw": [
      0.7071069561631196,
      0.7071066061015239,
      8.007944977526564e-06,
      -9.443803960175486e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0014902361986593225,
      0.04396098499531054,
      0.0796203529957472
     ],
     "orientation_xyzw": [
      0.7071069561631196,
      0.7071066061015239,
      8.007944977526564e-06,
      -9.443803960175486e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.001490194978581098,
      -0.039041253529372,
      0.07961830445903792
     ],
     "orientation_xyzw": [
      -0.7071066049908027,
      0.7071069572738402,
      9.443803972754337e-06,
      8.00794496269227e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0014902104981551296,
      -0.007891743231302418,
      0.07961907324451223
     ],
     "orientation_xyzw": [
      -0.7071066049908027,
      0.7071069572738402,
      9.443803972754337e-06,
      8.00794496269227e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0014902276369840558,
      0.026507791642965902,
      0.07961992224221658
     ],
     "orientation_xyzw": [
      -0.7071066049908027,
      0.7071069572738402,
      9.443803972754337e-06,
      8.00794496269227e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.0014019582257785855,
      -0.056989612037638096,
      0.06241833424199841
     ],
     "orientation_xyzw": [
      -0.4999931973829618,
      0.49999446229033434,
      0.50000655343862,
      0.5000057867347083
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.0003403609610635941,
      -0.05599624815659164,
      -0.021243329150682888
     ],
     "orientation_xyzw": [
      -0.4999931973829618,
      0.49999446229033434,
      0.50000655343862,
      0.5000057867347083
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.00313324995314265,
      0.05522801467182442,
      0.05005026452996505
     ],
     "orientation_xyzw": [
      0.50000655343862,
      -0.5000057867347083,
      0.4999931973829618,
      0.49999446229033434
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.00020831203369403182,
      0.05632456102635867,
      -0.012453234781672597
     ],
     "orientation_xyzw": [
      0.50000655343862,
      -0.5000057867347083,
      0.4999931973829618,
      0.49999446229033434
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "box_of_tissues/uglbjc": {
   "category": "box_of_tissues",
   "model": "uglbjc",
   "bbox_size": [
    0.10694122314453125,
    0.12695950269699097,
    0.07463276386260986
   ],
   "upright_orientation_xyzw": [
    0.01046591904014349,
    -0.004113674629479647,
    0.00012112046533729881,
    0.9999367594718933
   ],
   "mesh": "meshes/box_of_tissues__uglbjc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.07404800299575738,
      -0.021160349062582365,
      0.11017985737807057
     ],
     "orientation_xyzw": [
      -0.6811475689225349,
      0.6850745458057682,
      0.17535941836520322,
      -0.1896310376245374
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.07405208666311063,
      0.004991515463056805,
      0.10963233937861716
     ],
     "orientation_xyzw": [
      -0.6811475689225349,
      0.6850745458057682,
      0.17535941836520322,
      -0.1896310376245374
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.07405658790889534,
      0.033817558276022966,
      0.10902883452038267
     ],
     "orientation_xyzw": [
      -0.6811475689225349,
      0.6850745458057682,
      0.17535941836520322,
      -0.1896310376245374
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.07200427066073142,
      0.03212232059200194,
      0.11951907594927738
     ],
     "orientation_xyzw": [
      0.6938333872336182,
      -0.6909409220805093,
      0.15059449231262606,
      -0.1360778153835593
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.07200836639966991,
      0.005893149460693745,
      0.12006821244740568
     ],
     "orientation_xyzw": [
      0.6938333872336182,
      -0.6909409220805093,
      0.15059449231262606,
      -0.1360778153835593
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.07201424890913112,
      -0.03177852582364053,
      0.12085691033422424
     ],
     "orientation_xyzw": [
      0.6938333872336182,
      -0.6909409220805093,
      0.15059449231262606,
      -0.1360778153835593
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.02724624653875391,
      0.08529819920246422,
      0.11059605741394664
     ],
     "orientation_xyzw": [
      -0.0008734985872815767,
      0.9679631399156594,
      -0.2510586042650956,
      -0.004021689855989436
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.02573069468008663,
      0.08531559375389663,
      0.11103177010003241
     ],
     "orientation_xyzw": [
      -0.0008734985872815767,
      0.9679631399156594,
      -0.2510586042650956,
      -0.004021689855989436
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.016553550557102628,
      -0.09022701497352126,
      0.11997569625774829
     ],
     "orientation_xyzw": [
      0.0012323032028182057,
      0.965294245406465,
      0.26113230898547135,
      -0.003926629330109378
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.02154336797716023,
      -0.09023952378950072,
      0.11966236539484351
     ],
     "orientation_xyzw": [
      0.0012323032028182057,
      0.965294245406465,
      0.26113230898547135,
      -0.003926629330109378
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "chopping_board/drjnag": {
   "category": "chopping_board",
   "model": "drjnag",
   "bbox_size": [
    0.25267505645751953,
    0.2815518379211426,
    0.05152544379234314
   ],
   "upright_orientation_xyzw": [
    8.268099236374837e-07,
    -1.2977277492609574e-06,
    -1.380122466798639e-05,
    1.0
   ],
   "mesh": "meshes/chopping_board__drjnag.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.09667734083338636,
      0.1571087794112502,
      0.10717464884548968
     ],
     "orientation_xyzw": [
      -1.3738543722079765e-05,
      0.9741688435073077,
      -0.22582086738708415,
      1.8525645843475985e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0019276691388558044,
      0.15711150130571955,
      0.1071743929183237
     ],
     "orientation_xyzw": [
      -1.3738543722079765e-05,
      0.9741688435073077,
      -0.22582086738708415,
      1.8525645843475985e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.10598979693873095,
      0.1571143738385676,
      0.10717412282732669
     ],
     "orientation_xyzw": [
      -1.3738543722079765e-05,
      0.9741688435073077,
      -0.22582086738708415,
      1.8525645843475985e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.10404365046652998,
      -0.1507039698981295,
      0.11398862758935883
     ],
     "orientation_xyzw": [
      -1.3316090418043757e-05,
      0.9823709356132777,
      0.18694208908138846,
      -3.8550376290199234e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0069058138371818735,
      -0.15070128850353953,
      0.11398837547020946
     ],
     "orientation_xyzw": [
      -1.3316090418043757e-05,
      0.9823709356132777,
      0.18694208908138846,
      -3.8550376290199234e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.09604409116738417,
      -0.15069844667250956,
      0.1139881082659626
     ],
     "orientation_xyzw": [
      -1.3316090418043757e-05,
      0.9823709356132777,
      0.18694208908138846,
      -3.8550376290199234e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.13254248678716204,
      0.10108995037401727,
      0.10926305791489312
     ],
     "orientation_xyzw": [
      0.692593753486978,
      0.6926131095103539,
      0.14248117009251887,
      0.14247838198928414
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.13253898900695255,
      -0.02561095036215487,
      0.10926326742547744
     ],
     "orientation_xyzw": [
      0.692593753486978,
      0.6926131095103539,
      0.14248117009251887,
      0.14247838198928414
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.13253640218380794,
      -0.11931404284872815,
      0.10926342237141347
     ],
     "orientation_xyzw": [
      0.692593753486978,
      0.6926131095103539,
      0.14248117009251887,
      0.14247838198928414
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.15187745079566506,
      -0.07129350556852765,
      0.10122217624252423
     ],
     "orientation_xyzw": [
      0.6844989915384524,
      0.6845175952388072,
      -0.17733997040998734,
      -0.1773339428488157
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.15187579734889078,
      -0.011400321014301416,
      0.10122207720411157
     ],
     "orientation_xyzw": [
      0.6844989915384524,
      0.6845175952388072,
      -0.17733997040998734,
      -0.1773339428488157
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.1518722068156076,
      0.11866039574272248,
      0.10122186213778918
     ],
     "orientation_xyzw": [
      0.6844989915384524,
      0.6845175952388072,
      -0.17733997040998734,
      -0.1773339428488157
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "chopping_board/iocgzv": {
   "category": "chopping_board",
   "model": "iocgzv",
   "bbox_size": [
    0.26001572608947754,
    0.3600115031003952,
    0.030728667974472046
   ],
   "upright_orientation_xyzw": [
    -5.778900231234729e-06,
    2.472740789016825e-06,
    -3.8717274719601846e-07,
    1.0
   ],
   "mesh": "meshes/chopping_board__iocgzv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.14219727003344657,
      0.09814765346387128,
      0.1052798418501354
     ],
     "orientation_xyzw": [
      0.6915966130895163,
      0.6915988537879234,
      -0.14728005532679467,
      -0.14728793401116236
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.14219733472405954,
      0.015052841452735145,
      0.10527888145703952
     ],
     "orientation_xyzw": [
      0.6915966130895163,
      0.6915988537879234,
      -0.14728005532679467,
      -0.14728793401116236
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.14219745154696917,
      -0.13500567965050417,
      0.10527714711088525
     ],
     "orientation_xyzw": [
      0.6915966130895163,
      0.6915988537879234,
      -0.14728005532679467,
      -0.14728793401116236
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.16016004900047925,
      0.13134186848310833,
      0.10023240369197481
     ],
     "orientation_xyzw": [
      0.6856907017715853,
      0.6856892394271835,
      0.17271553546685878,
      0.17270747594171348
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.1601599804302884,
      0.0432637555046323,
      0.10023138570289031
     ],
     "orientation_xyzw": [
      0.6856907017715853,
      0.6856892394271835,
      0.17271553546685878,
      0.17270747594171348
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.16015985874599822,
      -0.11303918790191735,
      0.10022957918496116
     ],
     "orientation_xyzw": [
      0.6856907017715853,
      0.6856892394271835,
      0.17271553546685878,
      0.17270747594171348
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.08949606008087481,
      -0.19723075641492727,
      0.10513422996669321
     ],
     "orientation_xyzw": [
      -9.230842903714979e-07,
      0.9754391643239839,
      0.2202690098417451,
      2.3265583911233456e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.030029582743768542,
      -0.19723071027561823,
      0.10513452405732857
     ],
     "orientation_xyzw": [
      -9.230842903714979e-07,
      0.9754391643239839,
      0.2202690098417451,
      2.3265583911233456e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.09609346454761569,
      -0.19723061241829576,
      0.10513514779710216
     ],
     "orientation_xyzw": [
      -9.230842903714979e-07,
      0.9754391643239839,
      0.2202690098417451,
      2.3265583911233456e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.06455780615652813,
      0.19335712249332154,
      0.10379205900558504
     ],
     "orientation_xyzw": [
      1.0712627237400532e-07,
      0.9803768995035401,
      -0.19713227770601327,
      2.5006964062445396e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.012060740077863837,
      0.19335716322515,
      0.10379231862909409
     ],
     "orientation_xyzw": [
      1.0712627237400532e-07,
      0.9803768995035401,
      -0.19713227770601327,
      2.5006964062445396e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.09769116858364155,
      0.19335724838030724,
      0.10379286140562964
     ],
     "orientation_xyzw": [
      1.0712627237400532e-07,
      0.9803768995035401,
      -0.19713227770601327,
      2.5006964062445396e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "chopping_board/ktxcvz": {
   "category": "chopping_board",
   "model": "ktxcvz",
   "bbox_size": [
    0.19570708274841309,
    0.3060699999332428,
    0.018257826566696167
   ],
   "upright_orientation_xyzw": [
    3.959974947065348e-06,
    7.275697043951368e-06,
    -1.309093136114825e-06,
    1.0
   ],
   "mesh": "meshes/chopping_board__ktxcvz.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0066502835972402025,
      0.1401616386534053,
      0.10772221059481146
     ],
     "orientation_xyzw": [
      -4.139975498794705e-07,
      0.9925550293388292,
      -0.12179701835243882,
      7.3810673502949156e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0066502835972402025,
      0.1401616386534053,
      0.10772221059481146
     ],
     "orientation_xyzw": [
      0.9922441969029154,
      0.024838276479335245,
      -0.003040490146937496,
      0.12175906189557659
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0020091286762515736,
      -0.13458257811654298,
      0.10793105071259437
     ],
     "orientation_xyzw": [
      -2.008358657875914e-06,
      0.9952995546348252,
      0.09684418665602418,
      7.114635950084211e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.002009128676251575,
      -0.13458257811654298,
      0.10793105071259437
     ],
     "orientation_xyzw": [
      0.995280892784195,
      -0.006094909270125927,
      -0.0005861250126856917,
      -0.09684241321422346
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.07801260359894759,
      -0.004042449056809247,
      0.10765573247943856
     ],
     "orientation_xyzw": [
      0.7040107925520911,
      -0.704009472200294,
      -0.06610108537640733,
      0.06610683424957638
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.07493968711273467,
      -0.0010387786451673017,
      0.106846572215871
     ],
     "orientation_xyzw": [
      0.7047045512801473,
      -0.7047022442291082,
      0.05825321805818125,
      -0.058247789394709974
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "chopping_board/mwmzzv": {
   "category": "chopping_board",
   "model": "mwmzzv",
   "bbox_size": [
    0.1957089826464653,
    0.306070014834404,
    0.018259316682815552
   ],
   "upright_orientation_xyzw": [
    1.402196403432754e-07,
    -5.426571192401752e-07,
    -1.75574399463585e-07,
    1.0
   ],
   "mesh": "meshes/chopping_board__mwmzzv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.09453002385659331,
      0.10359312362369845,
      0.10658870168576695
     ],
     "orientation_xyzw": [
      0.698680135517188,
      0.6986804142743221,
      0.10883867122826017,
      0.10883882849613899
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.09452999082784967,
      0.010630492878076967,
      0.10658872775612213
     ],
     "orientation_xyzw": [
      0.698680135517188,
      0.6986804142743221,
      0.10883867122826017,
      0.10883882849613899
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.09452993326327613,
      -0.15139063188532076,
      0.1065887731931782
     ],
     "orientation_xyzw": [
      0.698680135517188,
      0.6986804142743221,
      0.10883867122826017,
      0.10883882849613899
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.09966062920559444,
      -0.11963552737073155,
      0.10523837008818888
     ],
     "orientation_xyzw": [
      0.6962077719987857,
      0.6962079846725957,
      -0.12367141837706377,
      -0.12367117919391994
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.09966058115658213,
      0.015603119245175089,
      0.10523833216198648
     ],
     "orientation_xyzw": [
      0.6962077719987857,
      0.6962079846725957,
      -0.12367141837706377,
      -0.12367117919391994
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.09966053668709098,
      0.14076685327929922,
      0.10523829706118336
     ],
     "orientation_xyzw": [
      0.6962077719987857,
      0.6962079846725957,
      -0.12367141837706377,
      -0.12367117919391994
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.04280988186558799,
      0.14883340448194815,
      0.10501938126747688
     ],
     "orientation_xyzw": [
      -2.5375728433587907e-07,
      0.989267618380464,
      -0.14611495208745487,
      -5.110643482542483e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.022488860082082257,
      0.14883338144981226,
      0.10501945213713451
     ],
     "orientation_xyzw": [
      -2.5375728433587907e-07,
      0.989267618380464,
      -0.14611495208745487,
      -5.110643482542483e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.074686941593869,
      0.148833363038534,
      0.10501950878845819
     ],
     "orientation_xyzw": [
      -2.5375728433587907e-07,
      0.989267618380464,
      -0.14611495208745487,
      -5.110643482542483e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.06386239158508163,
      -0.1508668928744162,
      0.10664125020955668
     ],
     "orientation_xyzw": [
      -8.51296836654943e-08,
      0.9865049440892087,
      0.1637314731113774,
      -5.642095925886696e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.009290966438282405,
      -0.1508668736260135,
      0.10664119098240925
     ],
     "orientation_xyzw": [
      -8.51296836654943e-08,
      0.9865049440892087,
      0.1637314731113774,
      -5.642095925886696e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.07112522762173866,
      -0.1508668452616583,
      0.10664110370556483
     ],
     "orientation_xyzw": [
      -8.51296836654943e-08,
      0.9865049440892087,
      0.1637314731113774,
      -5.642095925886696e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "chopping_board/ozrzrr": {
   "category": "chopping_board",
   "model": "ozrzrr",
   "bbox_size": [
    0.2680959701538086,
    0.3594491183757782,
    0.029978841543197632
   ],
   "upright_orientation_xyzw": [
    7.126032386395309e-08,
    2.8339596269688627e-07,
    2.0477455109357834e-06,
    1.0
   ],
   "mesh": "meshes/chopping_board__ozrzrr.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.001975518612141936,
      -0.16568080123191367,
      0.10988122938929314
     ],
     "orientation_xyzw": [
      2.0030236421558394e-06,
      0.993857436344421,
      0.11066795479552609,
      5.081882168623119e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0019755186121419364,
      -0.16568080123191367,
      0.10988122938929314
     ],
     "orientation_xyzw": [
      0.9938117155433585,
      -0.009532986409505893,
      -0.0010607853468012373,
      -0.11066287070797898
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.005432624307616303,
      0.1679915187930688,
      0.10969706211134389
     ],
     "orientation_xyzw": [
      2.0657383530529303e-06,
      0.9938794680050025,
      -0.11046991931663078,
      5.553405729017714e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.005432624307616303,
      0.1679915187930688,
      0.10969706211134389
     ],
     "orientation_xyzw": [
      0.99372881863374,
      0.01730410191155175,
      -0.0019235287427890103,
      0.11045317157511442
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.11971601384860153,
      0.0020093724014129555,
      0.11072240650310776
     ],
     "orientation_xyzw": [
      -0.7035939298923024,
      0.7035968207880059,
      0.07038153893274816,
      -0.07038135103260314
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.11971601384860155,
      0.002009372401412955,
      0.11072240650310776
     ],
     "orientation_xyzw": [
      0.7087354244899435,
      0.698417498690678,
      -0.0708953731555364,
      -0.06986373637913809
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.1277353701637088,
      0.003580967305519292,
      0.10704076468284325
     ],
     "orientation_xyzw": [
      -0.7004241020443651,
      0.7004269561096597,
      -0.09697487509911086,
      0.09697437821308116
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.1277353701637088,
      0.003580967305519292,
      0.10704076468284325
     ],
     "orientation_xyzw": [
      0.6995834328977272,
      0.701266614052551,
      0.09685759103024573,
      0.0970915212061255
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "half_french_toast/enjjdg": {
   "category": "half_french_toast",
   "model": "enjjdg",
   "bbox_size": [
    0.07562494277954102,
    0.17823678255081177,
    0.012303024530410767
   ],
   "upright_orientation_xyzw": [
    -1.3634228707815055e-05,
    -7.561557140434161e-06,
    -0.0007996972417458892,
    0.9999999403953552
   ],
   "mesh": "meshes/half_french_toast__enjjdg.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0031833624110187285,
      0.06672515238986733,
      0.10153816531347297
     ],
     "orientation_xyzw": [
      0.707672026546382,
      -0.7065410834485617,
      -1.4987680002813988e-05,
      -4.29402613508126e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.003269030488370942,
      0.013162397350706923,
      0.10153670409096223
     ],
     "orientation_xyzw": [
      0.707672026546382,
      -0.7065410834485617,
      -1.4987680002813988e-05,
      -4.29402613508126e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.003380861297868034,
      -0.05675823633290882,
      0.10153479661619119
     ],
     "orientation_xyzw": [
      0.707672026546382,
      -0.7065410834485617,
      -1.4987680002813988e-05,
      -4.29402613508126e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.011571938200626892,
      0.07602563999869595,
      0.10876990894860271
     ],
     "orientation_xyzw": [
      -0.0007964184281927641,
      0.9949512106778439,
      -0.10035660813774938,
      7.274246400463075e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.008155488993825495,
      -0.0636770783423677,
      0.10752745651183422
     ],
     "orientation_xyzw": [
      -0.0007960896916381747,
      0.996299210790441,
      0.08594907215651265,
      -7.625602731544485e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "half_waffle/vufawe": {
   "category": "half_waffle",
   "model": "vufawe",
   "bbox_size": [
    0.14203953742980957,
    0.28331446647644043,
    0.04430651664733887
   ],
   "upright_orientation_xyzw": [
    7.177377119660378e-05,
    -0.00011383017408661544,
    -0.00012091381358914077,
    1.0
   ],
   "mesh": "meshes/half_waffle__vufawe.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.05654067442367771,
      0.09847538185450366,
      0.10404742630780008
     ],
     "orientation_xyzw": [
      -0.4507690976746058,
      0.8656052185530682,
      -0.19343410824972979,
      0.1005886273937001
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.09538917810674934,
      -0.005829815329937544,
      0.10546634301929285
     ],
     "orientation_xyzw": [
      0.6960346756358675,
      -0.6958484025203218,
      0.12519615900763084,
      -0.12512654711181342
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.01949124936326201,
      -0.12856102496141297,
      0.10778949762837567
     ],
     "orientation_xyzw": [
      0.9258801555692651,
      -0.33687352398774784,
      0.05844913628339255,
      -0.16076649161698855
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.060531555261657426,
      -0.09313605584269345,
      0.1068538330728315
     ],
     "orientation_xyzw": [
      0.6963112201942161,
      0.6964620299400416,
      -0.12272555056162078,
      -0.12259594089033223
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.06050889619065909,
      0.0005584826196310471,
      0.10684038603107548
     ],
     "orientation_xyzw": [
      0.6963112201942161,
      0.6964620299400416,
      -0.12272555056162078,
      -0.12259594089033223
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.060481201654429745,
      0.1150745097827087,
      0.10682395068890647
     ],
     "orientation_xyzw": [
      0.6963112201942161,
      0.6964620299400416,
      -0.12272555056162078,
      -0.12259594089033223
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "pack_of_cigarettes/ipmejr": {
   "category": "pack_of_cigarettes",
   "model": "ipmejr",
   "bbox_size": [
    0.11012488603591919,
    0.05460786819458008,
    0.016033083200454712
   ],
   "upright_orientation_xyzw": [
    2.6260666345478967e-05,
    0.015626154839992523,
    0.00018040132999885827,
    0.9998779892921448
   ],
   "mesh": "meshes/pack_of_cigarettes__ipmejr.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.044029690315266705,
      -0.00031910192543821176,
      0.10609818575916884
     ],
     "orientation_xyzw": [
      0.7018061624812687,
      0.7015483478341971,
      -0.08745927021051952,
      -0.08745800139876876
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.05140193622936941,
      -0.00028459747420456465,
      0.10605458052719914
     ],
     "orientation_xyzw": [
      0.6997033513067746,
      0.6994552187506277,
      0.1028669298519191,
      0.10293693154267002
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.04221530649834381,
      -0.019572167357295257,
      0.10484693535588432
     ],
     "orientation_xyzw": [
      0.990375261918316,
      0.0019709406515460836,
      0.015502406370568933,
      -0.1375232030236963
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0031182656560723256,
      -0.019586246800523177,
      0.10606925622824015
     ],
     "orientation_xyzw": [
      0.990375261918316,
      0.0019709406515460836,
      0.015502406370568933,
      -0.1375232030236963
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.033027309663041994,
      -0.019599263375810777,
      0.1071993031628433
     ],
     "orientation_xyzw": [
      0.990375261918316,
      0.0019709406515460836,
      0.015502406370568933,
      -0.1375232030236963
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.04933746100749121,
      0.0004432405711670494,
      0.10090474596248604
     ],
     "orientation_xyzw": [
      0.9998778875943042,
      -0.00018040209695250307,
      0.01562615325067524,
      2.6260651401751247e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.0026153967754806106,
      0.0004264152402296134,
      0.1023654538084003
     ],
     "orientation_xyzw": [
      0.9998778875943042,
      -0.00018040209695250307,
      0.01562615325067524,
      2.6260651401751247e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.04241598143207279,
      0.0004101987512245787,
      0.103773304436178
     ],
     "orientation_xyzw": [
      0.9998778875943042,
      -0.00018040209695250307,
      0.01562615325067524,
      2.6260651401751247e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/ivuveo": {
   "category": "plate",
   "model": "ivuveo",
   "bbox_size": [
    0.2664766311645508,
    0.2664576470851898,
    0.021293967962265015
   ],
   "upright_orientation_xyzw": [
    0.022969411686062813,
    0.004879046231508255,
    -0.0002849810989573598,
    0.9997242093086243
   ],
   "mesh": "meshes/plate__ivuveo.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.00040411115957772936,
      -0.13268163199431043,
      0.11222305775871937
     ],
     "orientation_xyzw": [
      0.9838176782663117,
      0.001263028945884513,
      0.004721341394868169,
      -0.1791058056680435
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.00022550195487973395,
      0.136500357018985,
      0.10861878185447395
     ],
     "orientation_xyzw": [
      0.9832094815080923,
      -0.0004982783813334141,
      0.0048618952415425,
      0.18241499161500718
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.12232647829974068,
      0.005135019499021139,
      0.10981823583447402
     ],
     "orientation_xyzw": [
      -0.6990106163786524,
      0.7029674409678814,
      0.07525917055383005,
      -0.10750345285875286
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.1261213994168835,
      0.0038155098958504783,
      0.11101675834232032
     ],
     "orientation_xyzw": [
      0.7007467604232042,
      -0.6953790656201774,
      0.12757398210681975,
      -0.09553434954508389
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/iwfvwf": {
   "category": "plate",
   "model": "iwfvwf",
   "bbox_size": [
    0.29847192764282227,
    0.29862459003925323,
    0.03706231713294983
   ],
   "upright_orientation_xyzw": [
    -0.0261490847915411,
    -0.0040626367554068565,
    -0.002495837863534689,
    0.999646782875061
   ],
   "mesh": "meshes/plate__iwfvwf.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.1348460320317805,
      -0.006349198932266841,
      0.11122941964671172
     ],
     "orientation_xyzw": [
      0.7077060484932612,
      -0.7013258844533621,
      -0.07585039033591262,
      0.03925392983705945
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.1433991937527515,
      -0.007394001266037628,
      0.10576210191470749
     ],
     "orientation_xyzw": [
      -0.6973438884847036,
      0.6996750579705724,
      -0.0898114200548969,
      0.1268866552267511
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0012940139848192052,
      0.1436000095523342,
      0.11408217919732401
     ],
     "orientation_xyzw": [
      -0.0031788157172186328,
      0.9883508213432683,
      -0.15211811110719162,
      -0.0035537802271708194
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0027633443161091654,
      -0.1528966440739924,
      0.1049197217960468
     ],
     "orientation_xyzw": [
      -0.0019903110474401332,
      0.9892860533237474,
      0.14591220125766277,
      -0.004332768768524839
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/lixwwc": {
   "category": "plate",
   "model": "lixwwc",
   "bbox_size": [
    0.11556243896484375,
    0.11556201055645943,
    0.028361916542053223
   ],
   "upright_orientation_xyzw": [
    0.0389302559196949,
    0.03196223825216293,
    0.001132130273617804,
    0.9987300038337708
   ],
   "mesh": "meshes/plate__lixwwc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.013083565211822851,
      -0.06653823814069382,
      0.10884818753417506
     ],
     "orientation_xyzw": [
      0.0011321294599080352,
      0.9987299779791285,
      -0.03893025493695557,
      0.03196223739413566
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.013037133447201869,
      0.08772318334434513,
      0.10757515260181857
     ],
     "orientation_xyzw": [
      0.0011321294599080352,
      0.9987299779791285,
      -0.03893025493695557,
      0.03196223739413566
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.05528964937394294,
      0.048332123486275205,
      0.10794919910901635
     ],
     "orientation_xyzw": [
      -0.3661283017404874,
      0.9292001492121766,
      -0.04795462922178217,
      0.015411129254432778
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.049430557749409916,
      -0.06396050744027798,
      0.11160241563901571
     ],
     "orientation_xyzw": [
      -0.36637770269516323,
      0.9303834004310562,
      0.009964535216186681,
      -0.0074037293362702655
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/lkomhp": {
   "category": "plate",
   "model": "lkomhp",
   "bbox_size": [
    0.16924703121185303,
    0.1759234294295311,
    0.02766057848930359
   ],
   "upright_orientation_xyzw": [
    -0.0016901878407225013,
    0.0022091404534876347,
    0.0004186825535725802,
    0.9999961256980896
   ],
   "mesh": "meshes/plate__lkomhp.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.06014407013558198,
      0.003814564132109842,
      0.11779632847588392
     ],
     "orientation_xyzw": [
      -0.7053776406632853,
      0.7058068162393498,
      0.04745191936339531,
      -0.04502707575558889
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.06009361595485755,
      -0.05698107412695388,
      0.117590703498762
     ],
     "orientation_xyzw": [
      -0.7053776406632853,
      0.7058068162393498,
      0.04745191936339531,
      -0.04502707575558889
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.06019025146839493,
      0.059461560351353505,
      0.11798453954911466
     ],
     "orientation_xyzw": [
      -0.7053776406632853,
      0.7058068162393498,
      0.04745191936339531,
      -0.04502707575558889
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.06588022757076613,
      -0.006273694824304756,
      0.12038480675277882
     ],
     "orientation_xyzw": [
      -0.7036786418221385,
      0.7044839169938112,
      -0.06416663617686819,
      0.06649377822137197
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0658220592915783,
      0.06381717988378031,
      0.12062187037972671
     ],
     "orientation_xyzw": [
      -0.7036786418221385,
      0.7044839169938112,
      -0.06416663617686819,
      0.06649377822137197
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.06592537496372985,
      -0.06067482732812978,
      0.12020080948016465
     ],
     "orientation_xyzw": [
      -0.7036786418221385,
      0.7044839169938112,
      -0.06416663617686819,
      0.06649377822137197
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.05654935834105191,
      -0.06319347909839873,
      0.1182209374667252
     ],
     "orientation_xyzw": [
      0.00028040415117797795,
      0.9979529554076703,
      0.0639127780490897,
      0.0022309120682559355
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.011621579936034694,
      -0.06325107238989437,
      0.11852204116774442
     ],
     "orientation_xyzw": [
      0.00028040415117797795,
      0.9979529554076703,
      0.0639127780490897,
      0.0022309120682559355
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.06309170908667554,
      -0.0632945562295834,
      0.11874937919140786
     ],
     "orientation_xyzw": [
      0.00028040415117797795,
      0.9979529554076703,
      0.0639127780490897,
      0.0022309120682559355
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.05700981243126464,
      0.061482826802372895,
      0.1181650772911706
     ],
     "orientation_xyzw": [
      0.0005487276607488256,
      0.998342274791082,
      -0.057512144542032115,
      0.0021804800156426433
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.0031306417691988114,
      0.061528345888069956,
      0.11792709879029895
     ],
     "orientation_xyzw": [
      0.0005487276607488256,
      0.998342274791082,
      -0.057512144542032115,
      0.0021804800156426433
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.05245894720339239,
      0.06157530999745053,
      0.11768156555574451
     ],
     "orientation_xyzw": [
      0.0005487276607488256,
      0.998342274791082,
      -0.057512144542032115,
      0.0021804800156426433
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/pkkgzc": {
   "category": "plate",
   "model": "pkkgzc",
   "bbox_size": [
    0.25908875465393066,
    0.259073406457901,
    0.022707879543304443
   ],
   "upright_orientation_xyzw": [
    0.011507723480463028,
    0.00949363224208355,
    -0.00020716615836136043,
    0.9998886585235596
   ],
   "mesh": "meshes/plate__pkkgzc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.12104958269961688,
      -0.00539168718612834,
      0.10767792234127488
     ],
     "orientation_xyzw": [
      -0.6969638342541761,
      0.6993984382117646,
      0.10365293590915353,
      -0.11974684649741202
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.11670837746034031,
      -0.005453713528155905,
      0.1070062401031996
     ],
     "orientation_xyzw": [
      0.7021919688282031,
      -0.6999398207328086,
      0.09993174594775421,
      -0.0838112905134442
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0010885377993812646,
      -0.1273710809214237,
      0.1082630568281254
     ],
     "orientation_xyzw": [
      -0.002038632163291348,
      0.9832499657138203,
      0.18201465036161385,
      0.009274478767754541
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0012851274793636732,
      0.1324981495196925,
      0.10995491401150023
     ],
     "orientation_xyzw": [
      0.0015006301892172842,
      0.9815762189939952,
      -0.19083488760690945,
      0.009376571150796303
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/spppps": {
   "category": "plate",
   "model": "spppps",
   "bbox_size": [
    0.2618398666381836,
    0.2618388682603836,
    0.027195274829864502
   ],
   "upright_orientation_xyzw": [
    -0.005572441965341568,
    -0.015553313307464123,
    -0.010275325737893581,
    0.9998108148574829
   ],
   "mesh": "meshes/plate__spppps.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.08538186161319443,
      0.001690531039824878,
      0.1108683404045552
     ],
     "orientation_xyzw": [
      0.7134578566808387,
      -0.6986380753782575,
      -0.041450324030299426,
      0.034126192432370486
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.08413865486686911,
      -0.0005736102828548571,
      0.11112738562605472
     ],
     "orientation_xyzw": [
      0.7132825891300102,
      -0.6992722273681298,
      0.028838199702257285,
      -0.03761194376174277
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.004103671103507449,
      -0.07744482179928695,
      0.10670461530324177
     ],
     "orientation_xyzw": [
      -0.011567164825749864,
      0.996627890962727,
      -0.07990844221188777,
      -0.014618088669525705
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0027187602955200123,
      0.08092625287661168,
      0.1106190056884546
     ],
     "orientation_xyzw": [
      -0.009488829522231715,
      0.9982954376333634,
      0.055305798809486884,
      -0.016045246422358383
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "pop_case/rzhvvk": {
   "category": "pop_case",
   "model": "rzhvvk",
   "bbox_size": [
    0.1961875483393669,
    0.29517972469329834,
    0.0922698974609375
   ],
   "upright_orientation_xyzw": [
    1.0541392470031496e-07,
    4.586691204622184e-07,
    2.5155415528388403e-08,
    1.0000001192092896
   ],
   "mesh": "meshes/pop_case__rzhvvk.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.11537323953502394,
      -0.11635208914674051,
      0.12889318041810707
     ],
     "orientation_xyzw": [
      -0.6877111097055938,
      0.6877111782940365,
      0.16447905612839847,
      -0.16447919300641015
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.11537324521325548,
      -0.0012004895233203663,
      0.1288931561409484
     ],
     "orientation_xyzw": [
      -0.6877111097055938,
      0.6877111782940365,
      0.16447905612839847,
      -0.16447919300641015
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.11537325016545723,
      0.09922760135240155,
      0.12889313496791474
     ],
     "orientation_xyzw": [
      -0.6877111097055938,
      0.6877111782940365,
      0.16447905612839847,
      -0.16447919300641015
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.10425125638811818,
      0.08331732523816851,
      0.13144902706537515
     ],
     "orientation_xyzw": [
      -0.6929080474372835,
      0.6929080518804163,
      -0.14099097948006253,
      0.14099082644338995
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.10425125992038656,
      0.01168474909398604,
      0.1314490421675137
     ],
     "orientation_xyzw": [
      -0.6929080474372835,
      0.6929080518804163,
      -0.14099097948006253,
      0.14099082644338995
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.10425126570387536,
      -0.10560141355041988,
      0.13144906689469762
     ],
     "orientation_xyzw": [
      -0.6929080474372835,
      0.6929080518804163,
      -0.14099097948006253,
      0.14099082644338995
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.047420382865505345,
      -0.13805573710477925,
      0.13713658720190267
     ],
     "orientation_xyzw": [
      -4.808346814459103e-08,
      0.9875503807934264,
      0.15730303682557256,
      4.567922826863464e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.0059000688827759,
      -0.13805573970361446,
      0.13713663611478652
     ],
     "orientation_xyzw": [
      -4.808346814459103e-08,
      0.9875503807934264,
      0.15730303682557256,
      4.567922826863464e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.06317596516359436,
      -0.13805574249523772,
      0.13713668865615047
     ],
     "orientation_xyzw": [
      -4.808346814459103e-08,
      0.9875503807934264,
      0.15730303682557256,
      4.567922826863464e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.062194003103094926,
      0.157983895483747,
      0.13052643305933723
     ],
     "orientation_xyzw": [
      1.2839271072539161e-07,
      0.9736155794612085,
      -0.22819444215450124,
      4.4100625989117293e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.003591461221624488,
      0.15798389834003093,
      0.13052637930099065
     ],
     "orientation_xyzw": [
      1.2839271072539161e-07,
      0.9736155794612085,
      -0.22819444215450124,
      4.4100625989117293e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.0680236569270126,
      0.1579839018305469,
      0.13052631360571162
     ],
     "orientation_xyzw": [
      1.2839271072539161e-07,
      0.9736155794612085,
      -0.22819444215450124,
      4.4100625989117293e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "quiche/borxmv": {
   "category": "quiche",
   "model": "borxmv",
   "bbox_size": [
    0.2198476791381836,
    0.21968680620193481,
    0.026971250772476196
   ],
   "upright_orientation_xyzw": [
    8.360347419511527e-05,
    3.61531347152777e-05,
    -2.122405931004323e-07,
    1.0
   ],
   "mesh": "meshes/quiche__borxmv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.012763470940540058,
      0.10548900500445854,
      0.10782926307562272
     ],
     "orientation_xyzw": [
      4.4836224359928665e-06,
      0.9915214839604914,
      -0.12994285489279742,
      3.587466576949789e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.012763676300915065,
      -0.0983809318101937,
      0.10620742807762325
     ],
     "orientation_xyzw": [
      -4.688754996620661e-06,
      0.9923119800092476,
      0.1237615975294116,
      3.5848432194496134e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.1037131085846444,
      -0.01234993839270395,
      0.10793835132023934
     ],
     "orientation_xyzw": [
      0.699523761564812,
      -0.6995061892865387,
      0.10339671867018456,
      -0.10327979823895687
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.11037148464056086,
      -0.012350247081851918,
      0.1055551733079792
     ],
     "orientation_xyzw": [
      -0.6992222238467386,
      0.6992395279977021,
      0.10518494553635986,
      -0.10530190595086665
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.05536427487718109,
      0.09477181833897076,
      0.10947719577213114
     ],
     "orientation_xyzw": [
      -0.2554063720325779,
      0.9531821862097839,
      -0.15638515205014775,
      0.04189259165706241
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.05384302171515009,
      -0.09438075548517023,
      0.10536408276350467
     ],
     "orientation_xyzw": [
      -0.25527614067014476,
      0.9527094029902067,
      0.15924003687344138,
      -0.04267898915327529
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "router/tokdic": {
   "category": "router",
   "model": "tokdic",
   "bbox_size": [
    0.1623852476477623,
    0.27502840757369995,
    0.16578835248947144
   ],
   "upright_orientation_xyzw": [
    1.5656347386538982e-05,
    -0.002306724898517132,
    1.9857216102536768e-06,
    0.9999974966049194
   ],
   "mesh": "meshes/router__tokdic.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0732433002033997,
      -0.006610203430599207,
      0.1603406414000262
     ],
     "orientation_xyzw": [
      0.7071063028524239,
      0.7071034968398692,
      -0.0016421712667480319,
      -0.0016200298565421049
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0735959689821898,
      0.11790593115519993,
      0.16723399495786412
     ],
     "orientation_xyzw": [
      0.7071063028524239,
      0.7071034968398692,
      -0.0016421712667480319,
      -0.0016200298565421049
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0752046385140936,
      -0.11854075773555393,
      0.16531807635943366
     ],
     "orientation_xyzw": [
      0.7071063028524239,
      0.7071034968398692,
      -0.0016421712667480319,
      -0.0016200298565421049
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0752046385140936,
      -0.11854075773555393,
      0.16531807635943366
     ],
     "orientation_xyzw": [
      1.9849359009780127e-06,
      0.9999973393828878,
      -1.5656343105482313e-05,
      -0.002306724535860542
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.06689688530491762,
      -0.004740781328070341,
      0.1816263978668986
     ],
     "orientation_xyzw": [
      1.9849359009780127e-06,
      0.9999973393828878,
      -1.5656343105482313e-05,
      -0.002306724535860542
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.06641220779711567,
      0.11656397510036169,
      0.1687325560374583
     ],
     "orientation_xyzw": [
      1.9849359009780127e-06,
      0.9999973393828878,
      -1.5656343105482313e-05,
      -0.002306724535860542
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "shoe_box/gvwcka": {
   "category": "shoe_box",
   "model": "gvwcka",
   "bbox_size": [
    0.26813554763793945,
    0.1406179666519165,
    0.135535329580307
   ],
   "upright_orientation_xyzw": [
    -0.0011725635267794132,
    3.275769995525479e-05,
    -0.02907966822385788,
    0.9995764493942261
   ],
   "mesh": "meshes/shoe_box__gvwcka.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.023217330756359362,
      0.09476396544068827,
      0.1414521437245622
     ],
     "orientation_xyzw": [
      -0.028375458307048546,
      0.9758703721208217,
      -0.2164056114400782,
      0.006360937028437754
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.06709851862187755,
      0.09731930348775475,
      0.1414580198384484
     ],
     "orientation_xyzw": [
      -0.028375458307048546,
      0.9758703721208217,
      -0.2164056114400782,
      0.006360937028437754
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0755665420866188,
      0.08901147329107181,
      0.1414389156121254
     ],
     "orientation_xyzw": [
      -0.028375458307048546,
      0.9758703721208217,
      -0.2164056114400782,
      0.006360937028437754
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.06485455147571842,
      -0.09492587707860034,
      0.1358633370917216
     ],
     "orientation_xyzw": [
      -0.028289235787625343,
      0.9718715154574933,
      0.23370949764256613,
      -0.0067340398400171884
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.007818219326172143,
      -0.09160447406522877,
      0.13587097480618798
     ],
     "orientation_xyzw": [
      -0.028289235787625343,
      0.9718715154574933,
      0.23370949764256613,
      -0.0067340398400171884
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0901904256015238,
      -0.08589712584820455,
      0.13588409910813698
     ],
     "orientation_xyzw": [
      -0.028289235787625343,
      0.9718715154574933,
      0.23370949764256613,
      -0.0067340398400171884
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.13881208454826402,
      -0.037795010286007825,
      0.14782780588605013
     ],
     "orientation_xyzw": [
      0.7164871428834976,
      -0.6756982379426907,
      -0.11985200532709045,
      0.1253537480207937
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.1357690523025996,
      0.014460757083947496,
      0.14795040851867902
     ],
     "orientation_xyzw": [
      0.7164871428834976,
      -0.6756982379426907,
      -0.11985200532709045,
      0.1253537480207937
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.15476966679905962,
      -0.002431730792948731,
      0.13662296786163078
     ],
     "orientation_xyzw": [
      0.7032254057896482,
      -0.6638752129802062,
      0.17378812827770482,
      -0.18585321281108533
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.1914866684703304,
      0.11865907974954035,
      0.024532645646247252
     ],
     "orientation_xyzw": [
      0.663514656297618,
      -0.24599271744193474,
      0.6629375755172761,
      0.24443742514406927
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.19107984995655178,
      -0.11741663470241327,
      0.04310257353628061
     ],
     "orientation_xyzw": [
      0.6552786358645198,
      0.26418904355317263,
      0.6558984641952222,
      -0.26572779928404666
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.19904996982940348,
      -0.11731542416707832,
      0.002788449213095422
     ],
     "orientation_xyzw": [
      -0.6681773769146789,
      0.22981443524924042,
      0.6687201801081535,
      0.23138201971331018
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      0.19626301621689551,
      0.11677488751241762,
      0.019893641581910548
     ],
     "orientation_xyzw": [
      0.6643118018649117,
      0.24381554001115868,
      -0.6637434266204643,
      0.24225704524365418
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "shoe_box/pitwey": {
   "category": "shoe_box",
   "model": "pitwey",
   "bbox_size": [
    0.3062148690223694,
    0.24581730365753174,
    0.08917582035064697
   ],
   "upright_orientation_xyzw": [
    3.1692343327449635e-07,
    1.4240368955142912e-06,
    1.7369737861372414e-06,
    1.0
   ],
   "mesh": "meshes/shoe_box__pitwey.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.15136788973947043,
      0.07389066760867173,
      0.1259846712037398
     ],
     "orientation_xyzw": [
      -0.6982752283441042,
      0.6982775828118034,
      -0.1114008699101695,
      0.11140004042526937
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.15136808530561482,
      0.01757939613437919,
      0.12598470689618438
     ],
     "orientation_xyzw": [
      -0.6982752283441042,
      0.6982775828118034,
      -0.1114008699101695,
      0.11140004042526937
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.15136840593576262,
      -0.07474277625803136,
      0.1259847654138476
     ],
     "orientation_xyzw": [
      -0.6982752283441042,
      0.6982775828118034,
      -0.1114008699101695,
      0.11140004042526937
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.15673357471765248,
      -0.07210224292953275,
      0.12335512452213067
     ],
     "orientation_xyzw": [
      -0.6969849066842598,
      0.6969874028396339,
      0.11920694928190842,
      -0.11920697706131164
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.15673381344727141,
      -0.0033624903317918827,
      0.12335508095199374
     ],
     "orientation_xyzw": [
      -0.6969849066842598,
      0.6969874028396339,
      0.11920694928190842,
      -0.11920697706131164
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.15673405121554718,
      0.06510045332428961,
      0.12335503755730992
     ],
     "orientation_xyzw": [
      -0.6969849066842598,
      0.6969874028396339,
      0.11920694928190842,
      -0.11920697706131164
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.1038221295644347,
      0.12748920284056783,
      0.1278963571142955
     ],
     "orientation_xyzw": [
      1.939741130275505e-06,
      0.9873883262292432,
      -0.1583170654767564,
      1.1312097705596484e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.04529022241794706,
      0.12748940608535,
      0.12789619041104044
     ],
     "orientation_xyzw": [
      1.939741130275505e-06,
      0.9873883262292432,
      -0.1583170654767564,
      1.1312097705596484e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.07534937526880497,
      0.12748982499137837,
      0.12789584682043142
     ],
     "orientation_xyzw": [
      1.939741130275505e-06,
      0.9873883262292432,
      -0.1583170654767564,
      1.1312097705596484e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.07464702695185439,
      -0.14426853764974765,
      0.12173340881859382
     ],
     "orientation_xyzw": [
      1.3899577882755693e-06,
      0.9766798641820447,
      0.21470082183424546,
      1.7635896757194375e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.012052151558226766,
      -0.14426875500268274,
      0.12173358709348674
     ],
     "orientation_xyzw": [
      1.3899577882755693e-06,
      0.9766798641820447,
      0.21470082183424546,
      1.7635896757194375e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.10922797008295398,
      -0.14426917613285106,
      0.12173393250835596
     ],
     "orientation_xyzw": [
      1.3899577882755693e-06,
      0.9766798641820447,
      0.21470082183424546,
      1.7635896757194375e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      -0.20540075896908136,
      0.17366648707110208,
      0.019720404169163975
     ],
     "orientation_xyzw": [
      0.6561435625480633,
      -0.2635799267418265,
      0.6561455983660323,
      0.2635795919459444
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      -0.2052568539601163,
      -0.17066813385253302,
      -0.01021917274610968
     ],
     "orientation_xyzw": [
      0.6563232899588892,
      0.2631329100416581,
      0.6563249924308489,
      -0.2631317446094154
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 14,
     "position": [
      0.22091873074799181,
      -0.16266125317521446,
      0.011888569557637639
     ],
     "orientation_xyzw": [
      0.6766175196111962,
      -0.20540226886320287,
      -0.6766154623635965,
      -0.20540242498942762
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 15,
     "position": [
      0.2126484756072171,
      0.18534098981239902,
      0.020456032374226673
     ],
     "orientation_xyzw": [
      0.6511967082804212,
      0.27557868400190677,
      -0.6511950283036814,
      0.27557988163341807
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "soap_dish/ownvqj": {
   "category": "soap_dish",
   "model": "ownvqj",
   "bbox_size": [
    0.1806100606918335,
    0.1343172788619995,
    0.03237283229827881
   ],
   "upright_orientation_xyzw": [
    0.001776713877916336,
    -0.005689936690032482,
    4.426358646014705e-05,
    0.9999822974205017
   ],
   "mesh": "meshes/soap_dish__ownvqj.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.009265287985344794,
      0.05580861858044279,
      0.10450049163976552
     ],
     "orientation_xyzw": [
      -0.0005638571531227731,
      0.9940696228708631,
      -0.10859653562989645,
      -0.00566210205449909
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.009229293222954706,
      -0.07607405967423567,
      0.10259784962524879
     ],
     "orientation_xyzw": [
      0.0010559584980078375,
      0.9843420578794928,
      0.17617700120901286,
      -0.005591268748251648
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.08886919990468332,
      -0.00022110274784940505,
      0.10254555768690285
     ],
     "orientation_xyzw": [
      0.6974006288733487,
      -0.6970294129175358,
      0.11909723102093397,
      -0.116611362817005
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.09357177413689614,
      -0.00022651767319184878,
      0.10452843624445995
     ],
     "orientation_xyzw": [
      -0.6987405386749367,
      0.6991687430024071,
      0.10581692547722533,
      -0.10829361340005514
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "toy_dice/ievnsq": {
   "category": "toy_dice",
   "model": "ievnsq",
   "bbox_size": [
    0.04142475128173828,
    0.04142498970031738,
    0.04142385721206665
   ],
   "upright_orientation_xyzw": [
    -1.0817151633091271e-05,
    -7.829665264580399e-06,
    3.327149897813797e-07,
    1.0000001192092896
   ],
   "mesh": "meshes/toy_dice__ievnsq.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0008907027368669852,
      6.505995459532159e-05,
      0.10054228249738768
     ],
     "orientation_xyzw": [
      -0.707106545504914,
      0.7071070167420153,
      1.3185289097365886e-05,
      2.112471617861712e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0008907027368669852,
      6.505995459532159e-05,
      0.10054228249738768
     ],
     "orientation_xyzw": [
      3.319295517321197e-07,
      0.9999999999107878,
      1.0817150343362268e-05,
      -7.8296643220174e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0008907027368669852,
      6.505995459532159e-05,
      0.10054228249738768
     ],
     "orientation_xyzw": [
      0.7071070156312949,
      0.7071065466156353,
      2.1124716385731185e-06,
      -1.3185289094047627e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.020681097599284496,
      -0.00372988860418357,
      0.005674357073991318
     ],
     "orientation_xyzw": [
      7.883034628043502e-06,
      0.7071123175322196,
      7.4125046432041305e-06,
      0.7071012447147338
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.020741672642452247,
      0.0023554075329803863,
      0.006171470151851891
     ],
     "orientation_xyzw": [
      7.414726067442111e-06,
      -0.7071012447147105,
      -7.88525608706999e-06,
      0.7071123175321948
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0024058485203053027,
      -0.01977797179284141,
      0.009811759476520595
     ],
     "orientation_xyzw": [
      -0.49999867178447155,
      -0.49999051097597824,
      -0.5000016603412966,
      0.5000091567198457
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.0021338828576475313,
      0.020462862148842582,
      -0.0008781738974445309
     ],
     "orientation_xyzw": [
      0.5000016587704713,
      0.5000091582906474,
      -0.49999867335523823,
      0.4999905094051861
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "folder/lktggf": {
   "category": "folder",
   "model": "lktggf",
   "bbox_size": [
    0.2114098072052002,
    0.1642138957977295,
    0.0453738272190094
   ],
   "upright_orientation_xyzw": [
    3.6784908274967165e-07,
    2.353636773477774e-06,
    -5.10780182594317e-08,
    1.0
   ],
   "mesh": "meshes/folder__lktggf.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.13294279993061353,
      -0.032088327903524796,
      0.11415699842712351
     ],
     "orientation_xyzw": [
      -0.6844644812166363,
      0.6844645412019599,
      0.1775056062777689,
      -0.1775061281477163
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.1329427927480352,
      0.037541130015325955,
      0.11415694720084198
     ],
     "orientation_xyzw": [
      -0.6844644812166363,
      0.6844645412019599,
      0.1775056062777689,
      -0.1775061281477163
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.05114443062081914,
      -0.0887615322346096,
      0.11207815209538542
     ],
     "orientation_xyzw": [
      -4.908817375285312e-07,
      0.9823759690992292,
      0.18691563693497673,
      2.302461941879228e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.003172038256373299,
      -0.0887615272585022,
      0.11207837791455712
     ],
     "orientation_xyzw": [
      -4.908817375285312e-07,
      0.9823759690992292,
      0.18691563693497673,
      2.302461941879228e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.06115560133288023,
      -0.0887615205858885,
      0.1120786807223508
     ],
     "orientation_xyzw": [
      -4.908817375285312e-07,
      0.9823759690992292,
      0.18691563693497673,
      2.302461941879228e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0626906310272051,
      0.09293470043834079,
      0.1144262313895522
     ],
     "orientation_xyzw": [
      3.9124551627657733e-07,
      0.9821932101720464,
      -0.18787362211440947,
      2.321469969660338e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.004997745728641447,
      0.09293469445394063,
      0.11442595981336162
     ],
     "orientation_xyzw": [
      3.9124551627657733e-07,
      0.9821932101720464,
      -0.18787362211440947,
      2.321469969660338e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.0568528840133924,
      0.09293468803826359,
      0.11442566866553076
     ],
     "orientation_xyzw": [
      3.9124551627657733e-07,
      0.9821932101720464,
      -0.18787362211440947,
      2.321469969660338e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.11308057158988957,
      0.046298941280038995,
      0.11458996831600307
     ],
     "orientation_xyzw": [
      0.6939315032708586,
      0.693931676987659,
      0.1358634638931464,
      0.13586395997576936
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.11308056692487345,
      0.0024118654493130672,
      0.11459000060365565
     ],
     "orientation_xyzw": [
      0.6939315032708586,
      0.693931676987659,
      0.1358634638931464,
      0.13586395997576936
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.11308056176086774,
      -0.04616955507650709,
      0.11459003634493026
     ],
     "orientation_xyzw": [
      0.6939315032708586,
      0.693931676987659,
      0.1358634638931464,
      0.13586395997576936
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "hinged_jar/gqtsam": {
   "category": "hinged_jar",
   "model": "gqtsam",
   "bbox_size": [
    0.1542147397994995,
    0.13296198844909668,
    0.20351314544677734
   ],
   "upright_orientation_xyzw": [
    1.5383120626211166e-06,
    -1.3636413314088713e-06,
    4.362085746834055e-06,
    1.0000001192092896
   ],
   "mesh": "meshes/hinged_jar__gqtsam.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.10179803659597901,
      0.11498412049573771,
      -0.05658436188641348
     ],
     "orientation_xyzw": [
      0.659173173372613,
      -0.2559115001967325,
      0.6591721629583419,
      0.2559142261652484
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.10179813616865206,
      0.11498400816964834,
      -0.09309403370132986
     ],
     "orientation_xyzw": [
      0.659173173372613,
      -0.2559115001967325,
      0.6591721629583419,
      0.2559142261652484
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.10179800393127439,
      0.11498415734418635,
      -0.0446074046668966
     ],
     "orientation_xyzw": [
      0.659173173372613,
      -0.2559115001967325,
      0.6591721629583419,
      0.2559142261652484
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0971844633995939,
      -0.12514502515548445,
      -0.056583635684814206
     ],
     "orientation_xyzw": [
      0.6524326460486851,
      0.27264206405839025,
      0.6524300278636027,
      -0.2726408003542214
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.09718452094322114,
      -0.12514509006938523,
      -0.07768278749682869
     ],
     "orientation_xyzw": [
      0.6524326460486851,
      0.27264206405839025,
      0.6524300278636027,
      -0.2726408003542214
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.13935048498770758,
      -0.10947904188813984,
      -0.06377206198188896
     ],
     "orientation_xyzw": [
      -0.6618396501909685,
      0.248934259518574,
      0.6618406893549372,
      0.24893154437960946
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.12800223458073468,
      0.1246259268818662,
      -0.06377275128197758
     ],
     "orientation_xyzw": [
      -0.6399566150831774,
      -0.3007548440774122,
      0.6399592857454688,
      -0.30075599273065656
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "hinged_jar/jnjtrl": {
   "category": "hinged_jar",
   "model": "jnjtrl",
   "bbox_size": [
    0.14212185144424438,
    0.10825371742248535,
    0.17361769080162048
   ],
   "upright_orientation_xyzw": [
    0.013979547657072544,
    -0.038647860288619995,
    0.006149617489427328,
    0.9991362690925598
   ],
   "mesh": "meshes/hinged_jar__jnjtrl.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.13721194266365838,
      0.0065077168508640105,
      0.01437639322804722
     ],
     "orientation_xyzw": [
      0.7335675228690497,
      -0.003564458851325399,
      0.6791810171501138,
      0.024065119318223357
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.11756071756935195,
      0.07281380769568241,
      0.01102330493048188
     ],
     "orientation_xyzw": [
      0.7049981264608409,
      -0.17087741496704068,
      0.6573434935238562,
      0.2041521057024342
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.021069205197884536,
      0.13908788377633277,
      0.0019539270534185316
     ],
     "orientation_xyzw": [
      0.5624991427943847,
      -0.4466516287980167,
      0.508194689888676,
      0.47522120535242696
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.08026420363415783,
      0.11190169934302346,
      0.00844673674768205
     ],
     "orientation_xyzw": [
      -0.34818328428321843,
      0.6699213068883716,
      -0.286508952338131,
      -0.5898190089788853
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.06230973823703237,
      -0.1184197599814511,
      -0.007769187977465664
     ],
     "orientation_xyzw": [
      0.6287520359969853,
      0.3601690987290594,
      0.577754109384183,
      -0.3756983985060789
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.013783005780879914,
      -0.13163289642912668,
      -0.013087491926759304
     ],
     "orientation_xyzw": [
      -0.4933878813645631,
      -0.5117363758624104,
      -0.44905174780733187,
      0.5413379793927025
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "hinged_jar/kijnrj": {
   "category": "hinged_jar",
   "model": "kijnrj",
   "bbox_size": [
    0.1547532081604004,
    0.12785041332244873,
    0.20351308584213257
   ],
   "upright_orientation_xyzw": [
    -6.7081768065691e-05,
    -0.00024089438375085592,
    -0.004030539654195309,
    0.9999918937683105
   ],
   "mesh": "meshes/hinged_jar__kijnrj.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.09511820601063659,
      0.12819291950104986,
      -0.008110520899027637
     ],
     "orientation_xyzw": [
      0.6310484520944302,
      -0.32094616839052953,
      0.6294132636767982,
      0.320328505775529
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.09688080474307005,
      -0.13108211519215013,
      0.0009466923802205782
     ],
     "orientation_xyzw": [
      0.6283942278310862,
      0.3243553403780505,
      0.6281341022301767,
      -0.3245949124867818
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.1327720813044587,
      0.09705560288275304,
      0.03784022182675118
     ],
     "orientation_xyzw": [
      -0.672468884097696,
      -0.21824101930014403,
      0.6727644612184586,
      -0.21804686912833812
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.11770985636573958,
      -0.11344682492923178,
      0.037819653969961786
     ],
     "orientation_xyzw": [
      -0.6529733607797703,
      0.27094028245288265,
      0.65332421210918,
      0.27089597141383137
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "hinged_jar/vzwhbg": {
   "category": "hinged_jar",
   "model": "vzwhbg",
   "bbox_size": [
    0.26999998092651367,
    0.20534300804138184,
    0.21421879529953003
   ],
   "upright_orientation_xyzw": [
    0.0023281865287572145,
    -0.053502488881349564,
    -0.0035379561595618725,
    0.998558759689331
   ],
   "mesh": "meshes/hinged_jar__vzwhbg.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.1922176107527015,
      -0.0008283404679520248,
      0.0006499903276449165
     ],
     "orientation_xyzw": [
      0.7173885181090267,
      0.004111612653590863,
      0.6966604456260883,
      -0.0010159856206941665
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.12828592237347336,
      0.14061173198565635,
      -0.00196697708222143
     ],
     "orientation_xyzw": [
      0.6553844324025091,
      -0.2863776670540254,
      0.6332460960243057,
      0.2957337644691767
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.12750872743810154,
      0.14059273526156654,
      0.02089568918721981
     ],
     "orientation_xyzw": [
      0.6553844324025091,
      -0.2863776670540254,
      0.6332460960243057,
      0.2957337644691767
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0453875528711119,
      0.1847232591730935,
      0.018094875908385297
     ],
     "orientation_xyzw": [
      0.5686632476902467,
      -0.430531214608572,
      0.5448784932393602,
      0.44087686668644027
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.027821195042283198,
      0.18394668863443073,
      0.015487017838586612
     ],
     "orientation_xyzw": [
      0.4660540795239351,
      -0.5332111623870196,
      0.4448994891579574,
      0.5482188393442616
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0026548231130457947,
      -0.18934020817537123,
      0.010316354864385837
     ],
     "orientation_xyzw": [
      -0.47411166404263944,
      0.48378704210290757,
      0.5280345948655788,
      0.5121988818195358
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.0026542221796250925,
      0.18703404674065724,
      0.015681067107341365
     ],
     "orientation_xyzw": [
      -0.49652838994275267,
      0.5232381588751543,
      -0.4864236874738248,
      -0.49302472893574345
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/cypjlv": {
   "category": "bowl",
   "model": "cypjlv",
   "bbox_size": [
    0.24743497371673584,
    0.2474346160888672,
    0.15944325923919678
   ],
   "upright_orientation_xyzw": [
    -1.6298145055770874e-08,
    1.7404090613126755e-08,
    4.293462552595884e-06,
    1.000000238418579
   ],
   "mesh": "meshes/bowl__cypjlv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.12293169111241706,
      0.0008420097281122908,
      0.1363281336343009
     ],
     "orientation_xyzw": [
      -0.7071037448907161,
      0.7071098174693407,
      -7.820214044673959e-10,
      2.383107370063426e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.12173480801554248,
      0.0027394142488089777,
      0.13386016802040948
     ],
     "orientation_xyzw": [
      -0.7071037448907161,
      0.7071098174693407,
      -7.820214044673959e-10,
      2.383107370063426e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0018240994371150278,
      0.12275592224568742,
      0.1363653618869417
     ],
     "orientation_xyzw": [
      4.2926761285780545e-06,
      0.9999999999907863,
      1.629814114802274e-08,
      1.7404086476309307e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.00046915556308233756,
      -0.12330407492970004,
      0.1368939487352667
     ],
     "orientation_xyzw": [
      4.2926761285780545e-06,
      0.9999999999907863,
      1.629814114802274e-08,
      1.7404086476309307e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0508107210869144,
      -0.11028787367486531,
      0.13457025610182044
     ],
     "orientation_xyzw": [
      -0.25881489844051847,
      0.965926937374263,
      1.1238286406885312e-08,
      2.1029325943621967e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.04559560268937376,
      0.11321055809852212,
      0.13417327484554514
     ],
     "orientation_xyzw": [
      -0.25881489844051847,
      0.965926937374263,
      1.1238286406885312e-08,
      2.1029325943621967e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "bowl/eawgwj": {
   "category": "bowl",
   "model": "eawgwj",
   "bbox_size": [
    0.14633643627166748,
    0.14634180068969727,
    0.08953282237052917
   ],
   "upright_orientation_xyzw": [
    1.3969838619232178e-09,
    -6.05359673500061e-09,
    2.273154677823186e-07,
    1.0
   ],
   "mesh": "meshes/bowl__eawgwj.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.028069755421110693,
      -0.0614488692600787,
      0.10773599717581545
     ],
     "orientation_xyzw": [
      -0.25881882603839074,
      0.9659258849870984,
      2.1740334064284332e-10,
      -6.208891465602779e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.028040138188461457,
      0.061550212963324434,
      0.10587801822610896
     ],
     "orientation_xyzw": [
      -0.25881882603839074,
      0.9659258849870984,
      2.1740334064284332e-10,
      -6.208891465602779e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.07297774914046136,
      7.192638496534713e-05,
      0.10920109848850779
     ],
     "orientation_xyzw": [
      -0.7071066200966672,
      0.7071069422763913,
      3.292722535632974e-09,
      -5.268356063861619e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.07259925630169504,
      -0.00122085292971807,
      0.10569799767276035
     ],
     "orientation_xyzw": [
      -0.7071066200966672,
      0.7071069422763913,
      3.292722535632974e-09,
      -5.268356063861619e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.14486394638413247,
      0.055941587622806675,
      0.018350083447414938
     ],
     "orientation_xyzw": [
      0.694942700606809,
      -0.13059344549713045,
      0.6949426925578763,
      0.13059344901989614
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.05631014963507296,
      0.1465964999754854,
      0.018350082121990297
     ],
     "orientation_xyzw": [
      0.5852411271578032,
      -0.39685365567831626,
      0.5852411211809704,
      0.3968536621182435
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.06268673724449257,
      0.14476412202416933,
      0.018350080686391507
     ],
     "orientation_xyzw": [
      0.3862863108915012,
      -0.5922692650298521,
      0.3862863078694376,
      0.5922692732798414
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.14677600111022882,
      0.054750360779876196,
      0.018350079919801775
     ],
     "orientation_xyzw": [
      0.12169742927605216,
      -0.6965556184102899,
      0.1216974297487898,
      0.6965556271836424
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.14563035644851197,
      -0.06111279852494349,
      0.01835008025738992
     ],
     "orientation_xyzw": [
      -0.13545066737348757,
      -0.6940123281498886,
      -0.13545066379451406,
      0.6940123361739859
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.0571571933226903,
      -0.14903877923025255,
      0.01835008157421377
     ],
     "orientation_xyzw": [
      -0.39630635337424897,
      -0.5856118794231766,
      -0.3963063469399122,
      0.5856118854060268
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.06105821698036518,
      -0.14363406914772506,
      0.01835008299037008
     ],
     "orientation_xyzw": [
      0.5877708155413433,
      0.3930972805818161,
      0.5877708073267879,
      -0.39309728369891006
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.14607594735099666,
      -0.05897206772248318,
      0.018350083783153556
     ],
     "orientation_xyzw": [
      0.6933597737458577,
      0.13875240637948497,
      0.693359764963547,
      -0.1387524061221644
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      -0.14330837144054306,
      0.06240127734761582,
      0.018350083410533086
     ],
     "orientation_xyzw": [
      0.6912629888424462,
      -0.148847187406304,
      0.6912629808890646,
      0.14884719113979025
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      -0.060767184948115616,
      0.14518355327470345,
      0.018350082179900147
     ],
     "orientation_xyzw": [
      0.587414895409241,
      -0.3936289390543067,
      0.5874148893970802,
      0.39362894546126515
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/jpvcjv": {
   "category": "bowl",
   "model": "jpvcjv",
   "bbox_size": [
    0.19849610328674316,
    0.1986241340637207,
    0.07307511568069458
   ],
   "upright_orientation_xyzw": [
    0.0029778361786156893,
    -0.00179290899541229,
    -3.1811171083973022e-06,
    0.9999940991401672
   ],
   "mesh": "meshes/bowl__jpvcjv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.09878280502646399,
      -0.001288305238124795,
      0.11219385256698503
     ],
     "orientation_xyzw": [
      0.7071047589174129,
      -0.7071002601390853,
      0.0008378699290043725,
      0.003373425790987716
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.12008347762005875,
      -0.0013143509134091345,
      0.1078815883280141
     ],
     "orientation_xyzw": [
      0.7037957988975666,
      -0.7033639037952509,
      0.07259957474178792,
      -0.06841048194065422
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.08355524396380251,
      0.00026963446063167385,
      0.10994959210679056
     ],
     "orientation_xyzw": [
      0.7071047589174129,
      -0.7071002601390853,
      0.0008378699290043725,
      0.003373425790987716
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.12316866537927375,
      0.00020824639622888131,
      0.09952884805736682
     ],
     "orientation_xyzw": [
      -0.700998876333383,
      0.7015270831139888,
      0.08860717280424855,
      -0.09278521414832797
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0010444877391559157,
      0.0993734481076004,
      0.11211926198856746
     ],
     "orientation_xyzw": [
      -3.1819020559206786e-06,
      0.999993958962898,
      -0.0029778357597801427,
      -0.0017929087464245116
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0010564393182688112,
      0.14178739529054776,
      0.10873523752371589
     ],
     "orientation_xyzw": [
      -0.0003930323735921622,
      0.9754106518154114,
      -0.22038794384706414,
      -0.0017493019895989136
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.005225796807192998,
      -0.09837828296100083,
      0.11156672543048221
     ],
     "orientation_xyzw": [
      -3.1819020559206786e-06,
      0.999993958962898,
      -0.0029778357597801427,
      -0.0017929087464245116
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.005242515501624608,
      -0.14644503328127437,
      0.10696213263801627
     ],
     "orientation_xyzw": [
      0.000359366060899653,
      0.9799454335549681,
      0.19925795523107245,
      -0.001756527236276077
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bowl/kdkrov": {
   "category": "bowl",
   "model": "kdkrov",
   "bbox_size": [
    0.17851734161376953,
    0.17851710319519043,
    0.11503368616104126
   ],
   "upright_orientation_xyzw": [
    5.564652383327484e-07,
    -8.381903171539307e-09,
    1.0088842827826738e-06,
    1.0000001192092896
   ],
   "mesh": "meshes/bowl__kdkrov.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.00013090834432484476,
      -0.08882584277829927,
      0.13514408244111092
     ],
     "orientation_xyzw": [
      1.0080987638186635e-06,
      0.999999999999337,
      -5.564651717117455e-07,
      -8.38190260937988e-09
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.003068648697373375,
      0.08833921615894716,
      0.13532829887762038
     ],
     "orientation_xyzw": [
      1.0080987638186635e-06,
      0.999999999999337,
      -5.564651717117455e-07,
      -8.38190260937988e-09
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.08802989895804465,
      0.0037082063450242955,
      0.13498324810210938
     ],
     "orientation_xyzw": [
      -0.7071060674436924,
      0.7071074949284634,
      -3.875533967535346e-07,
      -3.994071964782061e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.08758134852136201,
      -0.0032175085062536002,
      0.13352348330662153
     ],
     "orientation_xyzw": [
      -0.7071060674436924,
      0.7071074949284634,
      -3.875533967535346e-07,
      -3.994071964782061e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.051465720466107034,
      0.06992123068290783,
      0.13434139018782112
     ],
     "orientation_xyzw": [
      -0.3826825006402142,
      0.9238799184436486,
      -5.10899169022293e-07,
      -2.2069386955921693e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.06117411334960453,
      -0.06427740529194449,
      0.1356976416506865
     ],
     "orientation_xyzw": [
      -0.3826825006402142,
      0.9238799184436486,
      -5.10899169022293e-07,
      -2.2069386955921693e-07
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "casserole/mmbavt": {
   "category": "casserole",
   "model": "mmbavt",
   "bbox_size": [
    0.23324644565582275,
    0.32098817825317383,
    0.08986291289329529
   ],
   "upright_orientation_xyzw": [
    -8.061015250859782e-07,
    -1.8274862668477e-05,
    0.0003480459563434124,
    1.0
   ],
   "mesh": "meshes/casserole__mmbavt.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.10940850835321277,
      -0.002311554030620713,
      0.13696020265072822
     ],
     "orientation_xyzw": [
      -0.7068606325992585,
      0.7073528438811537,
      1.3492278353388479e-05,
      -1.2352278713200481e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.10408973551824742,
      6.690660342745937e-05,
      0.13070246402432248
     ],
     "orientation_xyzw": [
      -0.7068606325992585,
      0.7073528438811537,
      1.3492278353388479e-05,
      -1.2352278713200481e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.00806196146821667,
      0.15486348246276327,
      0.13291387677308816
     ],
     "orientation_xyzw": [
      0.0003480451498065941,
      0.9999999392649749,
      8.061014904801394e-07,
      -1.827486155791465e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0013934649498056069,
      -0.1551758298119108,
      0.13428202315615606
     ],
     "orientation_xyzw": [
      0.0003480451498065941,
      0.9999999392649749,
      8.061014904801394e-07,
      -1.827486155791465e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.1044041773741634,
      -0.10351518593139344,
      0.13427824028583196
     ],
     "orientation_xyzw": [
      0.1974562743357739,
      0.9803116950188931,
      -2.811964540317226e-06,
      -1.8075210095539682e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.10502164139454763,
      0.09644190580447627,
      0.13428621953859354
     ],
     "orientation_xyzw": [
      0.1974562743357739,
      0.9803116950188931,
      -2.811964540317226e-06,
      -1.8075210095539682e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.03950940336931157,
      -0.14529058738702508,
      0.13180515717879474
     ],
     "orientation_xyzw": [
      -0.2584828433313245,
      0.9660158484045351,
      5.508516461498466e-06,
      -1.7443526334067356e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.031226817261657644,
      0.14911464645908484,
      0.132082599066722
     ],
     "orientation_xyzw": [
      -0.2584828433313245,
      0.9660158484045351,
      5.508516461498466e-06,
      -1.7443526334067356e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "chopping_board/akgegh": {
   "category": "chopping_board",
   "model": "akgegh",
   "bbox_size": [
    0.23666000366210938,
    0.3060699701309204,
    0.018900930881500244
   ],
   "upright_orientation_xyzw": [
    -1.1678768714773469e-05,
    -1.2291113307583146e-05,
    1.7545969512866577e-06,
    1.0000001192092896
   ],
   "mesh": "meshes/chopping_board__akgegh.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.10044663352761783,
      0.10045474046586884,
      0.10845315635829263
     ],
     "orientation_xyzw": [
      -0.7036992261331324,
      0.7037000756491333,
      0.06933943878984568,
      -0.06932275888439389
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.10044626626512496,
      -0.004223762119489137,
      0.10845071133105433
     ],
     "orientation_xyzw": [
      -0.7036992261331324,
      0.7037000756491333,
      0.06933943878984568,
      -0.06932275888439389
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.1004459460908488,
      -0.09548100849578872,
      0.10844857979069437
     ],
     "orientation_xyzw": [
      -0.7036992261331324,
      0.7037000756491333,
      0.06933943878984568,
      -0.06932275888439389
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.10955026060671909,
      -0.09548030984097589,
      0.1100802960634612
     ],
     "orientation_xyzw": [
      -0.7007349795148321,
      0.7007396498847142,
      -0.09468736620972644,
      0.09470340143870772
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.1095498995070096,
      0.007441653625290425,
      0.1100827000623519
     ],
     "orientation_xyzw": [
      -0.7007349795148321,
      0.7007396498847142,
      -0.09468736620972644,
      0.09470340143870772
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.10954959778446259,
      0.0934397204803336,
      0.11008470876147071
     ],
     "orientation_xyzw": [
      -0.7007349795148321,
      0.7007396498847142,
      -0.09468736620972644,
      0.09470340143870772
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.07749355681755202,
      -0.12945073164646373,
      0.10912145156713167
     ],
     "orientation_xyzw": [
      -0.19746872567925075,
      0.9723437376237194,
      0.12111635722189829,
      -0.02974199549199377
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.00801063208072665,
      -0.1352713378067707,
      0.10623982310970928
     ],
     "orientation_xyzw": [
      3.0007640275197777e-06,
      0.9947628115038019,
      0.10221031599062957,
      -1.2047518397271304e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.07092215558812033,
      -0.12159831249126424,
      0.10856714243983494
     ],
     "orientation_xyzw": [
      0.1850939037392591,
      0.9793280475302519,
      0.08017294869800413,
      0.015136724091210108
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.0721530378196948,
      0.12237768089714883,
      0.10750487782739296
     ],
     "orientation_xyzw": [
      -0.12120408399602808,
      0.9889274251971645,
      -0.08499293556747066,
      0.01040762312990405
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.0035690345032083166,
      0.13339492307863834,
      0.10817374112269985
     ],
     "orientation_xyzw": [
      7.64428512122673e-07,
      0.9967927459151242,
      -0.08002638025575706,
      -1.2392051215650342e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.07315454906006606,
      0.12262092435644678,
      0.10845944385352377
     ],
     "orientation_xyzw": [
      0.12693859347266004,
      0.988604370434203,
      -0.08025884185980978,
      -0.010320394803400077
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "chopping_board/ayegwd": {
   "category": "chopping_board",
   "model": "ayegwd",
   "bbox_size": [
    0.16412987560033798,
    0.3060699999332428,
    0.014891564846038818
   ],
   "upright_orientation_xyzw": [
    1.147896000475157e-09,
    7.525557066401234e-09,
    1.1495547369122505e-05,
    1.0000001192092896
   ],
   "mesh": "meshes/chopping_board__ayegwd.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.002866372785443924,
      0.1295791066135286,
      0.10671264031532807
     ],
     "orientation_xyzw": [
      1.1463394721501277e-05,
      0.9972225275021863,
      -0.07447973220965214,
      -8.486220240415924e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.05886532427140419,
      0.11056293414197507,
      0.10744155147360192
     ],
     "orientation_xyzw": [
      0.03894227892090067,
      0.9974080031282724,
      -0.06040543430432829,
      0.003457992860671828
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.05223637480041257,
      0.11754980103954009,
      0.10737123074952624
     ],
     "orientation_xyzw": [
      -0.07892618156036735,
      0.9930344726544118,
      -0.08601558710596,
      0.015953456023421637
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.004037439536470856,
      -0.13041331022750347,
      0.10693587922358146
     ],
     "orientation_xyzw": [
      1.145809537978767e-05,
      0.9968620910143337,
      0.07915788884502171,
      9.174029367297074e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.05034574444320312,
      -0.11984291371133132,
      0.10862505918758049
     ],
     "orientation_xyzw": [
      0.04771814925504731,
      0.9957193414132471,
      0.07906723390455996,
      -0.003787332824567646
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.054368606868095484,
      -0.11971854651002659,
      0.10688987089534087
     ],
     "orientation_xyzw": [
      -0.0538987958570211,
      0.995431769794744,
      0.0783823490955307,
      -0.00816816005802375
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.06214281575587017,
      -0.0912383679141292,
      0.1076699181673661
     ],
     "orientation_xyzw": [
      -0.7043250110467271,
      0.7043412038732991,
      0.06256966974748304,
      -0.06256823289841622
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.06214503032531539,
      0.005088756185995378,
      0.10766991794623576
     ],
     "orientation_xyzw": [
      -0.7043250110467271,
      0.7043412038732991,
      0.06256966974748304,
      -0.06256823289841622
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.06214736692305628,
      0.10672374489398335,
      0.10766991771292056
     ],
     "orientation_xyzw": [
      -0.7043250110467271,
      0.7043412038732991,
      0.06256966974748304,
      -0.06256823289841622
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.06423316801332542,
      0.10672665039350596,
      0.10740738524152155
     ],
     "orientation_xyzw": [
      -0.7036449736709143,
      0.7036611505593071,
      -0.06980315350719768,
      0.06980154712942309
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.06423568213501843,
      -0.00263009741467747,
      0.10740738549256294
     ],
     "orientation_xyzw": [
      -0.7036449736709143,
      0.7036611505593071,
      -0.06980315350719768,
      0.06980154712942309
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.06423806542460371,
      -0.10629604121438378,
      0.10740738573054044
     ],
     "orientation_xyzw": [
      -0.7036449736709143,
      0.7036611505593071,
      -0.06980315350719768,
      0.06980154712942309
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "cutting_board/nsvnai": {
   "category": "cutting_board",
   "model": "nsvnai",
   "bbox_size": [
    0.3632516860961914,
    0.2439521849155426,
    0.030011385679244995
   ],
   "upright_orientation_xyzw": [
    2.5494620786048472e-05,
    1.1625311344687361e-05,
    -0.0001456382597098127,
    1.0000001192092896
   ],
   "mesh": "meshes/cutting_board__nsvnai.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.17071963582743296,
      0.009594998294498175,
      0.1088492247204137
     ],
     "orientation_xyzw": [
      0.7012746120049707,
      -0.7010657148198577,
      0.09143973458710426,
      -0.09143061303545874
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.1707436703617906,
      0.09210938409466861,
      0.10884501709546267
     ],
     "orientation_xyzw": [
      0.7012746120049707,
      -0.7010657148198577,
      0.09143973458710426,
      -0.09143061303545874
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.170692887696909,
      -0.08223559549389982,
      0.10885390740324463
     ],
     "orientation_xyzw": [
      0.7012746120049707,
      -0.7010657148198577,
      0.09143973458710426,
      -0.09143061303545874
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.17329962607732424,
      -0.07945711749214433,
      0.10670496622563189
     ],
     "orientation_xyzw": [
      0.6997706372354936,
      -0.6995720543663803,
      -0.10224139233617786,
      0.10230686050208558
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.17327643411265625,
      0.00016459231937291963,
      0.10670090610581644
     ],
     "orientation_xyzw": [
      0.6997706372354936,
      -0.6995720543663803,
      -0.10224139233617786,
      0.10230686050208558
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.17325005369300966,
      0.09073277607928935,
      0.10669628779658391
     ],
     "orientation_xyzw": [
      0.6997706372354936,
      -0.6995720543663803,
      -0.10224139233617786,
      0.10230686050208558
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.13436273102215734,
      0.10815435837641595,
      0.10965265098928052
     ],
     "orientation_xyzw": [
      -0.00014369563350198446,
      0.9947894478883534,
      -0.10195064013585733,
      2.6409064297849306e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.001967551868429634,
      0.10811579448679795,
      0.1096495737024023
     ],
     "orientation_xyzw": [
      -0.00014369563350198446,
      0.9947894478883534,
      -0.10195064013585733,
      2.6409064297849306e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.13662503908833976,
      0.10807542542340991,
      0.10964635236787718
     ],
     "orientation_xyzw": [
      -0.00014369563350198446,
      0.9947894478883534,
      -0.10195064013585733,
      2.6409064297849306e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.12110669186084425,
      -0.11040737970310076,
      0.10948952708239118
     ],
     "orientation_xyzw": [
      -0.00014594007832380876,
      0.9919776424307799,
      0.12641335203054282,
      -6.882390824789536e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.005205841141411205,
      -0.11044113914692906,
      0.1094868331763942
     ],
     "orientation_xyzw": [
      -0.00014594007832380876,
      0.9919776424307799,
      0.12641335203054282,
      -6.882390824789536e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.14265139037653135,
      -0.11048420680235221,
      0.10948339650202804
     ],
     "orientation_xyzw": [
      -0.00014594007832380876,
      0.9919776424307799,
      0.12641335203054282,
      -6.882390824789536e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "cutting_board/tcdrzs": {
   "category": "cutting_board",
   "model": "tcdrzs",
   "bbox_size": [
    0.40000009536743164,
    0.28000010550022125,
    0.020000040531158447
   ],
   "upright_orientation_xyzw": [
    -1.0314548859469141e-07,
    3.074884702414238e-08,
    -9.51349920796929e-06,
    1.0
   ],
   "mesh": "meshes/cutting_board__tcdrzs.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.006231200942495907,
      -0.13026073382479722,
      0.10610760943208833
     ],
     "orientation_xyzw": [
      -9.436325994256298e-06,
      0.9913827738744136,
      0.1309969296378762,
      -1.2158572204568552e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.14904108499139948,
      -0.1302634512925594,
      0.10610760064932946
     ],
     "orientation_xyzw": [
      -9.436325994256298e-06,
      0.9913827738744136,
      0.1309969296378762,
      -1.2158572204568552e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.16758334041036904,
      -0.1302574263827678,
      0.10610762012162299
     ],
     "orientation_xyzw": [
      -9.436325994256298e-06,
      0.9913827738744136,
      0.1309969296378762,
      -1.2158572204568552e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.1278580383396486,
      0.12270734377090182,
      0.10691537476021432
     ],
     "orientation_xyzw": [
      -9.469177897957359e-06,
      0.9955631680344029,
      -0.09409558099496798,
      9.258655341084875e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.00661399309374282,
      0.12270503667019585,
      0.10691536730374714
     ],
     "orientation_xyzw": [
      -9.469177897957359e-06,
      0.9955631680344029,
      -0.09409558099496798,
      9.258655341084875e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.14406953736871544,
      0.12270216937820799,
      0.1069153580367617
     ],
     "orientation_xyzw": [
      -9.469177897957359e-06,
      0.9955631680344029,
      -0.09409558099496798,
      9.258655341084875e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.18335519418414525,
      0.09957136140537111,
      0.10625173455896704
     ],
     "orientation_xyzw": [
      0.7039295019352996,
      -0.7039161215202615,
      0.06702671008383268,
      -0.06702813069399487
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.18335347789428705,
      0.009373232313652734,
      0.10625171595195963
     ],
     "orientation_xyzw": [
      0.7039295019352996,
      -0.7039161215202615,
      0.06702671008383268,
      -0.06702813069399487
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.18335144648860105,
      -0.09738553656657481,
      0.10625169392865134
     ],
     "orientation_xyzw": [
      0.7039295019352996,
      -0.7039161215202615,
      0.06702671008383268,
      -0.06702813069399487
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.1807741460460118,
      0.0846625742757137,
      0.10538303450494924
     ],
     "orientation_xyzw": [
      0.7040637892485199,
      -0.7040503789183727,
      -0.06560144774077489,
      0.06560255077530133
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.18077585748687883,
      -0.0052807202770627,
      0.10538301595051174
     ],
     "orientation_xyzw": [
      0.7040637892485199,
      -0.7040503789183727,
      -0.06560144774077489,
      0.06560255077530133
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.18077760327780865,
      -0.0970292526728841,
      0.10538299702367102
     ],
     "orientation_xyzw": [
      0.7040637892485199,
      -0.7040503789183727,
      -0.06560144774077489,
      0.06560255077530133
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "mixing_bowl/bsgybx": {
   "category": "mixing_bowl",
   "model": "bsgybx",
   "bbox_size": [
    0.23939847946166992,
    0.21172189712524414,
    0.11382061243057251
   ],
   "upright_orientation_xyzw": [
    6.781192496418953e-09,
    7.043126970529556e-09,
    6.968621164560318e-07,
    1.0000001192092896
   ],
   "mesh": "meshes/mixing_bowl__bsgybx.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.12325041936776307,
      0.0014648573371490237,
      0.14525728280842826
     ],
     "orientation_xyzw": [
      -0.7071062880769534,
      0.707107274295798,
      -9.775268870083016e-09,
      1.852156207906726e-10
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.11114641422188662,
      -0.003135350528016079,
      0.1378428633861026
     ],
     "orientation_xyzw": [
      -0.7071062880769534,
      0.707107274295798,
      -9.775268870083016e-09,
      1.852156207906726e-10
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.010028414128980243,
      -0.1032427210128438,
      0.1388939319623971
     ],
     "orientation_xyzw": [
      6.960766348444687e-07,
      0.9999999999997577,
      -6.7811916901773265e-09,
      7.043126125595847e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.010725013104236914,
      0.10501456781726906,
      0.1430046526852935
     ],
     "orientation_xyzw": [
      6.960766348444687e-07,
      0.9999999999997577,
      -6.7811916901773265e-09,
      7.043126125595847e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.08178309794470576,
      -0.06875832556310424,
      0.14209069103834887
     ],
     "orientation_xyzw": [
      -0.3826827889112339,
      0.9238797990383381,
      -8.960291899149904e-09,
      3.911950379054725e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.06942587894721092,
      0.07541885104218575,
      0.1406439034171529
     ],
     "orientation_xyzw": [
      -0.3826827889112339,
      0.9238797990383381,
      -8.960291899149904e-09,
      3.911950379054725e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "mixing_bowl/xifive": {
   "category": "mixing_bowl",
   "model": "xifive",
   "bbox_size": [
    0.2904999256134033,
    0.25691866874694824,
    0.13919273018836975
   ],
   "upright_orientation_xyzw": [
    6.95907510817051e-05,
    -2.1103842300362885e-05,
    4.558547516353428e-06,
    1.000000238418579
   ],
   "mesh": "meshes/mixing_bowl__xifive.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0853759684214636,
      -0.09853650835428028,
      0.15789200857733351
     ],
     "orientation_xyzw": [
      -0.3826792201643265,
      0.9238812743887499,
      -5.6217366198271685e-05,
      -4.612862434516913e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.07829193427999752,
      0.09891981752497846,
      0.15719242150677185
     ],
     "orientation_xyzw": [
      -0.3826792201643265,
      0.9238812743887499,
      -5.6217366198271685e-05,
      -4.612862434516913e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.14235908887990947,
      0.009446886756570709,
      0.16199428761556417
     ],
     "orientation_xyzw": [
      -0.7071035555768888,
      0.7071100030421572,
      -3.4285413747692345e-05,
      -6.413074653721956e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.1356872707660495,
      -0.0017844264804673172,
      0.15077663877088335
     ],
     "orientation_xyzw": [
      -0.7071035555768888,
      0.7071100030421572,
      -3.4285413747692345e-05,
      -6.413074653721956e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.003290043526229141,
      0.12810181069844873,
      0.15720892300186837
     ],
     "orientation_xyzw": [
      4.557761016943566e-06,
      0.9999999973454924,
      -6.959073425388135e-05,
      -2.1103837267452056e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0077207844940391955,
      -0.1264698647893268,
      0.1547502411416985
     ],
     "orientation_xyzw": [
      4.557761016943566e-06,
      0.9999999973454924,
      -6.959073425388135e-05,
      -2.1103837267452056e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "plate/iawoof": {
   "category": "plate",
   "model": "iawoof",
   "bbox_size": [
    0.20000028610229492,
    0.1999993920326233,
    0.02355244755744934
   ],
   "upright_orientation_xyzw": [
    3.2501257010153495e-06,
    1.8597007510834374e-05,
    -6.487379141617566e-05,
    1.000000238418579
   ],
   "mesh": "meshes/plate__iawoof.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.012643992390961947,
      -0.07957692792317932,
      0.10567096734907577
     ],
     "orientation_xyzw": [
      -6.630138420128491e-05,
      0.995824672893307,
      0.09128645191035187,
      1.2596970490957933e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.057010634139912836,
      -0.07958268446141256,
      0.10566931719463171
     ],
     "orientation_xyzw": [
      -6.630138420128491e-05,
      0.995824672893307,
      0.09128645191035187,
      1.2596970490957933e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.05988600017334988,
      -0.07956751721146449,
      0.10567366499949148
     ],
     "orientation_xyzw": [
      -6.630138420128491e-05,
      0.995824672893307,
      0.09128645191035187,
      1.2596970490957933e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.05933650115598661,
      0.08556048133496512,
      0.10529731238847133
     ],
     "orientation_xyzw": [
      -6.223052805714123e-05,
      0.9930297049415512,
      -0.11786433111479785,
      2.6113570998349035e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0012882926867818162,
      0.08555261531378609,
      0.10529505753507165
     ],
     "orientation_xyzw": [
      -6.223052805714123e-05,
      0.9930297049415512,
      -0.11786433111479785,
      2.6113570998349035e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.06576140245103619,
      0.08554424997652495,
      0.10529265954900811
     ],
     "orientation_xyzw": [
      -6.223052805714123e-05,
      0.9930297049415512,
      -0.11786433111479785,
      2.6113570998349035e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.08234133486334462,
      -0.054928081598410755,
      0.1057790023436815
     ],
     "orientation_xyzw": [
      0.7038911074658668,
      -0.703799343529263,
      0.06783516663625361,
      -0.0678393915486102
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.08234802244377451,
      -0.003385412821707689,
      0.10577866717908507
     ],
     "orientation_xyzw": [
      0.7038911074658668,
      -0.703799343529263,
      0.06783516663625361,
      -0.0678393915486102
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.08235722086673994,
      0.06750887744440491,
      0.10577820617741888
     ],
     "orientation_xyzw": [
      0.7038911074658668,
      -0.703799343529263,
      0.06783516663625361,
      -0.0678393915486102
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.08607949137366944,
      0.06791385705476265,
      0.10462086610872615
     ],
     "orientation_xyzw": [
      0.7014032683347553,
      -0.7013128533533228,
      -0.08997448252816145,
      0.08999071832435485
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.08608860514421089,
      -0.0023279981646736345,
      0.1046213228678272
     ],
     "orientation_xyzw": [
      0.7014032683347553,
      -0.7013128533533228,
      -0.08997448252816145,
      0.08999071832435485
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.08609655645797165,
      -0.06361054060390468,
      0.10462172136753807
     ],
     "orientation_xyzw": [
      0.7014032683347553,
      -0.7013128533533228,
      -0.08997448252816145,
      0.08999071832435485
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 12,
     "position": [
      -0.09000755495686823,
      0.0891331845811894,
      0.09916464516821352
     ],
     "orientation_xyzw": [
      0.9187148780937383,
      -0.3949214762617952,
      1.8368604724296816e-05,
      -4.359609424652371e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 13,
     "position": [
      0.09094993619235457,
      -0.09041329002891339,
      0.09917254244224606
     ],
     "orientation_xyzw": [
      0.9140152802332674,
      -0.40567975934681505,
      1.8316158082347917e-05,
      -4.574952126024708e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 14,
     "position": [
      0.09049405704310762,
      0.09085849638451798,
      0.09739036929421685
     ],
     "orientation_xyzw": [
      -0.3629790038704894,
      0.9317973183009143,
      -9.777731660207568e-06,
      1.614954480578173e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 15,
     "position": [
      -0.08848025820917149,
      -0.08700283221644943,
      0.09809770366962575
     ],
     "orientation_xyzw": [
      -0.3629790038704894,
      0.9317973183009143,
      -9.777731660207568e-06,
      1.614954480578173e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/pjinwe": {
   "category": "plate",
   "model": "pjinwe",
   "bbox_size": [
    0.4217667579650879,
    0.4220440983772278,
    0.020143359899520874
   ],
   "upright_orientation_xyzw": [
    6.2427716329693794e-09,
    1.9240542314946651e-07,
    6.228632173588267e-06,
    1.000000238418579
   ],
   "mesh": "meshes/plate__pjinwe.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.191683128896864,
      0.15897416857944296,
      0.11189925854381778
     ],
     "orientation_xyzw": [
      -0.7039654297560443,
      0.7039741977575198,
      -0.06653237574554208,
      0.06653153821833939
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.19168538848228028,
      -0.02242740508027051,
      0.11189926080827971
     ],
     "orientation_xyzw": [
      -0.7039654297560443,
      0.7039741977575198,
      -0.06653237574554208,
      0.06653153821833939
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.19168715046586024,
      -0.16388105045455406,
      0.11189926257406593
     ],
     "orientation_xyzw": [
      -0.7039654297560443,
      0.7039741977575198,
      -0.06653237574554208,
      0.06653153821833939
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.19668959400887057,
      -0.15412036006571925,
      0.11101393379696141
     ],
     "orientation_xyzw": [
      -0.7039348389801438,
      0.7039436082656669,
      0.06685525044903184,
      -0.06685442647506405
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.19669128358750795,
      -0.01847944937594809,
      0.1110139321037364
     ],
     "orientation_xyzw": [
      -0.7039348389801438,
      0.7039436082656669,
      0.06685525044903184,
      -0.06685442647506405
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.1966933652247922,
      0.14863628629423345,
      0.11101393001760666
     ],
     "orientation_xyzw": [
      -0.7039348389801438,
      0.7039436082656669,
      0.06685525044903184,
      -0.06685442647506405
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.15612045697876056,
      0.19067653071152252,
      0.11108032731575274
     ],
     "orientation_xyzw": [
      6.219700594001285e-06,
      0.9958961769677616,
      -0.09050306438002002,
      -3.720232647828076e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.005331511439974191,
      0.19067465253107418,
      0.11108038534097237
     ],
     "orientation_xyzw": [
      6.219700594001285e-06,
      0.9958961769677616,
      -0.09050306438002002,
      -3.720232647828076e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.16112892948191448,
      0.19067257915132843,
      0.11108044939675318
     ],
     "orientation_xyzw": [
      6.219700594001285e-06,
      0.9958961769677616,
      -0.09050306438002002,
      -3.720232647828076e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.15299107203278495,
      -0.1997809395879891,
      0.11054058091777082
     ],
     "orientation_xyzw": [
      6.1646915301540685e-06,
      0.9934024339666303,
      0.11468044362641557,
      9.053480693116258e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.01749505985224732,
      -0.1997792518915867,
      0.11054052877743759
     ],
     "orientation_xyzw": [
      6.1646915301540685e-06,
      0.9934024339666303,
      0.11468044362641557,
      9.053480693116258e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.17322275236195694,
      -0.19977687636952987,
      0.11054045538715754
     ],
     "orientation_xyzw": [
      6.1646915301540685e-06,
      0.9934024339666303,
      0.11468044362641557,
      9.053480693116258e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/vtjwof": {
   "category": "plate",
   "model": "vtjwof",
   "bbox_size": [
    0.2298135757446289,
    0.22990822792053223,
    0.0072893500328063965
   ],
   "upright_orientation_xyzw": [
    -1.6913288618525257e-06,
    -8.392028576054145e-06,
    -1.5076023373694625e-05,
    1.0
   ],
   "mesh": "meshes/plate__vtjwof.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.001756211639771456,
      -0.09308624560912426,
      0.10966551745950576
     ],
     "orientation_xyzw": [
      -1.4329230869297464e-05,
      0.9965578822144112,
      0.08289986187317379,
      -9.612983353147363e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0017948061503370977,
      0.08600267982102627,
      0.10796503329334546
     ],
     "orientation_xyzw": [
      -1.547405501862736e-05,
      0.9987721113879223,
      -0.04954058150622978,
      -7.634784052873353e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.08341492300955448,
      -0.005366367044214178,
      0.10678048331464828
     ],
     "orientation_xyzw": [
      0.7066224225911719,
      -0.7066012055992122,
      0.026451081954510076,
      -0.026454269987255367
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.08820537192388979,
      -0.002014121966134771,
      0.10762523944434363
     ],
     "orientation_xyzw": [
      0.7060245256258245,
      -0.7060031042297786,
      -0.03930064005510377,
      0.039299436688138956
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/xfjmld": {
   "category": "plate",
   "model": "xfjmld",
   "bbox_size": [
    0.3104991912841797,
    0.3104991912841797,
    0.03417673707008362
   ],
   "upright_orientation_xyzw": [
    4.1676685214042664e-08,
    2.302476787008345e-08,
    8.901687579054851e-06,
    1.000000238418579
   ],
   "mesh": "meshes/plate__xfjmld.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.13868302911026878,
      0.0034552795698993403,
      0.11842041942024603
     ],
     "orientation_xyzw": [
      -0.7032357020970587,
      0.7032482276252346,
      0.07382974690071245,
      -0.07382849118463668
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.14409839700539487,
      -0.004693564877051485,
      0.11497517412920268
     ],
     "orientation_xyzw": [
      -0.7018776795277889,
      0.7018901675753562,
      -0.08578516099242012,
      0.08578357532319038
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.007848219244223839,
      -0.13857773136774787,
      0.11384696426626414
     ],
     "orientation_xyzw": [
      8.856127769538833e-06,
      0.9952224750000824,
      0.09763311515814584,
      8.919377304903422e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0005355388859467703,
      0.14440612301199046,
      0.11232716139134692
     ],
     "orientation_xyzw": [
      8.820051096499451e-06,
      0.9905622043095953,
      -0.13706392418900312,
      -1.1971844639018504e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "plate/zpddxu": {
   "category": "plate",
   "model": "zpddxu",
   "bbox_size": [
    0.2259979248046875,
    0.22599875926971436,
    0.027570754289627075
   ],
   "upright_orientation_xyzw": [
    -0.0012177468743175268,
    -4.400469333631918e-05,
    1.5304220823963988e-06,
    0.9999992847442627
   ],
   "mesh": "meshes/plate__zpddxu.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0012338333477785437,
      0.09029811411931761,
      0.10881277737218893
     ],
     "orientation_xyzw": [
      -2.0398580976556836e-06,
      0.9968118383624992,
      -0.07978820064158589,
      -4.3983992695480846e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.003130302615236773,
      -0.09056063205390401,
      0.11004300004371184
     ],
     "orientation_xyzw": [
      5.189497403265332e-06,
      0.9964231371005375,
      0.08450402305198665,
      -4.3724383943014985e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.09684331476057835,
      -0.003332821520929575,
      0.1080158426478471
     ],
     "orientation_xyzw": [
      -0.7028369110360116,
      0.7030259990658224,
      -0.07586849243910034,
      0.07758023574260248
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0976070076417347,
      0.0006121763059654114,
      0.1080402136354351
     ],
     "orientation_xyzw": [
      0.7022235922861153,
      -0.7020217127018645,
      -0.0846587172275871,
      0.08294843536381002
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "platter/csanbr": {
   "category": "platter",
   "model": "csanbr",
   "bbox_size": [
    0.21726572513580322,
    0.34479154646396637,
    0.019948214292526245
   ],
   "upright_orientation_xyzw": [
    5.940535993431695e-05,
    0.00018218471086584032,
    7.297308184206486e-05,
    1.0
   ],
   "mesh": "meshes/platter__csanbr.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.09253090569679627,
      -0.001384057587937906,
      0.10889370631361565
     ],
     "orientation_xyzw": [
      -0.7029820365365673,
      0.7030936544030041,
      0.07571193129058901,
      -0.0757843843108745
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.08890005001422556,
      -0.006251897771077603,
      0.11149902698272332
     ],
     "orientation_xyzw": [
      -0.703875131813302,
      0.7039699189879156,
      -0.06707709416536757,
      0.06698369513012006
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.00397765531288995,
      -0.15236016083329026,
      0.10973015084696142
     ],
     "orientation_xyzw": [
      5.672691443315885e-05,
      0.9961583622872365,
      0.08756985057077138,
      0.0001878783661415749
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.00037740940324773635,
      0.1508413367547341,
      0.11085977420563989
     ],
     "orientation_xyzw": [
      8.739478126446172e-05,
      0.9967528118693204,
      -0.08052200639812665,
      0.00017572243878592029
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.038444733390955464,
      0.143732564193771,
      0.1117003592188275
     ],
     "orientation_xyzw": [
      -0.2569545776437843,
      0.9593054141688458,
      -0.1130587571639585,
      0.030416850638823576
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.022292578737555017,
      -0.14469596845092503,
      0.11063447813612237
     ],
     "orientation_xyzw": [
      -0.25789176385182466,
      0.9627056183671102,
      0.07903829824534418,
      -0.021039912363762653
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "platter/iadlti": {
   "category": "platter",
   "model": "iadlti",
   "bbox_size": [
    0.25949999690055847,
    0.2616060972213745,
    0.03688564896583557
   ],
   "upright_orientation_xyzw": [
    -4.743924364447594e-09,
    -5.549372872337699e-08,
    1.7695888345770072e-06,
    1.0
   ],
   "mesh": "meshes/platter__iadlti.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.10152691598649333,
      -0.0014753476179007738,
      0.11043038047169057
     ],
     "orientation_xyzw": [
      -0.7005874185232842,
      0.7005898982392438,
      -0.09578916209029616,
      0.09578882981875139
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.13308715101827656,
      0.001353925752911857,
      0.11472640197483099
     ],
     "orientation_xyzw": [
      -0.7010972386657384,
      0.7010997184040142,
      0.09198344385076618,
      -0.09198311174580802
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.02961969001908173,
      -0.1229888569291242,
      0.11150237571638717
     ],
     "orientation_xyzw": [
      1.7572822979346157e-06,
      0.9888051433960562,
      0.14921256110117895,
      2.0905519810716062e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.03218513568573623,
      0.11579842395345144,
      0.10844396642770647
     ],
     "orientation_xyzw": [
      1.7440128583916486e-06,
      0.9903357705635857,
      -0.13869052433060136,
      -3.002737088966965e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "platter/kiiamx": {
   "category": "platter",
   "model": "kiiamx",
   "bbox_size": [
    0.13843774795532227,
    0.3403000235557556,
    0.027792811393737793
   ],
   "upright_orientation_xyzw": [
    -0.0003623633529059589,
    -0.00019420312310103327,
    1.2905727089673746e-05,
    1.000000238418579
   ],
   "mesh": "meshes/platter__kiiamx.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0001652921503201661,
      0.16412640225896485,
      0.11319605672951263
     ],
     "orientation_xyzw": [
      -1.9537112599834902e-05,
      0.98616417569998,
      -0.16577147126273847,
      -0.00019364830799836917
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.03902097042035776,
      0.16412539638166893,
      0.1131808361789464
     ],
     "orientation_xyzw": [
      -1.9537112599834902e-05,
      0.98616417569998,
      -0.16577147126273847,
      -0.00019364830799836917
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.040411451505522285,
      0.16412743534288987,
      0.11321168896038582
     ],
     "orientation_xyzw": [
      -1.9537112599834902e-05,
      0.98616417569998,
      -0.16577147126273847,
      -0.00019364830799836917
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0024580575076282797,
      -0.1660860833829458,
      0.1120815296477231
     ],
     "orientation_xyzw": [
      4.466221974718761e-05,
      0.986328978700134,
      0.16478806963789747,
      -0.00018943772614403873
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.032155430618351584,
      -0.1660851948847948,
      0.11209497406195743
     ],
     "orientation_xyzw": [
      4.466221974718761e-05,
      0.986328978700134,
      0.16478806963789747,
      -0.00018943772614403873
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.04082312650487078,
      -0.16608706818091656,
      0.11206662806144407
     ],
     "orientation_xyzw": [
      4.466221974718761e-05,
      0.986328978700134,
      0.16478806963789747,
      -0.00018943772614403873
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.06152116320382427,
      -0.11009832421267796,
      0.11535393701769939
     ],
     "orientation_xyzw": [
      0.7005989112230755,
      -0.7005475902178486,
      -0.09615638009952303,
      0.09564617085467986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.06152399992580083,
      -0.0007884437873936271,
      0.11543315624790164
     ],
     "orientation_xyzw": [
      0.7005989112230755,
      -0.7005475902178486,
      -0.09615638009952303,
      0.09564617085467986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.06152689679943714,
      0.11083931297163128,
      0.11551405529312289
     ],
     "orientation_xyzw": [
      0.7005989112230755,
      -0.7005475902178486,
      -0.09615638009952303,
      0.09564617085467986
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.0642394445707172,
      0.11390755988266264,
      0.11530304002390984
     ],
     "orientation_xyzw": [
      -0.7009086040344845,
      0.7009942638397011,
      -0.09284405020093851,
      0.09334962879707487
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.06424218901562032,
      0.008153472357118855,
      0.11522639775358696
     ],
     "orientation_xyzw": [
      -0.7009086040344845,
      0.7009942638397011,
      -0.09284405020093851,
      0.09334962879707487
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.06424552929846564,
      -0.12056055792967106,
      0.11513311591706973
     ],
     "orientation_xyzw": [
      -0.7009086040344845,
      0.7009942638397011,
      -0.09284405020093851,
      0.09334962879707487
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "saucer/oxivmf": {
   "category": "saucer",
   "model": "oxivmf",
   "bbox_size": [
    0.2673642635345459,
    0.2673662304878235,
    0.01796385645866394
   ],
   "upright_orientation_xyzw": [
    -0.00016758487618062645,
    0.00019417802104726434,
    0.00010110078437719494,
    1.0
   ],
   "mesh": "meshes/saucer__oxivmf.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.11763577668528868,
      -0.0041855628796566135,
      0.11090214468469324
     ],
     "orientation_xyzw": [
      -0.7034324175092601,
      0.703550680287534,
      0.07153675979762848,
      -0.07128650827248273
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.11555336289794074,
      -0.0013382118836657345,
      0.11217117935687237
     ],
     "orientation_xyzw": [
      -0.7035201653848784,
      0.7036859552076188,
      -0.07019361921810661,
      0.07041526227628474
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.009250424584859989,
      -0.11283953769119962,
      0.11137388086900894
     ],
     "orientation_xyzw": [
      8.391218197834071e-05,
      0.9962319668544029,
      0.08672842839056802,
      0.00020220053356804365
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.00044946850613465666,
      0.1138690743222054,
      0.11062896269766248
     ],
     "orientation_xyzw": [
      0.00011646835197472829,
      0.9967397751688895,
      -0.08068316224567279,
      0.00018536837121757994
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "sponge/aewrov": {
   "category": "sponge",
   "model": "aewrov",
   "bbox_size": [
    0.10500001907348633,
    0.0700000524520874,
    0.021000027656555176
   ],
   "upright_orientation_xyzw": [
    -7.134343782411179e-09,
    2.730713433152232e-09,
    1.2028215223836014e-07,
    1.0
   ],
   "mesh": "meshes/sponge__aewrov.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0525000096577826,
      0.0009105755793657526,
      0.10521385333710054
     ],
     "orientation_xyzw": [
      1.1949675404782418e-07,
      0.9999999999999929,
      7.134343780266431e-09,
      2.730713438755513e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.004027571467190372,
      0.0009105639947677017,
      0.10521385360182912
     ],
     "orientation_xyzw": [
      1.1949675404782418e-07,
      0.9999999999999929,
      7.134343780266431e-09,
      2.730713438755513e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.04043753471805577,
      0.0009105533678959849,
      0.10521385384467198
     ],
     "orientation_xyzw": [
      1.1949675404782418e-07,
      0.9999999999999929,
      7.134343780266431e-09,
      2.730713438755513e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.050458652134910846,
      0.03277929131387172,
      0.10302905016767118
     ],
     "orientation_xyzw": [
      0.929001412026211,
      -0.37007617655464703,
      -1.034131152221008e-10,
      -7.638387446786548e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.04891619675621429,
      0.03281708795935013,
      0.10302905071093914
     ],
     "orientation_xyzw": [
      -0.37564680789422816,
      0.9267629015659166,
      5.586060733362235e-09,
      5.210718044839389e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.04304348046169291,
      -0.025731181028678333,
      0.10302904984345879
     ],
     "orientation_xyzw": [
      0.372789401575691,
      0.9279159779165559,
      7.63805262939207e-09,
      -1.2573420482557807e-10
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.050314058695118076,
      -0.03265873324881366,
      0.10302904923474618
     ],
     "orientation_xyzw": [
      0.925048299315375,
      0.37984950168946185,
      5.2360194169369665e-09,
      -5.562351816011401e-09
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "sponge/klwueh": {
   "category": "sponge",
   "model": "klwueh",
   "bbox_size": [
    0.10500001907348633,
    0.07000000029802322,
    0.021000027656555176
   ],
   "upright_orientation_xyzw": [
    3.0804038431142544e-08,
    -1.2035504823870724e-06,
    2.0425476421337407e-08,
    1.0
   ],
   "mesh": "meshes/sponge__klwueh.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      2.613443834377851e-07,
      6.688922583025355e-09,
      0.10507225186210659
     ],
     "orientation_xyzw": [
      1.9640078230788047e-08,
      0.9999999999992751,
      -3.080403748585384e-08,
      -1.2035504824103933e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0343850650240493,
      5.338279565005416e-09,
      0.10507216909441251
     ],
     "orientation_xyzw": [
      1.9640078230788047e-08,
      0.9999999999992751,
      -3.080403748585384e-08,
      -1.2035504824103933e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.040308765618772675,
      8.272270457806455e-09,
      0.10507234889000422
     ],
     "orientation_xyzw": [
      1.9640078230788047e-08,
      0.9999999999992751,
      -3.080403748585384e-08,
      -1.2035504824103933e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.04610648525588765,
      0.028866968841862656,
      0.10505981411399326
     ],
     "orientation_xyzw": [
      0.9137576893054213,
      0.40625962786593434,
      -1.1122679355260472e-06,
      -4.60806566832924e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0452139015407148,
      -0.018589696085757036,
      0.1050598191862439
     ],
     "orientation_xyzw": [
      0.9497735908112301,
      -0.31293789511034364,
      -1.1334607207223843e-06,
      4.058933936580073e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.04907136081047421,
      -0.031964109715855976,
      0.10506004696436125
     ],
     "orientation_xyzw": [
      -0.37928215396863335,
      0.9252810641526521,
      4.2798284889489847e-07,
      -1.125305884409891e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.04913641414737462,
      0.03041870523586755,
      0.105060043277669
     ],
     "orientation_xyzw": [
      0.3739145664072188,
      0.9274631513041648,
      -4.785946447625533e-07,
      -1.1047306542503135e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "sponge/qewotb": {
   "category": "sponge",
   "model": "qewotb",
   "bbox_size": [
    0.10499999672174454,
    0.07000000029802322,
    0.02120998501777649
   ],
   "upright_orientation_xyzw": [
    5.19689322686645e-08,
    -1.1909637578355614e-06,
    1.234595004007133e-07,
    1.0
   ],
   "mesh": "meshes/sponge__qewotb.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.036346948811920486,
      1.9649939620309247e-08,
      0.10060519278278507
     ],
     "orientation_xyzw": [
      1.2267410221009011e-07,
      0.9999999999992819,
      -5.1968931333246394e-08,
      -1.1909637578755223e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.00025641979154707525,
      1.0669364326706274e-08,
      0.10060510559621469
     ],
     "orientation_xyzw": [
      1.2267410221009011e-07,
      0.9999999999992819,
      -5.1968931333246394e-08,
      -1.1909637578755223e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.03513376854427174,
      2.1122651179350515e-09,
      0.10060502252089847
     ],
     "orientation_xyzw": [
      1.2267410221009011e-07,
      0.9999999999992819,
      -5.1968931333246394e-08,
      -1.1909637578755223e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.04708727842546859,
      0.03132598437953208,
      0.10286292882224733
     ],
     "orientation_xyzw": [
      0.9080237289450591,
      0.4189187363574095,
      -1.1031940560939685e-06,
      -4.517281450118463e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.04868596833505609,
      -0.02791990050343209,
      0.10286293117215714
     ],
     "orientation_xyzw": [
      0.9261209846716412,
      -0.3772266185589356,
      -1.0833725249329254e-06,
      4.973926161669106e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.044661533673939,
      -0.025406938884020673,
      0.10286315325795077
     ],
     "orientation_xyzw": [
      -0.3427422800990322,
      0.9394294701738366,
      3.593726276980242e-07,
      -1.136638357991812e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.04886844196235687,
      0.024044570301585445,
      0.10286315813863171
     ],
     "orientation_xyzw": [
      0.31026090707450615,
      0.9506514448208048,
      -4.1891369855678324e-07,
      -1.1160675407690979e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "stockpot/azoiaq": {
   "category": "stockpot",
   "model": "azoiaq",
   "bbox_size": [
    0.26072120666503906,
    0.29393529891967773,
    0.11703372001647949
   ],
   "upright_orientation_xyzw": [
    -2.374665200477466e-06,
    -3.792833012994379e-06,
    1.2232849257998168e-06,
    1.0
   ],
   "mesh": "meshes/stockpot__azoiaq.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.004579798334576831,
      0.1302129900254264,
      0.14460148550386445
     ],
     "orientation_xyzw": [
      1.2224995269844805e-06,
      0.9999999999892405,
      2.3746652022434674e-06,
      -3.792833011088509e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0004844449338072617,
      -0.1253653082794644,
      0.13521980321227617
     ],
     "orientation_xyzw": [
      1.2224995275961272e-06,
      0.9999999999892405,
      2.374665203430798e-06,
      -3.792833011088509e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.1302982859583666,
      0.0003834683933681186,
      0.14729909406087902
     ],
     "orientation_xyzw": [
      -0.7071059158323194,
      0.7071076465255571,
      4.361079806972995e-06,
      -1.002796077080411e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.13028092126341786,
      0.004074593708067607,
      0.1466974863811347
     ],
     "orientation_xyzw": [
      -0.7071059158323194,
      0.7071076465255571,
      4.361079806972995e-06,
      -1.002796077080411e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.08589504146557607,
      -0.09808280219519276,
      0.14415397644035455
     ],
     "orientation_xyzw": [
      -0.3826823025558734,
      0.9238800004819405,
      3.6453589320932744e-06,
      -2.5953757598777756e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.08993491088134006,
      0.09425661481380726,
      0.1449443612719705
     ],
     "orientation_xyzw": [
      -0.3826823025558734,
      0.9238800004819405,
      3.6453589320932744e-06,
      -2.5953757598777756e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "stockpot/dcleem": {
   "category": "stockpot",
   "model": "dcleem",
   "bbox_size": [
    0.3008840084075928,
    0.41219329833984375,
    0.1985045075416565
   ],
   "upright_orientation_xyzw": [
    -1.0701362043619156e-05,
    2.2902502678334713e-05,
    -2.2941967472434044e-06,
    0.9999999403953552
   ],
   "mesh": "meshes/stockpot__dcleem.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.14790882969190491,
      -0.005965396913828421,
      0.19694646423135037
     ],
     "orientation_xyzw": [
      0.707108403554475,
      -0.7071051583630245,
      8.62750979247838e-06,
      -2.3761522011416703e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.14214990471437347,
      -0.0009343706506984336,
      0.19326310083287182
     ],
     "orientation_xyzw": [
      0.707108403554475,
      -0.7071051583630245,
      8.62750979247838e-06,
      -2.3761522011416703e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.013264889893086622,
      0.1414198498801405,
      0.19243768019993077
     ],
     "orientation_xyzw": [
      -2.2949822802921727e-06,
      0.9999999996778447,
      1.0701362654684353e-05,
      2.2902504044457043e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.011764519557546274,
      -0.14784908161212285,
      0.1969676583701876
     ],
     "orientation_xyzw": [
      -2.2949822802921727e-06,
      0.9999999996778447,
      1.0701362654684353e-05,
      2.2902504044457043e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.13961299963119608,
      -0.041006374654839424,
      0.20024832385923003
     ],
     "orientation_xyzw": [
      -0.5735783156053021,
      0.8191507280277182,
      -4.370293538479789e-06,
      2.4898682468666576e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.14245277991713615,
      0.045168386257798634,
      0.1977534164675218
     ],
     "orientation_xyzw": [
      -0.5735783156053021,
      0.8191507280277182,
      -4.370293538479789e-06,
      2.4898682468666576e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "stockpot/oshwps": {
   "category": "stockpot",
   "model": "oshwps",
   "bbox_size": [
    0.3531522750854492,
    0.4470338821411133,
    0.21935752034187317
   ],
   "upright_orientation_xyzw": [
    0.0009990562684834003,
    -0.0012015232350677252,
    5.037188088863331e-07,
    0.999998927116394
   ],
   "mesh": "meshes/stockpot__oshwps.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.1739574170490578,
      -0.0036703680403934384,
      0.17200506051077463
     ],
     "orientation_xyzw": [
      -0.7071055617066565,
      0.707106274072522,
      0.00014316574384910888,
      -0.0015560444592021255
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.17167048659966025,
      0.003552343320611084,
      0.16696311374366676
     ],
     "orientation_xyzw": [
      -0.7071055617066565,
      0.707106274072522,
      0.00014316574384910888,
      -0.0015560444592021255
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.003055987399095716,
      0.22085246566326464,
      0.2199329488464341
     ],
     "orientation_xyzw": [
      5.029333371024829e-07,
      0.9999987791137336,
      -0.0009990561196765817,
      -0.0012015230580235553
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0010758971545642869,
      -0.22053420872824128,
      0.21992495046505026
     ],
     "orientation_xyzw": [
      5.029333371024829e-07,
      0.9999987791137336,
      -0.0009990561196765817,
      -0.0012015230580235553
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.13468954115159126,
      0.09712506828538654,
      0.1438901120663139
     ],
     "orientation_xyzw": [
      -0.38268250013952015,
      0.9238785971739885,
      -0.00046320453347514556,
      -0.0014923847859696162
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.13793473684724716,
      -0.10067725156824284,
      0.16399310060599492
     ],
     "orientation_xyzw": [
      -0.38268250013952015,
      0.9238785971739885,
      -0.00046320453347514556,
      -0.0014923847859696162
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "tray/coqeme": {
   "category": "tray",
   "model": "coqeme",
   "bbox_size": [
    0.14191937446594238,
    0.2223985642194748,
    0.01793968677520752
   ],
   "upright_orientation_xyzw": [
    -0.0014132325304672122,
    -0.0003828505869023502,
    -4.882300345343538e-06,
    0.9999991655349731
   ],
   "mesh": "meshes/tray__coqeme.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.053125942299887235,
      -0.0670690112057072,
      0.10919005292931858
     ],
     "orientation_xyzw": [
      0.7040433970148168,
      -0.7038485430814226,
      -0.06777083934003658,
      0.06578173650142448
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.05312538115023192,
      -0.002446560064731692,
      0.10937270676170513
     ],
     "orientation_xyzw": [
      0.7040433970148168,
      -0.7038485430814226,
      -0.06777083934003658,
      0.06578173650142448
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.05312483851067469,
      0.06004425311191076,
      0.10954933556971437
     ],
     "orientation_xyzw": [
      0.7040433970148168,
      -0.7038485430814226,
      -0.06777083934003658,
      0.06578173650142448
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.06152029422150911,
      0.07085187891920096,
      0.11245671384223856
     ],
     "orientation_xyzw": [
      -0.6995609762002427,
      0.6998433648276687,
      -0.10106890208853163,
      0.1030474760247378
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.06151968294694422,
      0.00045700238420778665,
      0.11225774438576522
     ],
     "orientation_xyzw": [
      -0.6995609762002427,
      0.6998433648276687,
      -0.10106890208853163,
      0.1030474760247378
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.061519010245910985,
      -0.07701179625210622,
      0.11203878065549079
     ],
     "orientation_xyzw": [
      -0.6995609762002427,
      0.6998433648276687,
      -0.10106890208853163,
      0.1030474760247378
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.03678138710039979,
      0.10678610753484945,
      0.11120750949456544
     ],
     "orientation_xyzw": [
      -5.878837200816394e-05,
      0.990218073337321,
      -0.13952784896850517,
      -0.0003783414770623618
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.0014764401081603221,
      0.10678569250341248,
      0.11123680299988425
     ],
     "orientation_xyzw": [
      -5.878837200816394e-05,
      0.990218073337321,
      -0.13952784896850517,
      -0.0003783414770623618
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.029598827539865542,
      0.10678538742401521,
      0.11125833593486559
     ],
     "orientation_xyzw": [
      -5.878837200816394e-05,
      0.990218073337321,
      -0.13952784896850517,
      -0.0003783414770623618
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      -0.03330767972262642,
      -0.10172851354427768,
      0.11124591868094538
     ],
     "orientation_xyzw": [
      4.710268714789198e-05,
      0.990561540616564,
      0.13706818614468178,
      -0.00037997326591820605
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      -0.0025845152165363903,
      -0.10172818025093504,
      0.11122239436583035
     ],
     "orientation_xyzw": [
      4.710268714789198e-05,
      0.990561540616564,
      0.13706818614468178,
      -0.00037997326591820605
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.03820818927233087,
      -0.10172773772045182,
      0.11119115993896656
     ],
     "orientation_xyzw": [
      4.710268714789198e-05,
      0.990561540616564,
      0.13706818614468178,
      -0.00037997326591820605
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "tray/glwebh": {
   "category": "tray",
   "model": "glwebh",
   "bbox_size": [
    0.20653915405273438,
    0.1660442352294922,
    0.02513754367828369
   ],
   "upright_orientation_xyzw": [
    -4.923575033899397e-06,
    -5.272624548524618e-06,
    -4.132712092541624e-07,
    1.000000238418579
   ],
   "mesh": "meshes/tray__glwebh.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.05989971607807232,
      -0.07416872602643322,
      0.11374622144550549
     ],
     "orientation_xyzw": [
      2.460400084159357e-07,
      0.9922087777918974,
      0.12458628032306383,
      -5.283130079598458e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -6.781723040001258e-05,
      -0.0741686764757524,
      0.11374559050362303
     ],
     "orientation_xyzw": [
      2.460400084159357e-07,
      0.9922087777918974,
      0.12458628032306383,
      -5.283130079598458e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.05941004412925039,
      -0.07416862721827303,
      0.11374496329515174
     ],
     "orientation_xyzw": [
      2.460400084159357e-07,
      0.9922087777918974,
      0.12458628032306383,
      -5.283130079598458e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.07019798437212572,
      0.07095845532588999,
      0.11487963613334644
     ],
     "orientation_xyzw": [
      -1.0682619904799718e-06,
      0.9921965195018941,
      -0.12468386688082521,
      -5.179847048262632e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0017455104095566209,
      0.07095839574481008,
      0.11488039479494505
     ],
     "orientation_xyzw": [
      -1.0682619904799718e-06,
      0.9921965195018941,
      -0.12468386688082521,
      -5.179847048262632e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.058327679345717025,
      0.07095834888544164,
      0.11488099146763754
     ],
     "orientation_xyzw": [
      -1.0682619904799718e-06,
      0.9921965195018941,
      -0.12468386688082521,
      -5.179847048262632e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.09713070043964624,
      0.04550855168887418,
      0.11425711237588738
     ],
     "orientation_xyzw": [
      -0.6986270710282071,
      0.6986275680147225,
      -0.10917466493964477,
      0.10918163477297327
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.09713066535208442,
      0.0031061673136967183,
      0.11425669483315953
     ],
     "orientation_xyzw": [
      -0.6986270710282071,
      0.6986275680147225,
      -0.10917466493964477,
      0.10918163477297327
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.09713062723369086,
      -0.04295889656105036,
      0.11425624122346958
     ],
     "orientation_xyzw": [
      -0.6986270710282071,
      0.6986275680147225,
      -0.10917466493964477,
      0.10918163477297327
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.0931308171099667,
      -0.04668227384706818,
      0.11400292228163522
     ],
     "orientation_xyzw": [
      0.7021266248420024,
      -0.7021252188392471,
      -0.08378402786205094,
      0.08377718324895189
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.09313077962861156,
      -0.0013870539819108593,
      0.11400336831055412
     ],
     "orientation_xyzw": [
      0.7021266248420024,
      -0.7021252188392471,
      -0.08378402786205094,
      0.08377718324895189
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.09313073607165123,
      0.05125037302887885,
      0.11400388663930346
     ],
     "orientation_xyzw": [
      0.7021266248420024,
      -0.7021252188392471,
      -0.08378402786205094,
      0.08377718324895189
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "tray/hvlfig": {
   "category": "tray",
   "model": "hvlfig",
   "bbox_size": [
    0.27254629135131836,
    0.4366709440946579,
    0.01850450038909912
   ],
   "upright_orientation_xyzw": [
    2.3241682356456295e-08,
    -0.002874772995710373,
    4.973903742211405e-06,
    0.9999962449073792
   ],
   "mesh": "meshes/tray__hvlfig.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.11110840869490979,
      -0.1599131304425444,
      0.1120721815124442
     ],
     "orientation_xyzw": [
      -0.7057951578287697,
      0.7058021813738581,
      0.042991325664728436,
      -0.04299095103571051
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.1111098972862328,
      -0.01025525934565114,
      0.1120721702768687
     ],
     "orientation_xyzw": [
      -0.7057951578287697,
      0.7058021813738581,
      0.042991325664728436,
      -0.04299095103571051
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.11111176535903544,
      0.17755437945540878,
      0.11207215617704647
     ],
     "orientation_xyzw": [
      -0.7057951578287697,
      0.7058021813738581,
      0.042991325664728436,
      -0.04299095103571051
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.12263647716750152,
      0.1493083226871246,
      0.11497222664522382
     ],
     "orientation_xyzw": [
      -0.7029931645538277,
      0.7030001512853559,
      -0.07612989299397549,
      0.07612908298467641
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.12263789565871878,
      0.00669807603188244,
      0.11497223735169838
     ],
     "orientation_xyzw": [
      -0.7029931645538277,
      0.7030001512853559,
      -0.07612989299397549,
      0.07612908298467641
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.12263933391472322,
      -0.13789925460295646,
      0.11497224820735345
     ],
     "orientation_xyzw": [
      -0.7029931645538277,
      0.7030001512853559,
      -0.07612989299397549,
      0.07612908298467641
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.09289655631846537,
      -0.1996930948587342,
      0.11499793237409608
     ],
     "orientation_xyzw": [
      0.00025376211736703394,
      0.9962435097493604,
      0.08654828099968279,
      -0.002863554271149281
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.018584841712024614,
      -0.19969383399945018,
      0.11457066861779908
     ],
     "orientation_xyzw": [
      0.00025376211736703394,
      0.9962435097493604,
      0.08654828099968279,
      -0.002863554271149281
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.09175291079874295,
      -0.19969493147278694,
      0.11393626901002804
     ],
     "orientation_xyzw": [
      0.00025376211736703394,
      0.9962435097493604,
      0.08654828099968279,
      -0.002863554271149281
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.0977068181681924,
      0.20597970021387435,
      0.11778476281319127
     ],
     "orientation_xyzw": [
      -0.0003492784020242492,
      0.992375956486528,
      -0.1232140278100384,
      -0.002853479082437311
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.015065035525853792,
      0.20598052220952756,
      0.11825992125443904
     ],
     "orientation_xyzw": [
      -0.0003492784020242492,
      0.992375956486528,
      -0.1232140278100384,
      -0.002853479082437311
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.11190941684973624,
      0.2059817851596309,
      0.11898997548294217
     ],
     "orientation_xyzw": [
      -0.0003492784020242492,
      0.992375956486528,
      -0.1232140278100384,
      -0.002853479082437311
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "tray/spopfj": {
   "category": "tray",
   "model": "spopfj",
   "bbox_size": [
    0.24426794052124023,
    0.32460448145866394,
    0.016953974962234497
   ],
   "upright_orientation_xyzw": [
    -1.7159454728243873e-06,
    -1.5122812328627333e-05,
    -3.322611973999301e-06,
    1.0
   ],
   "mesh": "meshes/tray__spopfj.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.07490650462604719,
      -0.14996945765814196,
      0.11513889588328814
     ],
     "orientation_xyzw": [
      -1.4486929023814188e-06,
      0.9924910934487,
      0.1223169210913164,
      -1.541576179097247e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.006365641989145532,
      -0.14996891745464683,
      0.11513643775737312
     ],
     "orientation_xyzw": [
      -1.4486929023814188e-06,
      0.9924910934487,
      0.1223169210913164,
      -1.541576179097247e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.08246152177962646,
      -0.14996841165700348,
      0.11513413619082258
     ],
     "orientation_xyzw": [
      -1.4486929023814188e-06,
      0.9924910934487,
      0.1223169210913164,
      -1.541576179097247e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.08066239554486206,
      0.1545509508468705,
      0.11540676853334211
     ],
     "orientation_xyzw": [
      -5.397333122631621e-06,
      0.9902530527688834,
      -0.13927990250629385,
      -1.4512519350021926e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.016088031729636687,
      0.15455052163097696,
      0.11540872162457633
     ],
     "orientation_xyzw": [
      -5.397333122631621e-06,
      0.9902530527688834,
      -0.13927990250629385,
      -1.4512519350021926e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.08605034410325842,
      0.15454984273285613,
      0.11541181086239038
     ],
     "orientation_xyzw": [
      -5.397333122631621e-06,
      0.9902530527688834,
      -0.13927990250629385,
      -1.4512519350021926e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.11672880947732626,
      0.11963050940446485,
      0.11664822162514825
     ],
     "orientation_xyzw": [
      0.6980567098514162,
      -0.6980524575277011,
      0.11278051007826627,
      -0.11278365536476831
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.11672802471285804,
      0.0015528456415151528,
      0.11664781638361346
     ],
     "orientation_xyzw": [
      0.6980567098514162,
      -0.6980524575277011,
      0.11278051007826627,
      -0.11278365536476831
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.11672727938456808,
      -0.11059115014073527,
      0.11664743150637656
     ],
     "orientation_xyzw": [
      0.6980567098514162,
      -0.6980524575277011,
      0.11278051007826627,
      -0.11278365536476831
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.10411432970458796,
      -0.12801438698893192,
      0.11277598272749739
     ],
     "orientation_xyzw": [
      0.7035115261903654,
      -0.7035066060564655,
      -0.07123996174121622,
      0.07123802077069478
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.10411348720308862,
      -0.0012494622418263103,
      0.11277641778363777
     ],
     "orientation_xyzw": [
      0.7035115261903654,
      -0.7035066060564655,
      -0.07123996174121622,
      0.07123802077069478
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      0.10411275653519786,
      0.1086886924769422,
      0.11277679509044695
     ],
     "orientation_xyzw": [
      0.7035115261903654,
      -0.7035066060564655,
      -0.07123996174121622,
      0.07123802077069478
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "tray/wbwmcs": {
   "category": "tray",
   "model": "wbwmcs",
   "bbox_size": [
    0.18805503845214844,
    0.2702646255493164,
    0.021639078855514526
   ],
   "upright_orientation_xyzw": [
    4.0718441596254706e-07,
    0.00010219306568615139,
    -2.6999350666301325e-06,
    1.0000001192092896
   ],
   "mesh": "meshes/tray__wbwmcs.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.08229211591734696,
      -0.09145844771738812,
      0.11762294335703113
     ],
     "orientation_xyzw": [
      0.7018960945191881,
      -0.7018923735771695,
      -0.08569944877945253,
      0.08570048361483075
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.08229162287173289,
      -0.00016699590136157324,
      0.11762286896173185
     ],
     "orientation_xyzw": [
      0.7018960945191881,
      -0.7018923735771695,
      -0.08569944877945253,
      0.08570048361483075
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.08229108129864576,
      0.1001097167931754,
      0.11762278724415694
     ],
     "orientation_xyzw": [
      0.7018960945191881,
      -0.7018923735771695,
      -0.08569944877945253,
      0.08570048361483075
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.08312295464258408,
      0.09120880845332889,
      0.11832437325147863
     ],
     "orientation_xyzw": [
      0.7017691612992677,
      -0.7017653005233028,
      0.08673386067928461,
      -0.08673375722535889
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.08312248127571492,
      0.003561038159911721,
      0.11832444467746618
     ],
     "orientation_xyzw": [
      0.7017691612992677,
      -0.7017653005233028,
      0.08673386067928461,
      -0.08673375722535889
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.08312193710726826,
      -0.09719622670534561,
      0.11832452678665303
     ],
     "orientation_xyzw": [
      0.7017691612992677,
      -0.7017653005233028,
      0.08673386067928461,
      -0.08673375722535889
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.062140785297821154,
      -0.11966998257100546,
      0.11572686801270979
     ],
     "orientation_xyzw": [
      -1.3292519036413644e-05,
      0.994599508537834,
      0.10378731697844945,
      0.00010136085488047746
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.006287742367156673,
      -0.11966968087947787,
      0.11573828359871534
     ],
     "orientation_xyzw": [
      -1.3292519036413644e-05,
      0.994599508537834,
      0.10378731697844945,
      0.00010136085488047746
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.05588362096278212,
      -0.11966934505939376,
      0.11575099056162971
     ],
     "orientation_xyzw": [
      -1.3292519036413644e-05,
      0.994599508537834,
      0.10378731697844945,
      0.00010136085488047746
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.057774222010653194,
      0.1266107504284758,
      0.11629630566206742
     ],
     "orientation_xyzw": [
      1.14841356356119e-05,
      0.990355431559056,
      -0.1385500224856064,
      0.00010158163511746356
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      0.0077568961630786765,
      0.1266104802587116,
      0.11628608281555772
     ],
     "orientation_xyzw": [
      1.14841356356119e-05,
      0.990355431559056,
      -0.1385500224856064,
      0.00010158163511746356
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      -0.06190052988964137,
      0.1266101040024833,
      0.11627184580542708
     ],
     "orientation_xyzw": [
      1.14841356356119e-05,
      0.990355431559056,
      -0.1385500224856064,
      0.00010158163511746356
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "tray/zcmnji": {
   "category": "tray",
   "model": "zcmnji",
   "bbox_size": [
    0.3300008773803711,
    0.3300004005432129,
    0.015166759490966797
   ],
   "upright_orientation_xyzw": [
    -0.0036192762199789286,
    -0.004888436757028103,
    0.0002773131418507546,
    0.9999814629554749
   ],
   "mesh": "meshes/tray__zcmnji.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.00493366948040801,
      0.14870184674047282,
      0.11413546124889487
     ],
     "orientation_xyzw": [
      -0.00024691109491667467,
      0.994636969397661,
      -0.1033117872818619,
      -0.004890066561382482
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.000635446658985236,
      -0.14118309007320462,
      0.11341686533434767
     ],
     "orientation_xyzw": [
      0.0006124712776659704,
      0.9973705468434174,
      0.07230503836662541,
      -0.0048578385108583285
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.14115578065521373,
      -0.006346534333212305,
      0.11169337846617414
     ],
     "orientation_xyzw": [
      -0.7055522806398333,
      0.705634533942632,
      0.0487329930543683,
      -0.043600219947349694
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.14355821373452815,
      -8.341441169562986e-05,
      0.11435026256403853
     ],
     "orientation_xyzw": [
      -0.7042313456287502,
      0.705072655256546,
      -0.05628099958206321,
      0.06134502204292695
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "tupperware/mkstwr": {
   "category": "tupperware",
   "model": "mkstwr",
   "bbox_size": [
    0.21892976760864258,
    0.2189326286315918,
    0.1360451877117157
   ],
   "upright_orientation_xyzw": [
    5.31412661075592e-06,
    9.583542123436928e-06,
    1.327943755313754e-05,
    1.000000238418579
   ],
   "mesh": "meshes/tupperware__mkstwr.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.12330737984308497,
      -2.6910441544333507e-05,
      0.1359023308453229
     ],
     "orientation_xyzw": [
      -0.6780912393582305,
      0.6781113786926157,
      0.20044509740303218,
      -0.20044698082113338
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.14267409697766803,
      -1.9964689374058666e-05,
      0.12478301181314068
     ],
     "orientation_xyzw": [
      -0.6589270114049116,
      0.6589417850106489,
      -0.2565326547484569,
      0.2565188387929433
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0015713797737599052,
      -0.12630855890633005,
      0.13758421106330912
     ],
     "orientation_xyzw": [
      1.0207979062029816e-05,
      0.9630733143461562,
      0.26923928191507074,
      1.280483963650379e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0018863895210270891,
      0.1273363235191323,
      0.1422438176056752
     ],
     "orientation_xyzw": [
      1.5467587326048496e-05,
      0.9580844767926168,
      -0.2864858374524839,
      5.377778068913003e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "beef_broth_carton/ecqxgd": {
   "category": "beef_broth_carton",
   "model": "ecqxgd",
   "bbox_size": [
    0.17235422134399414,
    0.2474377155303955,
    0.30484580993652344
   ],
   "upright_orientation_xyzw": [
    -6.77489151712507e-06,
    -2.0005740225315094e-05,
    0.04378524795174599,
    0.999040961265564
   ],
   "mesh": "meshes/beef_broth_carton__ecqxgd.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.005284949606659754,
      0.006254618512002067,
      0.22964256620214055
     ],
     "orientation_xyzw": [
      -0.6754677958021984,
      0.7373894875762679,
      1.8936766397872092e-05,
      -9.355622886054924e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0016354995377957575,
      -0.035299866786420026,
      0.2296420746027538
     ],
     "orientation_xyzw": [
      -0.675467796170893,
      0.7373894872385339,
      1.89367664025499e-05,
      -9.355622876586544e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0029003612861047707,
      -0.0869474735123109,
      0.229641463599354
     ],
     "orientation_xyzw": [
      -0.675467796170893,
      0.7373894872385339,
      1.89367664025499e-05,
      -9.355622876586544e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "bottle_of_whiskey/lzjuvy": {
   "category": "bottle_of_whiskey",
   "model": "lzjuvy",
   "bbox_size": [
    0.07722485065460205,
    0.09537315368652344,
    0.19463235139846802
   ],
   "upright_orientation_xyzw": [
    -0.00572923943400383,
    0.0009066102793440223,
    2.049757313216105e-05,
    0.9999832510948181
   ],
   "mesh": "meshes/bottle_of_whiskey__lzjuvy.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.00026016216960976084,
      -0.0016002441377304364,
      0.1636216146044266
     ],
     "orientation_xyzw": [
      -0.7070803916192125,
      0.707109378855877,
      0.003410113521979331,
      0.004692253983335331
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.05014692121160911,
      -0.0008826742197258696,
      0.10113463384686315
     ],
     "orientation_xyzw": [
      0.7064538150088852,
      -0.00406567772485756,
      0.7077359554661898,
      -0.004036689781098172
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.04985686795427667,
      -0.0008628305373958045,
      0.09913581562591425
     ],
     "orientation_xyzw": [
      0.70773595546619,
      0.004036689781098171,
      -0.706453815008885,
      -0.004065677724857561
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0007860450866908431,
      -0.06506602453829223,
      0.07464148180606323
     ],
     "orientation_xyzw": [
      -0.4975700256103192,
      0.4966839119701471,
      0.5023926539023327,
      0.5033197616914605
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0008454357988674702,
      -0.06544128859229086,
      0.10738983906975859
     ],
     "orientation_xyzw": [
      -0.4975700256103192,
      0.4966839119701471,
      0.5023926539023327,
      0.5033197616914605
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0006575848222959682,
      -0.06425434005383632,
      0.0038078029627960698
     ],
     "orientation_xyzw": [
      -0.4975700256103192,
      0.4966839119701471,
      0.5023926539023327,
      0.5033197616914605
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "can/damllm": {
   "category": "can",
   "model": "damllm",
   "bbox_size": [
    0.2755265235900879,
    0.2767857313156128,
    0.3408242464065552
   ],
   "upright_orientation_xyzw": [
    -0.035026971250772476,
    -0.019882379099726677,
    -0.011924263089895248,
    0.9991174936294556
   ],
   "mesh": "meshes/can__damllm.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.1509397936154191,
      -0.013490895249154066,
      0.2134769479154522
     ],
     "orientation_xyzw": [
      0.6957310388543724,
      -0.6672403346206842,
      -0.20874150696118113,
      0.1648503585117983
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.1319575893444173,
      -0.022884889220308787,
      0.220859212581428
     ],
     "orientation_xyzw": [
      0.6952042290974121,
      -0.6896016497230205,
      0.1150314981752217,
      -0.16705807065785688
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.018643779718026273,
      -0.15748459861874634,
      0.20479102657173417
     ],
     "orientation_xyzw": [
      -0.00650141918771867,
      0.9576905149652292,
      0.28686474262398565,
      -0.022253730776080394
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.027685662292646553,
      0.13224666249062236,
      0.22074502905643267
     ],
     "orientation_xyzw": [
      -0.01634938071987709,
      0.9782992966453191,
      -0.20589557838468814,
      -0.01643760125399128
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "canister/gqwnfv": {
   "category": "canister",
   "model": "gqwnfv",
   "bbox_size": [
    0.17848420143155608,
    0.17848443984985352,
    0.05250024795216829
   ],
   "upright_orientation_xyzw": [
    1.8119111700798385e-05,
    4.988847649656236e-06,
    2.3160358978202567e-05,
    1.0
   ],
   "mesh": "meshes/canister__gqwnfv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.10866298027159338,
      -0.003583962499633077,
      0.10740754351536327
     ],
     "orientation_xyzw": [
      -0.680418048607729,
      0.6804425941813274,
      -0.19240851325535607,
      0.1923749442611977
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.12153966951180481,
      -0.003594808373750063,
      0.10236005970934782
     ],
     "orientation_xyzw": [
      -0.6683406456088127,
      0.6683799697490105,
      0.2308492494847296,
      -0.23086277629328772
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.006119173877602483,
      -0.10918036261813227,
      0.10893778026408887
     ],
     "orientation_xyzw": [
      2.0936596143685232e-05,
      0.9624777374335953,
      0.27136065371282686,
      1.1086631163451719e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.006129624896229157,
      0.11572283900542997,
      0.10555704425152451
     ],
     "orientation_xyzw": [
      2.3576955180137872e-05,
      0.9522522672805341,
      -0.3053123300782786,
      -2.3198347078971252e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "canister/xcppkc": {
   "category": "canister",
   "model": "xcppkc",
   "bbox_size": [
    0.1771637201309204,
    0.13186098635196686,
    0.10244578123092651
   ],
   "upright_orientation_xyzw": [
    1.942087237694068e-07,
    -4.4889384298585355e-07,
    -0.00016357081767637283,
    1.0
   ],
   "mesh": "meshes/canister__xcppkc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.11044499913193695,
      -0.002098835707631471,
      0.15033087477049506
     ],
     "orientation_xyzw": [
      0.6870342672419034,
      -0.68680961091863,
      -0.16771698493716403,
      0.16777212804505975
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.10931996645872187,
      0.0015650673535960963,
      0.14999418017683916
     ],
     "orientation_xyzw": [
      0.6847306132891681,
      -0.6845065766684858,
      0.1768818113436294,
      -0.17693942053151085
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.005498160829791155,
      -0.0728072960901284,
      0.14968657633706778
     ],
     "orientation_xyzw": [
      -0.00016051458122568493,
      0.9818315885520918,
      0.18975432792272642,
      -3.147918893709251e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.002042664238921088,
      0.07840258949320157,
      0.15516941591314676
     ],
     "orientation_xyzw": [
      -0.00016003682007567546,
      0.9778151023459589,
      -0.20946980419213598,
      3.3824345407709555e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "cap/arskxc": {
   "category": "cap",
   "model": "arskxc",
   "bbox_size": [
    0.028507113456726074,
    0.04806530475616455,
    0.07708314061164856
   ],
   "upright_orientation_xyzw": [
    0.0001876026944955811,
    -0.01845993474125862,
    6.328958534140838e-06,
    0.9998295307159424
   ],
   "mesh": "meshes/cap__arskxc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.005019950515990257,
      -0.0013976385172070598,
      0.11645402370832172
     ],
     "orientation_xyzw": [
      6.328173602327871e-06,
      0.9998295832484249,
      -0.0001876026898540956,
      -0.01845993571131741
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.004164132517679991,
      -0.0005608606678358864,
      0.12055448206596715
     ],
     "orientation_xyzw": [
      -0.7069818034496402,
      0.706990753242119,
      0.012920490583812384,
      -0.013185800859592409
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.004404179181501792,
      -0.0005632986693088599,
      0.11405597846145915
     ],
     "orientation_xyzw": [
      -0.7069818034496402,
      0.706990753242119,
      0.012920490583812384,
      -0.013185800859592409
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.05795647965993949,
      -0.0038400589644114113,
      0.036985661001654936
     ],
     "orientation_xyzw": [
      0.7200394240675136,
      0.00012817989468609858,
      0.6939331326242415,
      0.0001371303940187288
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0619617355961784,
      -0.003842408807809298,
      0.032556031732109685
     ],
     "orientation_xyzw": [
      -0.6939331326242414,
      0.00013713039401872876,
      0.7200394240675135,
      -0.00012817989468609858
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.002002284198546457,
      -0.0638412295979307,
      0.03479336887476573
     ],
     "orientation_xyzw": [
      -0.4907754606413677,
      0.5092417253114044,
      0.509047793648185,
      0.4905941868958824
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.0020029717376924432,
      0.05615876182571001,
      0.0347483238589989
     ],
     "orientation_xyzw": [
      0.509047793648185,
      -0.4905941868958824,
      0.4907754606413677,
      0.5092417253114045
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "cap/mgirzi": {
   "category": "cap",
   "model": "mgirzi",
   "bbox_size": [
    0.03334757871925831,
    0.0333399772644043,
    0.01673954725265503
   ],
   "upright_orientation_xyzw": [
    0.0006550895050168037,
    0.00024513225071132183,
    -0.0011546555906534195,
    0.9999991059303284
   ],
   "mesh": "meshes/cap__mgirzi.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.00041778573304250744,
      -0.00011348722359648901,
      0.1018419203395174
     ],
     "orientation_xyzw": [
      0.7079226019860125,
      -0.7062896717107582,
      0.0006365528969778511,
      0.00028988354985945414
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0004183715054681214,
      -0.00011192729977423663,
      0.10303305377817822
     ],
     "orientation_xyzw": [
      -0.3018067405395376,
      0.9533688699201569,
      -0.0006984826426568489,
      3.679756835876477e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0004183715054681214,
      -0.00011192729977423663,
      0.10303305377817822
     ],
     "orientation_xyzw": [
      0.04246579019512125,
      0.999097676621781,
      -0.0006437734755429786,
      0.0002734735367768646
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0004183715054681214,
      -0.00011192729977423663,
      0.10303305377817822
     ],
     "orientation_xyzw": [
      0.42157140219470307,
      0.9067949402260297,
      -0.000490115346109008,
      0.0004990180464055946
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0004183715054681214,
      -0.00011192729977423663,
      0.10303305377817822
     ],
     "orientation_xyzw": [
      0.9850073593549951,
      -0.1725109062767818,
      0.00035516323404168466,
      0.0006025704442760737
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0004183715054681214,
      -0.00011192729977423663,
      0.10303305377817822
     ],
     "orientation_xyzw": [
      0.7062896731767216,
      0.7079226005234304,
      -0.00028988354854128255,
      0.0006365528975781408
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "cap/xxqyrt": {
   "category": "cap",
   "model": "xxqyrt",
   "bbox_size": [
    0.05230855941772461,
    0.05230867862701416,
    0.011233747005462646
   ],
   "upright_orientation_xyzw": [
    -0.013566315174102783,
    -0.010939503088593483,
    3.069974627578631e-05,
    0.9998482465744019
   ],
   "mesh": "meshes/cap__xxqyrt.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0019722379700488567,
      -0.003246102426923703,
      0.10101689989485818
     ],
     "orientation_xyzw": [
      0.7070211017844386,
      0.7069776828638863,
      0.0018574363846613736,
      -0.01732822824197478
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0019722379700488567,
      -0.003246102426923703,
      0.10101689989485818
     ],
     "orientation_xyzw": [
      0.9500961771499302,
      0.31146996099328655,
      -0.006168516115564553,
      -0.016299293630739235
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0019722379700488567,
      -0.003246102426923703,
      0.10101689989485818
     ],
     "orientation_xyzw": [
      0.9975085471250754,
      -0.0683592045630439,
      -0.011841034706139578,
      -0.012787003598069184
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0019722379700488567,
      -0.003246102426923703,
      0.10101689989485818
     ],
     "orientation_xyzw": [
      0.9291649705952107,
      -0.36925430241890494,
      -0.015176063306488657,
      -0.008567652329925906
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0019722379700488567,
      -0.003246102426923703,
      0.10101689989485818
     ],
     "orientation_xyzw": [
      0.7267494086939899,
      -0.6866815705980518,
      -0.01726856448537821,
      -0.0023482428629447256
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "cap/ygsmgm": {
   "category": "cap",
   "model": "ygsmgm",
   "bbox_size": [
    0.04585779085755348,
    0.04604208469390869,
    0.018367111682891846
   ],
   "upright_orientation_xyzw": [
    -0.0007766363560222089,
    -1.3939035852672532e-05,
    0.00018831618945114315,
    0.9999997615814209
   ],
   "mesh": "meshes/cap__ygsmgm.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      9.692282886194295e-05,
      -0.0002778628226038036,
      0.10240965553044809
     ],
     "orientation_xyzw": [
      0.7072397164367551,
      0.7069733942209069,
      0.0005393084025268565,
      -0.0005590211761948262
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      9.692282886194295e-05,
      -0.0002778628226038036,
      0.10240965553044809
     ],
     "orientation_xyzw": [
      0.9659742578452943,
      0.25863706196522684,
      0.00018754418935494792,
      -0.0007537807410120306
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      9.692282886194295e-05,
      -0.0002778628226038036,
      0.10240965553044809
     ],
     "orientation_xyzw": [
      0.9914199644170538,
      -0.13071285628070103,
      -0.00011519116293306624,
      -0.0007681726527699211
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      9.692282886194295e-05,
      -0.0002778628226038036,
      0.10240965553044809
     ],
     "orientation_xyzw": [
      0.8190437688228607,
      -0.5737305128666382,
      -0.00045687846624803207,
      -0.0006281881052362916
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      9.692282886194295e-05,
      -0.0002778628226038036,
      0.10240965553044809
     ],
     "orientation_xyzw": [
      -0.5371406126611972,
      0.8434923585141274,
      0.0006624978439352287,
      0.0004055303136173961
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      9.692282886194295e-05,
      -0.0002778628226038036,
      0.10240965553044809
     ],
     "orientation_xyzw": [
      0.2166233961541957,
      0.9762549364179388,
      0.0007552099528463446,
      -0.00018170348263935873
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      9.692282886194295e-05,
      -0.0002778628226038036,
      0.10240965553044809
     ],
     "orientation_xyzw": [
      0.46191550311190266,
      0.8869235957097146,
      0.0006824484759535273,
      -0.0003709748052769377
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      9.692282886194295e-05,
      -0.0002778628226038036,
      0.10240965553044809
     ],
     "orientation_xyzw": [
      0.6757288319465923,
      0.73714987778461,
      0.000563179263316307,
      -0.0005349648080500967
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "floor_wax_bottle/fzhcdb": {
   "category": "floor_wax_bottle",
   "model": "fzhcdb",
   "bbox_size": [
    0.08501291275024414,
    0.0841909646987915,
    0.27648502588272095
   ],
   "upright_orientation_xyzw": [
    -0.00010950173600576818,
    -7.981929229572415e-06,
    0.0013341334415599704,
    0.9999991059303284
   ],
   "mesh": "meshes/floor_wax_bottle__fzhcdb.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.005282737322667132,
      0.004823964162756717,
      0.22346475056799897
     ],
     "orientation_xyzw": [
      0.7080495213229674,
      0.7061627739409486,
      7.178534378929734e-05,
      -8.307349609464557e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.005282737322667132,
      0.004823964162756717,
      0.22346475056799897
     ],
     "orientation_xyzw": [
      0.3019779147122469,
      0.9533149149004758,
      0.00010203344920343235,
      -4.054030808974421e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.005282737322667132,
      0.004823964162756717,
      0.22346475056799897
     ],
     "orientation_xyzw": [
      0.044952211094479694,
      0.9989891324050407,
      0.00010904934755556055,
      -1.2750730726799724e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.005282737322667132,
      0.004823964162756717,
      0.22346475056799897
     ],
     "orientation_xyzw": [
      -0.4605648089736602,
      0.8876260725557326,
      0.00010081487063540101,
      4.3482216998770286e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.005282737322667132,
      0.004823964162756717,
      0.22346475056799897
     ],
     "orientation_xyzw": [
      0.8183860827383429,
      -0.5746687807127241,
      -6.934602904034945e-05,
      -8.512032420459757e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.005282737322667132,
      0.004823964162756717,
      0.22346475056799897
     ],
     "orientation_xyzw": [
      0.9912698336114839,
      -0.13184879566200014,
      -2.2206487388699495e-05,
      -0.00010752308242519989
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.005282737322667132,
      0.004823964162756717,
      0.22346475056799897
     ],
     "orientation_xyzw": [
      0.7941647993135093,
      0.6077024432047254,
      6.032794282600926e-05,
      -9.173265858320327e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.089718413195046,
      0.005098256457170473,
      0.12846629727560036
     ],
     "orientation_xyzw": [
      0.0010208053323911305,
      0.7071117917051472,
      -0.0008659442710851192,
      0.7071005035555621
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      0.005027763222457208,
      -0.09015488794629622,
      0.12844394966548672
     ],
     "orientation_xyzw": [
      0.5006158596086753,
      0.4992737426698318,
      0.5007173778465579,
      -0.49939122790773305
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.005534733806668632,
      0.09984443094069242,
      0.1284855562411609
     ],
     "orientation_xyzw": [
      0.5007173794154417,
      0.49939122633468264,
      -0.5006158580401604,
      0.4992737442425628
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "hingeless_jar/bqpmsv": {
   "category": "hingeless_jar",
   "model": "bqpmsv",
   "bbox_size": [
    0.1568906307220459,
    0.1568918228149414,
    0.20527136325836182
   ],
   "upright_orientation_xyzw": [
    4.0442682802677155e-06,
    -1.3298995327204466e-06,
    4.7242203436326236e-05,
    1.000000238418579
   ],
   "mesh": "meshes/hingeless_jar__bqpmsv.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      2.7087960068840166e-05,
      0.06873498896827526,
      0.20973142134954928
     ],
     "orientation_xyzw": [
      4.5722719301573755e-05,
      0.9742043911616555,
      -0.22566745890320344,
      -1.1956256965744751e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      1.407369203294687e-05,
      -0.06902384143409607,
      0.21032379288075048
     ],
     "orientation_xyzw": [
      4.628407112052086e-05,
      0.9732708642599861,
      0.22966023284212853,
      9.555307502743806e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.07004084893704518,
      3.549817808681729e-05,
      0.20961671202847593
     ],
     "orientation_xyzw": [
      -0.687499204112193,
      0.6875628278690687,
      -0.16524103430860515,
      0.16521986157364094
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0807785376266652,
      2.1249004080698198e-05,
      0.2097094926657402
     ],
     "orientation_xyzw": [
      -0.6795375819239954,
      0.6796033706174947,
      0.19541366465021962,
      -0.19540069873519153
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "hingeless_jar/lvuvbf": {
   "category": "hingeless_jar",
   "model": "lvuvbf",
   "bbox_size": [
    0.14463138580322266,
    0.14424022287130356,
    0.16782912611961365
   ],
   "upright_orientation_xyzw": [
    -3.7371180951595306e-05,
    1.072930172085762e-05,
    0.00017170951468870044,
    1.000000238418579
   ],
   "mesh": "meshes/hingeless_jar__lvuvbf.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.12014553815669353,
      -0.0004361086575962594,
      0.1824185075011453
     ],
     "orientation_xyzw": [
      -0.6441375322012715,
      0.6443369876385362,
      0.2915502614102033,
      -0.29140200933108684
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.12289847696093807,
      -0.0003523075242989283,
      0.17792798397635082
     ],
     "orientation_xyzw": [
      -0.6337159094508531,
      0.6339570089517773,
      -0.3134808118025367,
      0.31342054422359883
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.00442122579981415,
      0.12268613650049674,
      0.17586620671923517
     ],
     "orientation_xyzw": [
      0.00015864482076328426,
      0.8962128354130887,
      -0.4436243050621118,
      -6.656434063507831e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.004506446158402895,
      -0.12547369275906248,
      0.175761739017206
     ],
     "orientation_xyzw": [
      0.00014810092615150967,
      0.8908773069704171,
      0.4542439810565977,
      8.75505926436961e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.16491651096574547,
      -0.008332894666909937,
      0.05283158906037497
     ],
     "orientation_xyzw": [
      0.7068346088434112,
      0.019289251767140417,
      0.7068512293842872,
      -0.019341665527240693
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.16525651573305553,
      -0.0008303819885549988,
      0.036004419298369374
     ],
     "orientation_xyzw": [
      0.7071143569879322,
      -9.499152263889216e-05,
      -0.7070991834677764,
      -0.00014784234016284185
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.0004215635123927811,
      -0.16442656791837384,
      0.017231546231093922
     ],
     "orientation_xyzw": [
      -0.49990081707934214,
      0.5000617962514345,
      0.4999274584516984,
      0.5001098972218211
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.001816103072440279,
      0.16717111221457764,
      0.03493050977218238
     ],
     "orientation_xyzw": [
      -0.49992745895180796,
      0.5001098967218934,
      -0.49990081657928054,
      -0.5000617967513354
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "hingeless_jar/mefezc": {
   "category": "hingeless_jar",
   "model": "mefezc",
   "bbox_size": [
    0.17787790298461914,
    0.17787837982177734,
    0.2500024437904358
   ],
   "upright_orientation_xyzw": [
    -1.265981700271368e-05,
    3.833044320344925e-05,
    -0.0002615932608023286,
    1.0
   ],
   "mesh": "meshes/hingeless_jar__mefezc.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.11425416666395236,
      -0.0010030237097535017,
      0.22336300662870265
     ],
     "orientation_xyzw": [
      0.6705069347300789,
      -0.6701505321147035,
      -0.2250259320137317,
      0.22512673032451028
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.11443128567978068,
      -0.0011227258034187716,
      0.22559579665057874
     ],
     "orientation_xyzw": [
      0.6671855827087331,
      -0.6668425468751336,
      0.23464744500921844,
      -0.23478712156619544
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0009006074322261896,
      0.0932677952024023,
      0.2314311525366068
     ],
     "orientation_xyzw": [
      -0.0002446885241298705,
      0.9706304542450885,
      -0.24057525099500598,
      0.00010014084654307093
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0007948695645531471,
      -0.10849138552641849,
      0.22908263203515114
     ],
     "orientation_xyzw": [
      -0.0002613181518477786,
      0.9559185757886467,
      0.29363175332641084,
      -4.0168227519749276e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "hingeless_jar/wcqjew": {
   "category": "hingeless_jar",
   "model": "wcqjew",
   "bbox_size": [
    0.1568925380706787,
    0.1568918228149414,
    0.2052713930606842
   ],
   "upright_orientation_xyzw": [
    -0.013570018112659454,
    -0.010953188873827457,
    -0.00028198049403727055,
    0.9998480081558228
   ],
   "mesh": "meshes/hingeless_jar__wcqjew.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0037726871506734193,
      -0.08439675322329744,
      0.2049351421529764
     ],
     "orientation_xyzw": [
      0.00270415265211372,
      0.958560829290926,
      0.2846771587567046,
      -0.010617880661235406
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.003813840894274016,
      0.06429629341529339,
      0.21266235647590237
     ],
     "orientation_xyzw": [
      -0.0027282341505398817,
      0.9774824839958745,
      -0.2107319189158415,
      -0.01061171850936494
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.06771434331073885,
      -0.004614253948838261,
      0.20950457293797228
     ],
     "orientation_xyzw": [
      0.6918273727195102,
      -0.6874086333311725,
      -0.16533622618635335,
      0.14665670625049668
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.06682632346830868,
      -0.004639454084630122,
      0.20911114203591674
     ],
     "orientation_xyzw": [
      -0.6885570697010198,
      0.6924971664917338,
      -0.14252849283106592,
      0.16131480061348877
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "jug/quzmfw": {
   "category": "jug",
   "model": "quzmfw",
   "bbox_size": [
    0.17235416173934937,
    0.2474377155303955,
    0.30484578013420105
   ],
   "upright_orientation_xyzw": [
    -9.16959106689319e-06,
    -2.0877690985798836e-05,
    1.3978569768369198e-07,
    1.0000001192092896
   ],
   "mesh": "meshes/jug__quzmfw.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.005285675823663584,
      0.006254064302552136,
      0.23510168817476407
     ],
     "orientation_xyzw": [
      -0.7071066825128579,
      0.7071068794925569,
      2.1246634361502732e-05,
      -8.278875847773208e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0052856643894456865,
      -0.03473551816535555,
      0.23510093645967303
     ],
     "orientation_xyzw": [
      -0.7071066825128579,
      0.7071068794925569,
      2.1246634361502732e-05,
      -8.278875847773208e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0052856514854502535,
      -0.08099398461222639,
      0.2351000881176011
     ],
     "orientation_xyzw": [
      -0.7071066825128579,
      0.7071068794925569,
      2.1246634361502732e-05,
      -8.278875847773208e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "kettle/bzisss": {
   "category": "kettle",
   "model": "bzisss",
   "bbox_size": [
    0.18457603454589844,
    0.15808182954788208,
    0.16999998688697815
   ],
   "upright_orientation_xyzw": [
    -0.0001538400538265705,
    -0.00021203706273809075,
    -0.05501977354288101,
    0.9984853267669678
   ],
   "mesh": "meshes/kettle__bzisss.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.022003537231047865,
      -0.00014725545384838587,
      0.1928120459593639
     ],
     "orientation_xyzw": [
      -0.05501976904859976,
      0.9984852309310208,
      0.00015384003923398935,
      -0.0002120370422748429
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.01148849892023296,
      0.003555027566266371,
      0.19279834840770751
     ],
     "orientation_xyzw": [
      -0.05501976904859976,
      0.9984852309310208,
      0.00015384003923398935,
      -0.0002120370422748429
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.06378052295441812,
      0.009343478606663106,
      0.16879274380032705
     ],
     "orientation_xyzw": [
      -0.05501976904859976,
      0.9984852309310208,
      0.00015384003923398935,
      -0.0002120370422748429
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "kettle/vjbldp": {
   "category": "kettle",
   "model": "vjbldp",
   "bbox_size": [
    0.18073153495788574,
    0.1636289358139038,
    0.1700018346309662
   ],
   "upright_orientation_xyzw": [
    4.531070590019226e-05,
    -3.2708048820495605e-06,
    5.019828677177429e-07,
    1.0
   ],
   "mesh": "meshes/kettle__vjbldp.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.04404002612554784,
      -0.00016958113973924053,
      0.1904129862312024
     ],
     "orientation_xyzw": [
      5.011974690099695e-07,
      0.9999999989679953,
      -4.531070585086249e-05,
      -3.27080491426102e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.006097932677486725,
      -0.00016961918394783697,
      0.19041273803055453
     ],
     "orientation_xyzw": [
      5.011974690099695e-07,
      0.9999999989679953,
      -4.531070585086249e-05,
      -3.27080491426102e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.03318296159306446,
      -0.0001696585705604267,
      0.19041248107205488
     ],
     "orientation_xyzw": [
      5.011974690099695e-07,
      0.9999999989679953,
      -4.531070585086249e-05,
      -3.27080491426102e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/bemtjd": {
   "category": "lid",
   "model": "bemtjd",
   "bbox_size": [
    0.17865123599767685,
    0.17865228652954102,
    0.021277546882629395
   ],
   "upright_orientation_xyzw": [
    -0.000776179600507021,
    0.0005909898900426924,
    2.7620808396022767e-07,
    0.9999997019767761
   ],
   "mesh": "meshes/lid__bemtjd.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0048762641499063425,
      0.07661703611185883,
      0.10428308646805648
     ],
     "orientation_xyzw": [
      7.580960917784328e-05,
      0.9918969602180117,
      -0.12704357929964713,
      0.0005861074181752348
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0014279148935228215,
      -0.0846249272427175,
      0.10327524478113888
     ],
     "orientation_xyzw": [
      -9.211252159168568e-05,
      0.9875843823724216,
      0.15708831409458843,
      0.0005837673216699939
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.08445620529884232,
      0.0029684169254706474,
      0.10389159574960447
     ],
     "orientation_xyzw": [
      -0.6979409802210059,
      0.698116051277309,
      -0.1124001598875545,
      0.11348379238627566
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.07690912030017374,
      0.0007843122391836937,
      0.10313531593159661
     ],
     "orientation_xyzw": [
      0.7014762670651464,
      -0.7013369160582686,
      -0.09014625431845322,
      0.08905745196544237
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/ckgilb": {
   "category": "lid",
   "model": "ckgilb",
   "bbox_size": [
    0.11860537528991699,
    0.11860692501068115,
    0.018381178379058838
   ],
   "upright_orientation_xyzw": [
    7.624585123267025e-06,
    -1.4265580830397084e-05,
    -2.4884893718990497e-06,
    1.000000238418579
   ],
   "mesh": "meshes/lid__ckgilb.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.04401248213855641,
      8.157887661155644e-06,
      0.10922658666984389
     ],
     "orientation_xyzw": [
      0.7027489262245751,
      -0.7027466232413816,
      -0.07838810129916796,
      0.0783992078260599
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.041219150729266595,
      7.702331493414873e-06,
      0.10717686044614765
     ],
     "orientation_xyzw": [
      0.7036154032336049,
      -0.7036108299648515,
      0.07020905111612061,
      -0.07019867114097147
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      4.706009920420536e-06,
      0.045765884637523874,
      0.109272151475242
     ],
     "orientation_xyzw": [
      -4.209509681206075e-06,
      0.9925429912636039,
      -0.12189507899744917,
      -1.385580072297403e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      5.083755190857578e-06,
      -0.03961790433427457,
      0.10761349396038787
     ],
     "orientation_xyzw": [
      -1.1587310965990657e-06,
      0.9957114359233998,
      0.09251343773559619,
      -1.4434698738688996e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/gerjlh": {
   "category": "lid",
   "model": "gerjlh",
   "bbox_size": [
    0.29567062854766846,
    0.29566890001296997,
    0.07017388939857483
   ],
   "upright_orientation_xyzw": [
    2.282795321661979e-07,
    -4.6330501390912104e-07,
    1.4394433492270764e-05,
    1.0
   ],
   "mesh": "meshes/lid__gerjlh.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -5.183627559343692e-05,
      -8.276641245378358e-05,
      0.11095125636314457
     ],
     "orientation_xyzw": [
      1.4393648092587129e-05,
      0.9999999998962782,
      -2.282795317786388e-07,
      -4.633050140403513e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -5.183576819456972e-05,
      -8.27661624574157e-05,
      0.11149883868301436
     ],
     "orientation_xyzw": [
      -0.7070966030652228,
      0.7071169591611816,
      1.6618811211932888e-07,
      -4.890241221598562e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.1039642939624247,
      -0.0012100347292021518,
      0.024929432681411425
     ],
     "orientation_xyzw": [
      0.707107108719314,
      -1.0016983517305107e-05,
      0.7071064535070798,
      1.0339819537690216e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.08603570576875785,
      -0.0012155046139628002,
      0.024929256626755016
     ],
     "orientation_xyzw": [
      -0.7071064535070799,
      1.0339819537690217e-05,
      0.7071071087193141,
      1.0016983517305109e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.008967029039173569,
      -0.09621276953720463,
      0.024929388028461393
     ],
     "orientation_xyzw": [
      -0.49999268471865466,
      0.5000075434571298,
      0.4999929202441284,
      0.5000068513726058
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.0089615591544933,
      0.09378723019403967,
      0.024929301279705048
     ],
     "orientation_xyzw": [
      0.4999929202441284,
      -0.5000068513726058,
      0.49999268471865466,
      0.5000075434571298
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "lid/mdowoz": {
   "category": "lid",
   "model": "mdowoz",
   "bbox_size": [
    0.2217106819152832,
    0.2217109501361847,
    0.014151960611343384
   ],
   "upright_orientation_xyzw": [
    -7.353932232945226e-06,
    -1.2745498679578304e-05,
    1.3973378827358829e-06,
    1.0
   ],
   "mesh": "meshes/lid__mdowoz.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.09631281739736201,
      -0.0016155866513613859,
      0.10591843962977157
     ],
     "orientation_xyzw": [
      -0.7023089464826718,
      0.7023096992282142,
      0.0822343194875926,
      -0.0822237603055681
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.09539501908126952,
      0.0036582174410586914,
      0.10351859554430337
     ],
     "orientation_xyzw": [
      -0.7025718744904649,
      0.7025750131424329,
      -0.07993589831560242,
      0.07994600830149275
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.004234792300555171,
      0.09905168986557496,
      0.1051863944365439
     ],
     "orientation_xyzw": [
      -2.6135976797795916e-07,
      0.991624657905335,
      -0.12915315586438192,
      -1.281911800092958e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0015473253931107891,
      -0.09113396514746125,
      0.10410673072956647
     ],
     "orientation_xyzw": [
      2.4845490850046775e-06,
      0.9963145953071147,
      0.08577427944099508,
      -1.2578756341319145e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/myrzac": {
   "category": "lid",
   "model": "myrzac",
   "bbox_size": [
    0.2659573554992676,
    0.26592862606048584,
    0.08782926201820374
   ],
   "upright_orientation_xyzw": [
    -0.00688504334539175,
    -0.019880499690771103,
    -4.903594162897207e-05,
    0.9997785687446594
   ],
   "mesh": "meshes/lid__myrzac.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.005633754814561565,
      -0.0012495952670311752,
      0.12140089812179325
     ],
     "orientation_xyzw": [
      -4.903673109454909e-05,
      0.9997786552177471,
      0.0068850439565089445,
      -0.01988050140487331
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.006214181895484415,
      -0.0014505777294242695,
      0.13598885461713872
     ],
     "orientation_xyzw": [
      -4.903673109454909e-05,
      0.9997786552177471,
      0.0068850439565089445,
      -0.01988050140487331
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.006861278909920731,
      -0.0016746457573354576,
      0.1522524360473092
     ],
     "orientation_xyzw": [
      -4.903673109454909e-05,
      0.9997786552177471,
      0.0068850439565089445,
      -0.01988050140487331
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.006391998122971919,
      -0.0015121495347870857,
      0.14045793518903396
     ],
     "orientation_xyzw": [
      0.7069849407933679,
      -0.7069155927867243,
      -0.018926098624566963,
      0.009189176091761148
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.09549910481399278,
      0.002154413560876773,
      0.04498978391431133
     ],
     "orientation_xyzw": [
      0.7210079041506618,
      -0.004833787609527372,
      0.6928926294294652,
      -0.004903134909220806
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.0862452488940827,
      -0.00035799520706175886,
      0.04262675504689152
     ],
     "orientation_xyzw": [
      -0.6928926294294652,
      -0.00490313490922088,
      0.7210079041506616,
      0.004833787609527297
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.001928936300959038,
      -0.08729201926060992,
      0.041410919003812476
     ],
     "orientation_xyzw": [
      -0.4865310729062399,
      0.5063625383706507,
      0.5132966182574159,
      0.4933670809012646
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.0010910238750694956,
      0.0858394865863146,
      0.04629305918204724
     ],
     "orientation_xyzw": [
      0.5132966182574159,
      -0.4933670809012647,
      0.48653107290624004,
      0.5063625383706508
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  },
  "lid/picclm": {
   "category": "lid",
   "model": "picclm",
   "bbox_size": [
    0.16454696655273438,
    0.16454744338989258,
    0.015133321285247803
   ],
   "upright_orientation_xyzw": [
    -1.96440851141233e-07,
    -2.340784703847021e-06,
    -2.1670064597856253e-05,
    1.0
   ],
   "mesh": "meshes/lid__picclm.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.071689848142762,
      0.0001928995873037987,
      0.10566041883927312
     ],
     "orientation_xyzw": [
      0.7010306607290319,
      -0.7010003143224636,
      0.09261149364781614,
      -0.09261578311467661
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.06262381277152626,
      0.0005084099979008394,
      0.10317076238726193
     ],
     "orientation_xyzw": [
      0.7043481403937166,
      -0.7043175892230574,
      -0.06257046385390627,
      0.0625728989902245
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.002466150325083311,
      0.07296682683456965,
      0.10330804495677588
     ],
     "orientation_xyzw": [
      -2.1786677849273424e-05,
      0.9904613424249322,
      -0.13779088753141983,
      6.675931743618896e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.011026154290589221,
      -0.05899831045684153,
      0.10321511709731293
     ],
     "orientation_xyzw": [
      -2.1421397395328714e-05,
      0.9969368913105043,
      0.07821019287179129,
      -4.028491775575585e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/ppkjuy": {
   "category": "lid",
   "model": "ppkjuy",
   "bbox_size": [
    0.2319328784942627,
    0.23193376511335373,
    0.062400221824645996
   ],
   "upright_orientation_xyzw": [
    0.0003472401003818959,
    -0.00018806537264026701,
    5.960683893135865e-07,
    1.0000001192092896
   ],
   "mesh": "meshes/lid__ppkjuy.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.10471073177944162,
      0.0025517503530623972,
      0.12370236025919197
     ],
     "orientation_xyzw": [
      -0.7071063049214519,
      0.7071071471821795,
      -0.0001125535069968897,
      -0.0003785180553997283
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.1155103545711463,
      0.0025514592771252427,
      0.12361952844579785
     ],
     "orientation_xyzw": [
      -0.7071063049214519,
      0.7071071471821795,
      -0.0001125535069968897,
      -0.0003785180553997283
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.002784175118779636,
      0.004319202615204796,
      0.12366279504361903
     ],
     "orientation_xyzw": [
      0.9856252483889708,
      -0.1689458901363666,
      -0.00012669739961067056,
      0.00037402136186691907
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.03284265554688962,
      0.1051887529528637,
      0.12357934279648065
     ],
     "orientation_xyzw": [
      0.9856252483889708,
      -0.1689458901363666,
      -0.00012669739961067056,
      0.00037402136186691907
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.03964931494419922,
      -0.10005634827847278,
      0.1237491479047077
     ],
     "orientation_xyzw": [
      0.9856252483889708,
      -0.1689458901363666,
      -0.00012669739961067056,
      0.00037402136186691907
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/pwgbsb": {
   "category": "lid",
   "model": "pwgbsb",
   "bbox_size": [
    0.08974647521972656,
    0.08974409103393555,
    0.0224764347076416
   ],
   "upright_orientation_xyzw": [
    -4.423576683620922e-06,
    -2.648448571562767e-07,
    1.5333894225477707e-06,
    1.0
   ],
   "mesh": "meshes/lid__pwgbsb.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      4.539947644411935e-05,
      0.0012409849930448955,
      0.10984936732236929
     ],
     "orientation_xyzw": [
      -0.7071056972622681,
      0.707107865095279,
      3.315214663037856e-06,
      2.9406674772547428e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      4.539947644411925e-05,
      0.0012409849930448955,
      0.10984936732236929
     ],
     "orientation_xyzw": [
      -0.2787482294217512,
      0.9603642145428998,
      4.322068281475748e-06,
      9.787232724658465e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      4.539947644411925e-05,
      0.0012409849930448955,
      0.10984936732236929
     ],
     "orientation_xyzw": [
      -0.01587350687614896,
      0.9998740079429081,
      4.427223663133719e-06,
      -1.9458702524534818e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      4.539947644411925e-05,
      0.0012409849930448955,
      0.10984936732236929
     ],
     "orientation_xyzw": [
      0.417920777420058,
      0.9084834746878867,
      3.908065351205199e-06,
      -2.0893057900925774e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.06621650633096948,
      -0.0002202882267564518,
      0.08490644216165244
     ],
     "orientation_xyzw": [
      0.9126910825910635,
      -3.207207261509078e-06,
      0.4086502021739779,
      -3.410738245350632e-06
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.03933071263159198,
      -0.00022076192786389646,
      0.10186227975099725
     ],
     "orientation_xyzw": [
      0.9634659013812726,
      -2.9259859142657335e-07,
      -0.26783102294852396,
      -4.672654476940196e-06
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.051006800273591175,
      -0.0319049358181353,
      0.08968521951166387
     ],
     "orientation_xyzw": [
      -0.2534200829340272,
      0.8889108217736049,
      0.10462501472009605,
      0.36697332163837826
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.05678982840776481,
      0.03499668418328433,
      0.08514858629303378
     ],
     "orientation_xyzw": [
      -0.25363942706820203,
      0.8896693771041629,
      -0.10409213791628964,
      -0.3651304798337455
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.08447696367538035,
      -0.00021992515964907713,
      0.050198520218971705
     ],
     "orientation_xyzw": [
      0.817630827355606,
      -3.800589836437723e-06,
      0.575742850703218,
      -2.7340136597574563e-06
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 9,
     "position": [
      0.08406383131264084,
      -0.00022054749320542027,
      0.0621182668444605
     ],
     "orientation_xyzw": [
      0.8478809569732758,
      1.0451883988316115e-06,
      -0.530186649002182,
      -4.563649308121943e-06
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 10,
     "position": [
      4.509706588028072e-05,
      -0.08746732862646225,
      0.05253321560567882
     ],
     "orientation_xyzw": [
      -0.583474333842732,
      0.5834763338357332,
      0.39944482580016594,
      0.39944574192481647
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 11,
     "position": [
      4.560999184170279e-05,
      0.07694507825450007,
      0.06931818151083721
     ],
     "orientation_xyzw": [
      -0.6250435252907699,
      0.6250452667293908,
      -0.3306343276246914,
      -0.3306356717407241
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/sihkub": {
   "category": "lid",
   "model": "sihkub",
   "bbox_size": [
    0.11860742047429085,
    0.1186070442199707,
    0.018381267786026
   ],
   "upright_orientation_xyzw": [
    -0.01360258087515831,
    -0.011304151266813278,
    -4.5551064431492705e-06,
    0.9998437166213989
   ],
   "mesh": "meshes/lid__sihkub.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.041748041508059976,
      -0.0028102035443514804,
      0.10649964716335825
     ],
     "orientation_xyzw": [
      0.7047123855824853,
      -0.7031152095072564,
      -0.07601455687186334,
      0.05684402263900603
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.04142154936176302,
      -0.0028277421084728234,
      0.10805663588506201
     ],
     "orientation_xyzw": [
      -0.7025157518684481,
      0.7046289040239492,
      -0.06039303197279465,
      0.07951356915552409
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0023534019743024857,
      0.047400426277528857,
      0.10878900259930822
     ],
     "orientation_xyzw": [
      -0.0015204140256329993,
      0.9926367662760788,
      -0.12060044119038099,
      -0.011201435749292341
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0023816438464624515,
      -0.046795399441383945,
      0.10871858977077926
     ],
     "orientation_xyzw": [
      0.0012128678596073353,
      0.9925635751873352,
      0.12120134235923524,
      -0.01123889555116505
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/snklci": {
   "category": "lid",
   "model": "snklci",
   "bbox_size": [
    0.17869889736175537,
    0.13337866961956024,
    0.0261344313621521
   ],
   "upright_orientation_xyzw": [
    -1.91719300346449e-06,
    -9.716313797980547e-07,
    3.57078079105122e-07,
    1.0000001192092896
   ],
   "mesh": "meshes/lid__snklci.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.000145312378567022,
      0.0594218375389103,
      0.10409976441523142
     ],
     "orientation_xyzw": [
      2.262777760969383e-07,
      0.9914265667734296,
      -0.13066507832921334,
      -1.0098564860311562e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.00014539445851328265,
      -0.049677322737038856,
      0.10186749044095916
     ],
     "orientation_xyzw": [
      4.5552153981178956e-07,
      0.9945646321489634,
      0.10412104723506149,
      -9.292533998334721e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.07527327056554803,
      -0.0036398424599041078,
      0.10379076382313471
     ],
     "orientation_xyzw": [
      -0.702651619646237,
      0.7026524246140892,
      -0.07924598894481254,
      0.07924862666709247
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.08184409594288536,
      -5.6035998556071815e-05,
      0.10329183613230809
     ],
     "orientation_xyzw": [
      -0.6999348596094412,
      0.6999349735935585,
      0.10045590734488484,
      -0.10045315188490703
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/tnwisp": {
   "category": "lid",
   "model": "tnwisp",
   "bbox_size": [
    0.09490728378295898,
    0.09490728378295898,
    0.027377068996429443
   ],
   "upright_orientation_xyzw": [
    1.3217213563621044e-06,
    3.958120942115784e-09,
    -1.2882574083050713e-06,
    0.9999999403953552
   ],
   "mesh": "meshes/lid__tnwisp.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.0008698996387915651,
      0.0008701824624464785,
      0.11066242939366541
     ],
     "orientation_xyzw": [
      -0.3660639879461342,
      0.9305896822591714,
      -1.2314298745442952e-06,
      -4.80149646374109e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.0008698996387915651,
      0.0008701824624464785,
      0.11066242939366541
     ],
     "orientation_xyzw": [
      0.02973148895778085,
      0.9995579215646316,
      -1.3210193940393572e-06,
      4.3254819445354774e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0008698996387915653,
      0.0008701824624464785,
      0.11066242939366541
     ],
     "orientation_xyzw": [
      0.6791400135750281,
      0.7340087478767293,
      -9.674658170524638e-07,
      9.005404553202312e-07
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0008696806256577142,
      -0.08393933313160752,
      0.05817340924691322
     ],
     "orientation_xyzw": [
      0.6005704347833818,
      -0.6005688838526172,
      -0.37325117765599886,
      -0.37325022034893884
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.0008701237006618148,
      0.08798127583515761,
      0.051482890150552484
     ],
     "orientation_xyzw": [
      0.5862153104618701,
      -0.5862138026139172,
      0.39541484359794005,
      0.3954138197729579
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.08507899773652859,
      0.0008698102932462824,
      0.05199994608484896
     ],
     "orientation_xyzw": [
      -1.8028338407039776e-06,
      0.8361013378892677,
      -3.979563416563372e-07,
      0.5485750201899173
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.08515239829937964,
      0.0008702463314862558,
      0.05092827647921319
     ],
     "orientation_xyzw": [
      -3.3836085092989917e-07,
      0.8317358036705926,
      -1.814963096487073e-06,
      -0.5551716427277467
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/ugfmpq": {
   "category": "lid",
   "model": "ugfmpq",
   "bbox_size": [
    0.08863329887390137,
    0.08863210678100586,
    0.030307412147521973
   ],
   "upright_orientation_xyzw": [
    -5.6972610764205456e-05,
    -0.00012819244875572622,
    2.894051249313634e-05,
    1.0
   ],
   "mesh": "meshes/lid__ugfmpq.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0002244358340770322,
      -1.1563769167114277e-05,
      0.11248324344763806
     ],
     "orientation_xyzw": [
      2.8939726798071446e-05,
      0.999999989741655,
      5.697261028044159e-05,
      -0.0001281924473959348
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.09262519355333947,
      -9.231943557578226e-06,
      0.0450668055682043
     ],
     "orientation_xyzw": [
      -1.0699262227381755e-05,
      0.8030808019237435,
      6.299930076678483e-05,
      -0.5958701381157904
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0884947199571627,
      1.531478257236158e-06,
      0.04262990927595604
     ],
     "orientation_xyzw": [
      5.7218047771831684e-05,
      0.8025536570930355,
      2.8451381662310892e-05,
      0.5965799388206148
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/wjrwer": {
   "category": "lid",
   "model": "wjrwer",
   "bbox_size": [
    0.20064842700958252,
    0.20064789056777954,
    0.010248184204101562
   ],
   "upright_orientation_xyzw": [
    -2.971137291751802e-08,
    -2.9793909561703913e-08,
    -5.960394560133864e-07,
    1.000000238418579
   ],
   "mesh": "meshes/lid__wjrwer.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.08855830345936103,
      0.0003681683384561371,
      0.11178312868936471
     ],
     "orientation_xyzw": [
      0.7012603011797642,
      -0.7012594699138757,
      0.09074447265148994,
      -0.09074462258767307
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.06982134728233683,
      0.0003683576417965012,
      0.10599470277090561
     ],
     "orientation_xyzw": [
      0.7064059464522184,
      -0.706405101784026,
      -0.03148389483826011,
      0.03148389042444844
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0012809456374183394,
      0.08879481790256076,
      0.11026250334435024
     ],
     "orientation_xyzw": [
      -5.957791506675336e-07,
      0.9919117070486729,
      -0.1269297656951686,
      4.6201917945088885e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.008515574253739232,
      -0.07940317505007545,
      0.10869544774470162
     ],
     "orientation_xyzw": [
      -5.917353428185037e-07,
      0.9959570152809959,
      0.08983108433172352,
      -8.32868396050685e-08
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/wxdxss": {
   "category": "lid",
   "model": "wxdxss",
   "bbox_size": [
    0.14226245880126953,
    0.14226269721984863,
    0.0839226245617708
   ],
   "upright_orientation_xyzw": [
    7.773051038384438e-06,
    1.172815973404795e-05,
    1.6993817553156987e-07,
    1.0
   ],
   "mesh": "meshes/lid__wxdxss.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.00033912757818636244,
      0.00028831529682248806,
      0.12895401221356523
     ],
     "orientation_xyzw": [
      1.6915277732428867e-07,
      0.9999999999010006,
      -7.773051046826188e-06,
      1.1728159726781925e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.00033912757818636244,
      0.00028831529682248806,
      0.12895401221356523
     ],
     "orientation_xyzw": [
      0.3455684942632389,
      0.9383935291628284,
      -3.241300623249713e-06,
      1.3691750195763732e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.00033912757818636244,
      0.00028831529682248806,
      0.12895401221356523
     ],
     "orientation_xyzw": [
      0.9066929278178829,
      0.42179133993844065,
      7.3552318359479e-06,
      1.199460786324145e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.00033912757818636244,
      0.0002883152968224881,
      0.12895401221356523
     ],
     "orientation_xyzw": [
      0.996435499220583,
      0.08435813947128763,
      1.1030633091560383e-05,
      8.73471160101169e-06
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0836560397379181,
      0.0002871935872901352,
      0.05861431936250158
     ],
     "orientation_xyzw": [
      4.902479631226374e-06,
      0.7896883160116874,
      -6.0344534718607895e-06,
      -0.613508242401173
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.07709529734931776,
      0.0002872915638399019,
      0.061416576869287115
     ],
     "orientation_xyzw": [
      -4.597665100756717e-06,
      0.7933530595110594,
      -6.269801500839235e-06,
      0.6087617948787462
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.00034085180088829896,
      0.09276946568855925,
      0.056781576909553905
     ],
     "orientation_xyzw": [
      -0.5551726608474723,
      0.5551831209714344,
      -0.4379305279385367,
      -0.43791765382938125
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.00034053445638004484,
      -0.08562994616056983,
      0.06773477291832336
     ],
     "orientation_xyzw": [
      0.5720769853610135,
      -0.5720674303879798,
      -0.41560528566566945,
      -0.4156188451409606
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/zjtjrn": {
   "category": "lid",
   "model": "zjtjrn",
   "bbox_size": [
    0.3436455726623535,
    0.23894935101270676,
    0.06952348351478577
   ],
   "upright_orientation_xyzw": [
    -7.190713222371414e-05,
    8.614695980213583e-05,
    0.04132850468158722,
    0.9991456270217896
   ],
   "mesh": "meshes/lid__zjtjrn.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      3.7440682223246754e-05,
      2.370583327805838e-05,
      0.1224791356834674
     ],
     "orientation_xyzw": [
      0.04132850303127764,
      0.9991456061281858,
      7.190713065003459e-05,
      8.614695805435334e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.009586418738527103,
      0.1152014664962552,
      0.09695916984080064
     ],
     "orientation_xyzw": [
      0.04067802658288689,
      0.9830603877334761,
      -0.1785615341701641,
      -0.007304158913020365
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0007231321935728277,
      -0.12356104894810378,
      0.09382597709203397
     ],
     "orientation_xyzw": [
      0.04031926030534129,
      0.9751840344449298,
      0.2175041295690847,
      0.009077986149738185
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.1814779220461239,
      -0.0005419912183841751,
      0.09069906945880772
     ],
     "orientation_xyzw": [
      -0.6561955052671655,
      0.7128509354194982,
      -0.18203496964304816,
      0.16767311223261191
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.17130817824577602,
      -0.002633635055072831,
      0.09521305951872971
     ],
     "orientation_xyzw": [
      -0.6639608777673669,
      0.7212369039434579,
      0.14529457901606152,
      -0.13365166101844173
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "lid/zkderg": {
   "category": "lid",
   "model": "zkderg",
   "bbox_size": [
    0.07611918449401855,
    0.07611918449401855,
    0.03304791450500488
   ],
   "upright_orientation_xyzw": [
    -1.4542507415171713e-05,
    3.227329580113292e-05,
    5.94489392824471e-07,
    1.0
   ],
   "mesh": "meshes/lid__zkderg.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.00010199669860804499,
      -3.3446453516216366e-05,
      0.10800599586105568
     ],
     "orientation_xyzw": [
      -0.7071063607294753,
      0.7071072007573299,
      -1.2537560712191423e-05,
      3.3103771893929015e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.00010199669860804499,
      -3.344645351621636e-05,
      0.10800599586105568
     ],
     "orientation_xyzw": [
      -0.1810836517202545,
      0.9834676963818422,
      8.457899576019104e-06,
      3.437315925222973e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.08543962162238218,
      0.032495749421262134,
      0.035071362589825614
     ],
     "orientation_xyzw": [
      -0.1418368943520935,
      0.7703108522233852,
      -0.1125770153824997,
      -0.6114163082180613
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.07251832282367483,
      -0.027714497327044372,
      0.051192084496960236
     ],
     "orientation_xyzw": [
      -0.1523662499619086,
      0.8275093568281788,
      0.09785609262802034,
      0.5314479987448775
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      -0.05072498512150642,
      0.07088691904186949,
      0.041408527274550286
     ],
     "orientation_xyzw": [
      0.7184597373398782,
      -0.36901289956419603,
      0.5244991234699271,
      0.26934319233278553
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      0.049815182199369624,
      -0.06938437570742077,
      0.04452207028695348
     ],
     "orientation_xyzw": [
      0.7250322797227504,
      -0.3723428509313325,
      -0.5153755116992269,
      -0.2647207522298147
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "pressure_cooker/otyngn": {
   "category": "pressure_cooker",
   "model": "otyngn",
   "bbox_size": [
    0.3913213014602661,
    0.3935110867023468,
    0.2922002077102661
   ],
   "upright_orientation_xyzw": [
    2.501285052858293e-06,
    -7.031270797597244e-05,
    5.480530944623752e-07,
    1.000000238418579
   ],
   "mesh": "meshes/pressure_cooker__otyngn.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0057332908290001405,
      0.2553246996217218,
      0.18211653052875104
     ],
     "orientation_xyzw": [
      -1.710142742099475e-05,
      0.9680501319221602,
      -0.25075672900505397,
      -6.820348380577262e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.012875075517921528,
      -0.2473799170003512,
      0.1892524946034049
     ],
     "orientation_xyzw": [
      1.4308917963906141e-05,
      0.9806300614909418,
      0.1958690316412923,
      -6.884351015006456e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.012874105452487756,
      -0.2355880642110446,
      0.19605890953530422
     ],
     "orientation_xyzw": [
      7.72588862174871e-06,
      0.9947706596238888,
      0.10213388177915762,
      -6.988908833347429e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.008594887108289586,
      0.24014949120346724,
      0.19917937810954747
     ],
     "orientation_xyzw": [
      -8.031659096825062e-06,
      0.9925355720096336,
      -0.12195545642297141,
      -6.985460954892114e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.19709782048472865,
      -0.008645581407611765,
      0.24929938576252642
     ],
     "orientation_xyzw": [
      -0.6502006045859656,
      0.6502027067167954,
      0.27791543238050304,
      -0.27791838085840165
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.2035579488033909,
      -0.008645145100345484,
      0.24883716811431447
     ],
     "orientation_xyzw": [
      0.6445818419365995,
      -0.6445810932548018,
      0.2907159465793604,
      -0.2907124037060195
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "roasting_pan/nrecsa": {
   "category": "roasting_pan",
   "model": "nrecsa",
   "bbox_size": [
    0.304445743560791,
    0.35045987367630005,
    0.0947774350643158
   ],
   "upright_orientation_xyzw": [
    2.307904651388526e-06,
    -2.2006797735230066e-06,
    -0.027724912390112877,
    0.9996156692504883
   ],
   "mesh": "meshes/roasting_pan__nrecsa__lidon.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.2016824365031391,
      -0.06632411549527034,
      0.09567306079652407
     ],
     "orientation_xyzw": [
      0.7285202342577154,
      -0.6556797803913281,
      0.13047300332500628,
      -0.14939574714969667
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.19894680702701403,
      0.0589054087650034,
      0.10355364401686946
     ],
     "orientation_xyzw": [
      0.7173899428879531,
      -0.678669923202832,
      -0.10813363182937952,
      0.11430626776546345
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.013748802754256727,
      -0.2657267344690652,
      0.02457253607644395
     ],
     "orientation_xyzw": [
      0.5179926704285737,
      -0.48133751004270825,
      -0.517992603010747,
      -0.4813330011897286
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.0032254030807649537,
      0.2634450623781614,
      0.027419951164135235
     ],
     "orientation_xyzw": [
      0.5034565526420421,
      -0.49651703033391864,
      0.503456753099966,
      0.49652153623807377
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "steamer_basket/lageli": {
   "category": "steamer_basket",
   "model": "lageli",
   "bbox_size": [
    0.23395299911499023,
    0.23395038396120071,
    0.09022915363311768
   ],
   "upright_orientation_xyzw": [
    9.634946763981134e-06,
    -1.6970279830275103e-05,
    7.569706212962046e-06,
    1.0
   ],
   "mesh": "meshes/steamer_basket__lageli__lidon.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.21707438545137497,
      0.00349430418251081,
      0.011242107173670433
     ],
     "orientation_xyzw": [
      0.7071187808315919,
      1.4603455980871303e-06,
      0.7070947812317036,
      1.2165526785292845e-05
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.21484386211388823,
      -0.0024799583347327107,
      0.00046899445188028826
     ],
     "orientation_xyzw": [
      -0.707064401292586,
      0.006568393708414849,
      0.7070882735251999,
      0.006554545903425214
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.0006227967427990515,
      -0.21419691827526088,
      0.017947621896823387
     ],
     "orientation_xyzw": [
      -0.4999925478708348,
      0.500017086856873,
      0.4999998827039094,
      0.4999904821302843
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0007361393428325515,
      0.21471760822507155,
      0.016174376874186523
     ],
     "orientation_xyzw": [
      0.5007433397238853,
      -0.49924595460890275,
      0.5007359643104227,
      0.49927254939053684
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "storage_box/aqdbdu": {
   "category": "storage_box",
   "model": "aqdbdu",
   "bbox_size": [
    0.20368623733520508,
    0.20368334650993347,
    0.1434001624584198
   ],
   "upright_orientation_xyzw": [
    -1.3055148883722723e-05,
    6.337650120258331e-07,
    0.00011725968943210319,
    1.0
   ],
   "mesh": "meshes/storage_box__aqdbdu__lidon.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.007749150008768973,
      0.13899692238743702,
      0.1622874327134465
     ],
     "orientation_xyzw": [
      0.00011057977064266351,
      0.9412180276505121,
      -0.3377996605617412,
      -3.9014950551599485e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.007814311340868534,
      -0.13885427868183983,
      0.16250252160331397
     ],
     "orientation_xyzw": [
      0.00011042461779270864,
      0.9435028479609575,
      0.3313643947974955,
      3.945194326344438e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      -0.14518620662908346,
      0.0017370446792853483,
      0.153214018905238
     ],
     "orientation_xyzw": [
      -0.6579872890737207,
      0.6581483738976376,
      -0.25876239509523286,
      0.2587188981073664
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.13605530842231411,
      0.0016709549061320514,
      0.15832586977296223
     ],
     "orientation_xyzw": [
      -0.6675684206729092,
      0.6677189137159493,
      0.23295645826102082,
      -0.23288440166905128
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "teapot/jlalfc": {
   "category": "teapot",
   "model": "jlalfc",
   "bbox_size": [
    0.29000091552734375,
    0.16532957553863525,
    0.12176811695098877
   ],
   "upright_orientation_xyzw": [
    -8.435355266556144e-05,
    -9.507239155936986e-05,
    -4.951543814968318e-06,
    1.0000001192092896
   ],
   "mesh": "meshes/teapot__jlalfc__lidon.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.10207375211726415,
      0.0032174028644656274,
      0.09626853187765884
     ],
     "orientation_xyzw": [
      -4.952328580355785e-06,
      0.9999999919105984,
      8.435354195995885e-05,
      -9.507237939052956e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.11651878141236262,
      0.0041373970715907656,
      0.10163506352539758
     ],
     "orientation_xyzw": [
      -4.952328580355785e-06,
      0.9999999919105984,
      8.435354195995885e-05,
      -9.507237939052956e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.12200364101609042,
      0.011152335190370012,
      0.09250869450374496
     ],
     "orientation_xyzw": [
      -4.952328580355785e-06,
      0.9999999919105984,
      8.435354195995885e-05,
      -9.507237939052956e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.17640890312555055,
      0.0035119286547865367,
      0.08953483243991732
     ],
     "orientation_xyzw": [
      2.8321811615105288e-05,
      0.9209297464014545,
      7.961105823650933e-05,
      0.38972861718496754
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "teapot/mvrhya": {
   "category": "teapot",
   "model": "mvrhya",
   "bbox_size": [
    0.23464488983154297,
    0.1460111141204834,
    0.09119993448257446
   ],
   "upright_orientation_xyzw": [
    0.0019597674254328012,
    0.007609396241605282,
    0.0002537132822908461,
    0.9999690651893616
   ],
   "mesh": "meshes/teapot__mvrhya__lidon.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      -0.08547013778920999,
      0.006013183481986555,
      0.09832996281967935
     ],
     "orientation_xyzw": [
      0.0002537125046164107,
      0.999969095535804,
      -0.0019597674908826265,
      0.007609396470989817
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      -0.09931918309304466,
      0.007663268414320222,
      0.09406856936000185
     ],
     "orientation_xyzw": [
      0.0002537125046164107,
      0.999969095535804,
      -0.0019597674908826265,
      0.007609396470989817
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.09545113710278137,
      0.008727517853358754,
      0.09015436591085793
     ],
     "orientation_xyzw": [
      0.0002537125046164107,
      0.999969095535804,
      -0.0019597674908826265,
      0.007609396470989817
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      -0.17551596698075217,
      -0.0005453365582582431,
      0.06777782421783836
     ],
     "orientation_xyzw": [
      0.8549803622571194,
      0.0007857534893905106,
      0.518656606142886,
      0.001813187933536953
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "toilet_soap_bottle/iyrrna": {
   "category": "toilet_soap_bottle",
   "model": "iyrrna",
   "bbox_size": [
    0.08501315116882324,
    0.0841909646987915,
    0.27648502588272095
   ],
   "upright_orientation_xyzw": [
    5.391330341808498e-05,
    1.16090177471051e-05,
    0.0019835883285850286,
    0.9999980330467224
   ],
   "mesh": "meshes/toilet_soap_bottle__iyrrna__lidon.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.0017691484330817576,
      8.257877942587017e-05,
      0.22057910264394925
     ],
     "orientation_xyzw": [
      0.0019835875394578653,
      0.9999980311675917,
      -5.391330332580834e-05,
      1.16090176829287e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.0017691484330817576,
      8.257877942587014e-05,
      0.22057910264394925
     ],
     "orientation_xyzw": [
      0.23256659747902245,
      0.9725804720924726,
      -4.9782325669354316e-05,
      2.3730436532299916e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0017691484330817576,
      8.257877942587025e-05,
      0.22057910264394925
     ],
     "orientation_xyzw": [
      0.6312370067414746,
      0.7755899936684653,
      -3.4571874713740626e-05,
      4.296741842187623e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.0017691484330817576,
      8.257877942587025e-05,
      0.22057910264394925
     ],
     "orientation_xyzw": [
      0.9198818916189004,
      0.3921954900686902,
      -1.057301376835376e-05,
      5.412600989281743e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.0017691484330817576,
      8.257877942587017e-05,
      0.22057910264394925
     ],
     "orientation_xyzw": [
      0.9999928770907839,
      -0.003773953667297204,
      1.1705523990492095e-05,
      5.389243244808294e-05
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.09969398536916131,
      -0.0007631231178939795,
      0.12078967700217351
     ],
     "orientation_xyzw": [
      0.7070971801955427,
      -0.001364486293215689,
      0.7071135978258554,
      0.001440731217958487
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      -0.04204825073789339,
      0.05343423987772209,
      0.12078515668844855
     ],
     "orientation_xyzw": [
      0.6326281486327159,
      -0.3158031099410883,
      0.6326767719812438,
      0.31586409024210454
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      -0.0006655698939685614,
      -0.03351576336988601,
      0.14727279035443416
     ],
     "orientation_xyzw": [
      -0.49903998308210124,
      0.5010119613892327,
      0.49897446026008985,
      0.5009696576026157
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.004409430562713673,
      0.0767400481192423,
      0.12690388721460555
     ],
     "orientation_xyzw": [
      0.49897446026006864,
      -0.5009696576026484,
      0.49903998258111076,
      0.5010119618882398
     ],
     "approach_hint": "side",
     "label": "",
     "source": "freedrag",
     "validated": null
    }
   ]
  },
  "tomato_paste_can/krarex": {
   "category": "tomato_paste_can",
   "model": "krarex",
   "bbox_size": [
    0.08738946914672852,
    0.08642756938934326,
    0.2549801468849182
   ],
   "upright_orientation_xyzw": [
    -0.013489698991179466,
    -0.011034015566110611,
    -0.006944272667169571,
    0.9998241066932678
   ],
   "mesh": "meshes/tomato_paste_can__krarex__lidon.glb",
   "grasps": [
    {
     "id": 0,
     "position": [
      0.001741942661832458,
      0.0001355467084958186,
      0.19423674548415212
     ],
     "orientation_xyzw": [
      0.711892681304576,
      -0.7020719969375762,
      -0.017340883226134977,
      -0.001736430247129059
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 1,
     "position": [
      0.001741942661832458,
      0.0001355467084958186,
      0.19423674548415212
     ],
     "orientation_xyzw": [
      -0.31354611479285077,
      0.9494130357632777,
      0.016225657264809356,
      -0.006359989574718932
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 2,
     "position": [
      0.0017419426618324589,
      0.0001355467084958186,
      0.19423674548415212
     ],
     "orientation_xyzw": [
      0.1817289655821765,
      0.9831942135953438,
      0.011166843919688016,
      -0.0133799483533727
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 3,
     "position": [
      0.001741942661832458,
      0.0001355467084958186,
      0.19423674548415212
     ],
     "orientation_xyzw": [
      0.6435149856468879,
      0.765235089254812,
      0.003103695170116903,
      -0.017149008640635385
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 4,
     "position": [
      0.001741942661832458,
      0.00013554670849581774,
      0.19423674548415212
     ],
     "orientation_xyzw": [
      0.8807926383750959,
      0.47318136772613106,
      -0.0034548333460157287,
      -0.017081731399856748
     ],
     "approach_hint": "top_down",
     "label": "",
     "source": "freedrag",
     "validated": null
    },
    {
     "id": 5,
     "position": [
      -0.07894757026117441,
      -0.0009100706412643354,
      0.09866410881666568
     ],
     "orientation_xyzw": [
      0.7147845656178036,
      -0.004628314902721909,
      0.6991801126292588,
      -0.014448998562739792
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 6,
     "position": [
      0.02101843516079743,
      0.000508308442579539,
      0.0964764295099992
     ],
     "orientation_xyzw": [
      -0.6991801126292588,
      -0.014448998562739792,
      0.7147845656178036,
      0.004628314902721909
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 7,
     "position": [
      0.00408944258371485,
      -0.02133140375118723,
      0.09615588427366745
     ],
     "orientation_xyzw": [
      -0.4911222860577414,
      0.4952120285707617,
      0.5156459983008976,
      0.49766771176410474
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    },
    {
     "id": 8,
     "position": [
      -0.0033826844004782317,
      0.0785376025760982,
      0.11305134274501602
     ],
     "orientation_xyzw": [
      0.5156459983008976,
      -0.49766771176410474,
      0.4911222860577414,
      0.4952120285707617
     ],
     "approach_hint": "side",
     "label": "",
     "source": "click",
     "validated": null
    }
   ]
  }
 }
}