Upload folder using huggingface_hub

.gitattributes

@@ -58,3 +58,10 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+Embodiment/aloha-agilex/configuration/arx5_description_isaac_base.usd filter=lfs diff=lfs merge=lfs -text
+Objects/bowl/002/base2.usd filter=lfs diff=lfs merge=lfs -text
+Objects/bowl/002/base_basic_pbr.glb filter=lfs diff=lfs merge=lfs -text
+Objects/bowl/002/base_basic_pbr.usdz filter=lfs diff=lfs merge=lfs -text
+Objects/bowl/002/base_rescaled.glb filter=lfs diff=lfs merge=lfs -text
+Objects/bowl/002/table_top_mesh.glb filter=lfs diff=lfs merge=lfs -text
+texture/base0.exr filter=lfs diff=lfs merge=lfs -text

Embodiment/aloha-agilex/configuration/arx5_description_isaac_base.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8eed8c765e6cfda752c842eac26ffc93751ce7b3c00c2c0629abf08fdbf2162
+size 306403147

Objects/bowl/002/base2.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0680e692bd8001ee12e2d594d9846d1f78e688e363249f86a0c43f57c58d2c2d
+size 5225833

Objects/bowl/002/base_basic_pbr.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56e9920e5818f8cd7ebb5aa8a1d510b52d00c00cc8190ee10610661c735d2c10
+size 14686364

Objects/bowl/002/base_basic_pbr.usdz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1389d3462b687f4813b567d1aa7e46e054aa3fe2650fab9273cd84f9a98da2
+size 9335044

Objects/bowl/002/base_rescaled.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da60f4208e6547793a060dc74baf544473e6a70629e6a502df51ef1ed7fde4a8
+size 10545828

Objects/bowl/002/cache/grasp/desktop_filtered_grasp.yaml

@@ -0,0 +1,1008 @@
+point:
+  id_0:
+    raw_id: 1
+    grasp_type: enveloping
+    confidence: 0.95
+    rationale: wide rim stable grip
+    grasp_scenario: daily holding and stability
+    ranking:
+    - grasp_49
+    - grasp_52
+    - grasp_51
+    - grasp_53
+    - grasp_48
+    - grasp_50
+    - grasp_41
+    - grasp_34
+    - grasp_22
+    - grasp_27
+  id_1:
+    raw_id: 23
+    grasp_type: parallel_jaw
+    confidence: 0.9
+    rationale: mid-side easy access
+    grasp_scenario: precision operation control
+    ranking:
+    - grasp_8
+    - grasp_25
+    - grasp_17
+    - grasp_11
+    - grasp_33
+    - grasp_27
+    - grasp_16
+    - grasp_45
+    - grasp_29
+    - grasp_43
+    - grasp_42
+    - grasp_32
+    - grasp_14
+    - grasp_48
+    - grasp_53
+    - grasp_35
+    - grasp_56
+    - grasp_46
+    - grasp_0
+    - grasp_2
+    - grasp_5
+    - grasp_3
+    - grasp_12
+    - grasp_7
+    - grasp_4
+    - grasp_38
+    - grasp_1
+    - grasp_19
+    - grasp_18
+    - grasp_6
+  id_2:
+    raw_id: 42
+    grasp_type: pinch
+    confidence: 0.85
+    rationale: top edge secure hold
+    grasp_scenario: powerful holding
+    ranking:
+    - grasp_15
+    - grasp_18
+    - grasp_6
+    - grasp_10
+    - grasp_4
+    - grasp_19
+    - grasp_38
+    - grasp_1
+    - grasp_21
+    - grasp_12
+    - grasp_7
+    - grasp_3
+    - grasp_37
+    - grasp_54
+    - grasp_5
+    - grasp_9
+    - grasp_40
+    - grasp_2
+    - grasp_0
+    - grasp_56
+    - grasp_55
+    - grasp_46
+    - grasp_13
+    - grasp_35
+    - grasp_47
+    - grasp_23
+    - grasp_24
+    - grasp_32
+    - grasp_14
+    - grasp_31
+grasp:
+  format: isaac_grasp
+  format_version: 1.0
+  grasps:
+    grasp_0:
+      confidence: 0.9573201537132263
+      position:
+      - 0.07991041254717857
+      - 0.004667075350880623
+      - 0.11196471028961241
+      orientation:
+        w: 0.09539400588830922
+        xyz:
+        - -0.014734869864605765
+        - -0.992045012143388
+        - 0.08080569987370564
+      tcp_position:
+      - 0.060361947470004916
+      - -0.011399408392086256
+      - 0.01315314409787803
+    grasp_1:
+      confidence: 0.9552531242370605
+      position:
+      - 0.07681408536154777
+      - 0.02919551869854331
+      - 0.10743879550136626
+      orientation:
+        w: 0.08293410664352958
+        xyz:
+        - 0.1440969671058307
+        - -0.9819394768716379
+        - 0.0902931990085352
+      tcp_position:
+      - 0.06285532473989777
+      - 0.008670464691903045
+      - 0.008505104779085157
+    grasp_2:
+      confidence: 0.955051839351654
+      position:
+      - 0.08177102368790656
+      - -0.02281188638880849
+      - 0.11283136182464659
+      orientation:
+        w: 0.09248345615115082
+        xyz:
+        - -0.019148396599668563
+        - -0.9943058594020202
+        - -0.04935592370536188
+      tcp_position:
+      - 0.06320462555628065
+      - -0.012439344405927425
+      - 0.013073157985406758
+    grasp_3:
+      confidence: 0.9536449313163757
+      position:
+      - 0.08846745651680976
+      - -0.0069250548258423805
+      - 0.11130019300617278
+      orientation:
+        w: 0.1120497669695809
+        xyz:
+        - 0.04769752305709137
+        - -0.9923474487942184
+        - -0.020404335026827116
+      tcp_position:
+      - 0.06558568704415574
+      - -0.0038847013590555964
+      - 0.011946376388000945
+    grasp_4:
+      confidence: 0.953485369682312
+      position:
+      - 0.08285846572834998
+      - 0.010087940376251936
+      - 0.11512628220953047
+      orientation:
+        w: 0.09747233749297733
+        xyz:
+        - 0.05469943754082651
+        - -0.9931699058429507
+        - 0.03347615695202299
+      tcp_position:
+      - 0.06348347080839672
+      - 0.002217784864577216
+      - 0.015293070180297186
+    grasp_5:
+      confidence: 0.9533449411392212
+      position:
+      - 0.08510264765936881
+      - -0.016301313880831003
+      - 0.11035411083139479
+      orientation:
+        w: 0.10048551083641656
+        xyz:
+        - -0.0219423692955637
+        - -0.9942262818461793
+        - -0.030582593545404782
+      tcp_position:
+      - 0.06485885428299897
+      - -0.009648688555503705
+      - 0.010604767946262694
+    grasp_6:
+      confidence: 0.9527618885040283
+      position:
+      - 0.08134644490201026
+      - -0.004349714145064354
+      - 0.11292040371336043
+      orientation:
+        w: 0.08635428681545783
+        xyz:
+        - 0.08100125534241763
+        - -0.9898569930953824
+        - -0.07851666703136231
+      tcp_position:
+      - 0.06261142287230105
+      - 0.010078280979989666
+      - 0.013699277403396909
+    grasp_7:
+      confidence: 0.9502331614494324
+      position:
+      - 0.08837340783793479
+      - -0.009447566699236631
+      - 0.11586126708425581
+      orientation:
+        w: 0.10760030345052646
+        xyz:
+        - -0.011093638626542031
+        - -0.9941122631278153
+        - -0.006317766873772129
+      tcp_position:
+      - 0.06656648223055588
+      - -0.007922820024129895
+      - 0.016231285938362802
+    grasp_8:
+      confidence: 0.9501575827598572
+      position:
+      - 0.017590081435628235
+      - -0.08451543608680367
+      - 0.1104226412717253
+      orientation:
+        w: 0.08796651669520845
+        xyz:
+        - -0.628277281153302
+        - -0.768567117569788
+        - -0.08266883159688374
+      tcp_position:
+      - 0.014393559856462974
+      - -0.06027943853756913
+      - 0.011395379002250058
+    grasp_9:
+      confidence: 0.9499045610427856
+      position:
+      - 0.07547406863886863
+      - 0.03998052841052413
+      - 0.10963342362083495
+      orientation:
+        w: 0.09076123643062722
+        xyz:
+        - 0.2643377418701739
+        - -0.9597682691215005
+        - 0.02707075492262018
+      tcp_position:
+      - 0.05916346639553029
+      - 0.02978598094632839
+      - 0.009463390894176305
+    grasp_10:
+      confidence: 0.9484732747077942
+      position:
+      - 0.08170654636342078
+      - 0.019585780333727598
+      - 0.11296860151924193
+      orientation:
+        w: 0.09491198023491207
+        xyz:
+        - 0.1502117532558393
+        - -0.9837104050912426
+        - 0.02723938521549189
+      tcp_position:
+      - 0.06349460411375109
+      - 0.01121105776307672
+      - 0.012957656211444082
+    grasp_11:
+      confidence: 0.9482674598693848
+      position:
+      - 0.01927686494309455
+      - -0.08395455637946725
+      - 0.10930711054243147
+      orientation:
+        w: 0.12105853779369893
+        xyz:
+        - -0.6820640210986785
+        - -0.7208910217995131
+        - -0.02120462776864143
+      tcp_position:
+      - 0.004424216680616187
+      - -0.06399195301306543
+      - 0.010388490927988714
+    grasp_12:
+      confidence: 0.9480646848678589
+      position:
+      - 0.09226741653401405
+      - -0.021885643247514963
+      - 0.11027806275524199
+      orientation:
+        w: 0.12563872213085694
+        xyz:
+        - 0.02464173172306269
+        - -0.9879327467826315
+        - -0.0871583868227232
+      tcp_position:
+      - 0.06650826687974451
+      - -0.004951466809430604
+      - 0.013047924025253621
+    grasp_13:
+      confidence: 0.9474610686302185
+      position:
+      - 0.027800960582681
+      - 0.0924592255614698
+      - 0.1017357932869345
+      orientation:
+        w: 0.0008960551292463822
+        xyz:
+        - -0.40557974336394453
+        - 0.876627749435874
+        - -0.25889777476262155
+      tcp_position:
+      - 0.04938195734943758
+      - 0.04623414099126018
+      - 0.01340968086806811
+    grasp_14:
+      confidence: 0.9453001618385315
+      position:
+      - 0.06037530687171966
+      - -0.07253711530938745
+      - 0.10651560151018202
+      orientation:
+        w: 0.12365446758993738
+        xyz:
+        - -0.9159126736069844
+        - 0.36265338013057696
+        - 0.11956618606872955
+      tcp_position:
+      - 0.04718293807056529
+      - -0.04058708909904506
+      - 0.010551247552200466
+    grasp_15:
+      confidence: 0.9448297619819641
+      position:
+      - 0.07757649582345039
+      - 0.0006564619252458215
+      - 0.11733870976604521
+      orientation:
+        w: 0.07452731141141737
+        xyz:
+        - 0.10420718752742322
+        - -0.9893818839303106
+        - -0.06862965592161041
+      tcp_position:
+      - 0.06107541008406718
+      - 0.012923931902867558
+      - 0.0174326371289443
+    grasp_16:
+      confidence: 0.9437054395675659
+      position:
+      - 0.057012084987945855
+      - -0.06840716162696481
+      - 0.10837347083725035
+      orientation:
+        w: 0.12789240567089666
+        xyz:
+        - -0.4480193289735223
+        - -0.8842473685454625
+        - -0.032074984929862
+      tcp_position:
+      - 0.036873549758895244
+      - -0.05093242150583531
+      - 0.009920066342904488
+    grasp_17:
+      confidence: 0.943586528301239
+      position:
+      - 0.015294358250685036
+      - -0.07782131293788552
+      - 0.11195331090129912
+      orientation:
+        w: 0.07349149585018208
+        xyz:
+        - -0.6872305356433025
+        - -0.7222073195002743
+        - -0.02701441425148535
+      tcp_position:
+      - 0.00825412121771605
+      - -0.06353812895427771
+      - 0.011203989723387375
+    grasp_18:
+      confidence: 0.9429404139518738
+      position:
+      - 0.07990261178929359
+      - 0.01412530755624175
+      - 0.11662290268577635
+      orientation:
+        w: 0.09035058332071436
+        xyz:
+        - 0.09315495282369324
+        - -0.9911671713141326
+        - 0.027323348388570336
+      tcp_position:
+      - 0.062153137508537445
+      - 0.006883591063209068
+      - 0.016440500513581896
+    grasp_19:
+      confidence: 0.9428650140762329
+      position:
+      - 0.09650626045186073
+      - -0.003738346276804805
+      - 0.11193429701961577
+      orientation:
+        w: 0.13968093023447392
+        xyz:
+        - 0.07054432628752073
+        - -0.9871919356224415
+        - -0.03106151959401736
+      tcp_position:
+      - 0.06792930767222895
+      - 0.0005068905678837924
+      - 0.014111315394829849
+    grasp_20:
+      confidence: 0.9421899318695068
+      position:
+      - 0.01218856603372842
+      - 0.0865613310597837
+      - 0.10919052385725081
+      orientation:
+        w: 0.08921803414439085
+        xyz:
+        - 0.657329937643038
+        - -0.7454189387051382
+        - 0.06563612786656114
+      tcp_position:
+      - 0.007423081054255266
+      - 0.06461662315024588
+      - 0.009693187472423453
+    grasp_21:
+      confidence: 0.9415995478630066
+      position:
+      - 0.08242721867281944
+      - 0.018059182446449995
+      - 0.11161343031562865
+      orientation:
+        w: 0.09595978507002327
+        xyz:
+        - 0.1783739375061519
+        - -0.978261207549374
+        - -0.04449121117599979
+      tcp_position:
+      - 0.06165801789372478
+      - 0.02344627190454746
+      - 0.011895730953037517
+    grasp_22:
+      confidence: 0.9401375651359558
+      position:
+      - 0.03519345831591636
+      - 0.09002547105774283
+      - 0.10398813360370696
+      orientation:
+        w: 0.06995332733204228
+        xyz:
+        - -0.7306134306641512
+        - -0.6260063440271273
+        - 0.2634892866249517
+      tcp_position:
+      - -0.013011749505437625
+      - 0.06680269765118176
+      - 0.01714942832658066
+    grasp_23:
+      confidence: 0.9380300641059875
+      position:
+      - 0.040852785226888955
+      - 0.07114812871441245
+      - 0.108599558705464
+      orientation:
+        w: 0.0625750329501362
+        xyz:
+        - 0.43196436923341797
+        - -0.8940074702825562
+        - 0.10120173932818065
+      tcp_position:
+      - 0.038358476937948145
+      - 0.04717704841139078
+      - 0.009487673770982946
+    grasp_24:
+      confidence: 0.9378392100334167
+      position:
+      - 0.006452616420574486
+      - 0.08380565932020545
+      - 0.10684282355941832
+      orientation:
+        w: 0.04776467475914915
+        xyz:
+        - -0.5177725970187553
+        - 0.8305800865786527
+        - -0.19941613124470225
+      tcp_position:
+      - 0.03560923397578147
+      - 0.05506209443705025
+      - 0.013420668100730435
+    grasp_25:
+      confidence: 0.9376983046531677
+      position:
+      - 0.030439149704761803
+      - -0.07138760993257165
+      - 0.11248739087022841
+      orientation:
+        w: 0.09085952468633347
+        xyz:
+        - -0.6078171504533957
+        - -0.7888587572352886
+        - 0.002172446014000913
+      tcp_position:
+      - 0.015548010243511844
+      - -0.060471116170550794
+      - 0.012172466110802083
+    grasp_26:
+      confidence: 0.9376132488250732
+      position:
+      - 0.0003810578491538763
+      - 0.09824966778978705
+      - 0.10409058653749526
+      orientation:
+        w: 0.034381958677877744
+        xyz:
+        - -0.5489908020684576
+        - 0.8005896190576333
+        - -0.23766203318758797
+      tcp_position:
+      - 0.032613080171089236
+      - 0.06328521477104342
+      - 0.013854320202177861
+    grasp_27:
+      confidence: 0.937393844127655
+      position:
+      - -0.022059125709347427
+      - -0.08441276708617806
+      - 0.10904017114080489
+      orientation:
+        w: 0.0074082351877348355
+        xyz:
+        - -0.7053439393999387
+        - -0.6936848014007085
+        - -0.1457272847096164
+      tcp_position:
+      - -0.0021387548176258556
+      - -0.06272467919204838
+      - 0.011383601126121481
+    grasp_28:
+      confidence: 0.936476469039917
+      position:
+      - -0.0018607457750476897
+      - 0.08618039032444358
+      - 0.10948788397945464
+      orientation:
+        w: 0.037461645885933204
+        xyz:
+        - -0.6047770234473927
+        - 0.7731479243689189
+        - -0.18730633743058836
+      tcp_position:
+      - 0.027156614673740715
+      - 0.06125983940853675
+      - 0.014931239926100084
+    grasp_29:
+      confidence: 0.9343640208244324
+      position:
+      - 0.02926502574700862
+      - -0.07885312149301171
+      - 0.1101201104465872
+      orientation:
+        w: 0.11305316781073681
+        xyz:
+        - -0.695740191580621
+        - -0.7087032488519648
+        - 0.03007111793712453
+      tcp_position:
+      - 0.008652287881289446
+      - -0.06715491822784309
+      - 0.010911909787337526
+    grasp_30:
+      confidence: 0.9339256286621094
+      position:
+      - -0.028082823264412582
+      - 0.09275331487879157
+      - 0.10477279149927199
+      orientation:
+        w: 0.051656916716506546
+        xyz:
+        - -0.6693948564228915
+        - 0.7072828476388208
+        - -0.22134376563581049
+      tcp_position:
+      - 0.009596472327756476
+      - 0.06787066487726223
+      - 0.013311737423893327
+    grasp_31:
+      confidence: 0.9327889084815979
+      position:
+      - 0.05399816867429763
+      - 0.07883677026256919
+      - 0.10899369441904128
+      orientation:
+        w: 0.14165263706742012
+        xyz:
+        - 0.45670657250838126
+        - -0.8766421462684427
+        - 0.05340584635927452
+      tcp_position:
+      - 0.033641443043191874
+      - 0.05608842301051668
+      - 0.011668895837796192
+    grasp_32:
+      confidence: 0.9323499798774719
+      position:
+      - 0.06915318232495338
+      - -0.04413208598271012
+      - 0.11299072974361479
+      orientation:
+        w: 0.12972003193974183
+        xyz:
+        - -0.36265964588732513
+        - -0.9225629761928779
+        - 0.022983679352352848
+      tcp_position:
+      - 0.04303911136728517
+      - -0.0388606588217098
+      - 0.014531259129030763
+    grasp_33:
+      confidence: 0.9312502145767212
+      position:
+      - 0.012132049654610455
+      - -0.08503310242667794
+      - 0.1137909370008856
+      orientation:
+        w: 0.08158055706014768
+        xyz:
+        - -0.6567202083180534
+        - -0.7447577806847074
+        - -0.08601760753495444
+      tcp_position:
+      - 0.01126132594392303
+      - -0.06103497431206203
+      - 0.01465803788452702
+    grasp_34:
+      confidence: 0.9299582242965698
+      position:
+      - 0.05851406615693122
+      - 0.08508371701464057
+      - 0.09955649101175368
+      orientation:
+        w: 0.0743792981801366
+        xyz:
+        - -0.7029790948124058
+        - -0.6164681818467436
+        - 0.34677816111965665
+      tcp_position:
+      - -0.0005705086213023125
+      - 0.05213963241508452
+      - 0.023217115109322936
+    grasp_35:
+      confidence: 0.9274827241897583
+      position:
+      - 0.07969918113667518
+      - -0.040375175420194864
+      - 0.10765622579492629
+      orientation:
+        w: 0.1031466706993396
+        xyz:
+        - -0.18971466883762475
+        - -0.9750907111674364
+        - -0.05066767950533476
+      tcp_position:
+      - 0.061142329613151206
+      - -0.026304475316635035
+      - 0.008350341477180195
+    grasp_36:
+      confidence: 0.9266824126243591
+      position:
+      - -0.0012438582052709535
+      - 0.09535094490274787
+      - 0.10661476128734648
+      orientation:
+        w: 0.048665800088618406
+        xyz:
+        - -0.5546575183599187
+        - 0.8018811300192928
+        - -0.21673331665328374
+      tcp_position:
+      - 0.031240479661881607
+      - 0.06540343788996714
+      - 0.014680466179089274
+    grasp_37:
+      confidence: 0.9266625642776489
+      position:
+      - 0.07063186180312186
+      - 0.05174090852960944
+      - 0.1130219625774771
+      orientation:
+        w: 0.0854162536330507
+        xyz:
+        - 0.26549112366974004
+        - -0.9561927510048464
+        - 0.08896038328186746
+      tcp_position:
+      - 0.058788394876968436
+      - 0.029761840251013194
+      - 0.014124779357863007
+    grasp_38:
+      confidence: 0.9242146015167236
+      position:
+      - 0.09516323369462043
+      - 0.018836846109479666
+      - 0.11264804773963988
+      orientation:
+        w: 0.1467531242473134
+        xyz:
+        - 0.03541917344001482
+        - -0.9828683592055953
+        - 0.10572980255812402
+      tcp_position:
+      - 0.06650242908919635
+      - -0.0034228896822033027
+      - 0.01732196294720656
+    grasp_39:
+      confidence: 0.9240913987159729
+      position:
+      - 0.06441787641961128
+      - 0.07746915658935905
+      - 0.10758955799974501
+      orientation:
+        w: 0.06253148183262698
+        xyz:
+        - -0.8397707182034878
+        - -0.4722599454715438
+        - 0.26047168470109827
+      tcp_position:
+      - 0.013771284401147686
+      - 0.06308751640355775
+      - 0.02022771768899237
+    grasp_40:
+      confidence: 0.9226189851760864
+      position:
+      - 0.07512999337632209
+      - 0.030553934630006552
+      - 0.1155149640981108
+      orientation:
+        w: 0.0889516067595588
+        xyz:
+        - 0.26280772952784254
+        - -0.9600660906847484
+        - -0.03595567371942468
+      tcp_position:
+      - 0.05578082790785509
+      - 0.03282703590227045
+      - 0.015392824656926693
+    grasp_41:
+      confidence: 0.9217594265937805
+      position:
+      - -0.0183299871860072
+      - 0.08932870021089911
+      - 0.10919725173152983
+      orientation:
+        w: 0.11049308706650218
+        xyz:
+        - 0.6528859219957214
+        - 0.7453887390407467
+        - -0.07698622137471613
+      tcp_position:
+      - -0.011782182311530866
+      - 0.06290579533739316
+      - 0.010896914248022457
+    grasp_42:
+      confidence: 0.9195939898490906
+      position:
+      - 0.002066341112367809
+      - -0.09514532098546624
+      - 0.10794907831586897
+      orientation:
+        w: 0.001609637238292825
+        xyz:
+        - 0.6062230451929733
+        - 0.7702066469132407
+        - 0.19817353404423615
+      tcp_position:
+      - 0.0268272728957083
+      - -0.06420693109458578
+      - 0.013961247783503605
+    grasp_43:
+      confidence: 0.9185975193977356
+      position:
+      - -0.00784303608816117
+      - -0.09324102709069848
+      - 0.1026423426810652
+      orientation:
+        w: 0.04342234512384936
+        xyz:
+        - 0.5729256415779497
+        - 0.7785560273943324
+        - 0.2524306268549748
+      tcp_position:
+      - 0.028556828214213216
+      - -0.058223690426712646
+      - 0.014026113852877026
+    grasp_44:
+      confidence: 0.9183839559555054
+      position:
+      - -0.026277730125002563
+      - 0.08476415416225791
+      - 0.10601399862207472
+      orientation:
+        w: 0.08674383541990788
+        xyz:
+        - -0.6713098346325393
+        - 0.704071089760552
+        - -0.21471495873754526
+      tcp_position:
+      - 0.015585944271174483
+      - 0.06580386270653651
+      - 0.014953907945835163
+    grasp_45:
+      confidence: 0.9166034460067749
+      position:
+      - 0.008039945852942765
+      - -0.09557475754991174
+      - 0.11208006762899458
+      orientation:
+        w: 0.13981761390612912
+        xyz:
+        - -0.7268788884519025
+        - 0.6626129539982758
+        - 0.11420240609637793
+      tcp_position:
+      - 0.01000520926351315
+      - -0.059405054600291246
+      - 0.016728663191182033
+    grasp_46:
+      confidence: 0.916599452495575
+      position:
+      - 0.09371620428282768
+      - 0.003683865536004305
+      - 0.10583480470813811
+      orientation:
+        w: 0.14982864633319465
+        xyz:
+        - -0.11504465999009009
+        - -0.9680813007530358
+        - 0.164726130525904
+      tcp_position:
+      - 0.06026078109075881
+      - -0.025331319874799852
+      - 0.013949802261513336
+    grasp_47:
+      confidence: 0.9163258671760559
+      position:
+      - 0.011161642265506089
+      - 0.09105907520279288
+      - 0.09892833256162703
+      orientation:
+        w: 0.06071711592504706
+        xyz:
+        - -0.45849301027185024
+        - 0.8426495710981092
+        - -0.27575222881016503
+      tcp_position:
+      - 0.04739076138396164
+      - 0.049336153890323226
+      - 0.013192407973073
+    grasp_48:
+      confidence: 0.9157416224479675
+      position:
+      - -0.06234753120224923
+      - -0.06529618659988046
+      - 0.10853356891311705
+      orientation:
+        w: 0.05444213513729948
+        xyz:
+        - 0.8210845302841647
+        - 0.5449800474196214
+        - 0.16078866864375643
+      tcp_position:
+      - -0.02936257416739555
+      - -0.05653948225363279
+      - 0.012412225089795115
+    grasp_49:
+      confidence: 0.9153054356575012
+      position:
+      - -0.04850431147497147
+      - 0.07654702803120017
+      - 0.10944574349559844
+      orientation:
+        w: 0.1146410148715103
+        xyz:
+        - 0.9085957271687113
+        - -0.39514570797183723
+        - 0.07191044257565428
+      tcp_position:
+      - -0.0444166378356478
+      - 0.04950123047261672
+      - 0.011181733000206487
+    grasp_50:
+      confidence: 0.9144722819328308
+      position:
+      - -0.01585438649635762
+      - 0.0886127962730825
+      - 0.11217650794424117
+      orientation:
+        w: 0.08677566101184267
+        xyz:
+        - 0.7627401472067821
+        - -0.634802423879389
+        - 0.08788250754152971
+      tcp_position:
+      - -0.01341737867016261
+      - 0.06372983318443001
+      - 0.013288191441310382
+    grasp_51:
+      confidence: 0.9137841463088989
+      position:
+      - -0.08428262907546014
+      - 0.049595927353948355
+      - 0.1003261732403189
+      orientation:
+        w: 0.12749276149283212
+        xyz:
+        - -0.8765646248529426
+        - 0.42389771508286783
+        - -0.1889200396222581
+      tcp_position:
+      - -0.03947514823065885
+      - 0.05605719314406712
+      - 0.008922991103523362
+    grasp_52:
+      confidence: 0.9132247567176819
+      position:
+      - -0.026787850889377296
+      - 0.07708031823858619
+      - 0.11125231557525694
+      orientation:
+        w: 0.15768346666150657
+        xyz:
+        - 0.873715384679457
+        - -0.46002440737006817
+        - 0.01161445391982269
+      tcp_position:
+      - -0.03951551620001532
+      - 0.047885184023905236
+      - 0.014352105699699164
+    grasp_53:
+      confidence: 0.9123148322105408
+      position:
+      - -0.06542994070332497
+      - -0.05774276936426759
+      - 0.10952287935651839
+      orientation:
+        w: 0.07279502789718627
+        xyz:
+        - 0.8382748184149137
+        - 0.5225129682025377
+        - 0.13775489386974518
+      tcp_position:
+      - -0.034113328536085126
+      - -0.05550764750785771
+      - 0.012475086838328181
+    grasp_54:
+      confidence: 0.9121657013893127
+      position:
+      - 0.06270775210577995
+      - 0.05997191509231925
+      - 0.11158380680717528
+      orientation:
+        w: 0.005110882444414183
+        xyz:
+        - 0.33450985725213117
+        - -0.9337954785295552
+        - 0.1268977484416387
+      tcp_position:
+      - 0.07039366198076358
+      - 0.03544985349771075
+      - 0.012874155381674496
+    grasp_55:
+      confidence: 0.9105618000030518
+      position:
+      - 0.06282425683457404
+      - 0.058325888123363256
+      - 0.11255130195058882
+      orientation:
+        w: 0.10587155354042045
+        xyz:
+        - 0.3806192344464498
+        - -0.917257055526717
+        - 0.05059354313342515
+      tcp_position:
+      - 0.04694192785750795
+      - 0.040638265174829366
+      - 0.013360074411583406
+    grasp_56:
+      confidence: 0.910319983959198
+      position:
+      - 0.08919434261042625
+      - 0.009155985433608294
+      - 0.10280127101577818
+      orientation:
+        w: 0.1290779280352608
+        xyz:
+        - -0.0883925307771208
+        - -0.9736728423025172
+        - 0.16579157143677972
+      tcp_position:
+      - 0.060566123041943545
+      - -0.021447528642677575
+      - 0.009807454175510169

Objects/bowl/002/cache/grasp/desktop_graspgen_full_grasp.yaml

@@ -0,0 +1,915 @@
+format: isaac_grasp
+format_version: 1.0
+grasps:
+  grasp_0:
+    confidence: 0.9573201537132263
+    position:
+    - 0.07991041254717857
+    - 0.004667075350880623
+    - 0.11196471028961241
+    orientation:
+      w: 0.09539400588830922
+      xyz:
+      - -0.014734869864605765
+      - -0.992045012143388
+      - 0.08080569987370564
+    tcp_position:
+    - 0.060361947470004916
+    - -0.011399408392086256
+    - 0.01315314409787803
+  grasp_1:
+    confidence: 0.9552531242370605
+    position:
+    - 0.07681408536154777
+    - 0.02919551869854331
+    - 0.10743879550136626
+    orientation:
+      w: 0.08293410664352958
+      xyz:
+      - 0.1440969671058307
+      - -0.9819394768716379
+      - 0.0902931990085352
+    tcp_position:
+    - 0.06285532473989777
+    - 0.008670464691903045
+    - 0.008505104779085157
+  grasp_2:
+    confidence: 0.955051839351654
+    position:
+    - 0.08177102368790656
+    - -0.02281188638880849
+    - 0.11283136182464659
+    orientation:
+      w: 0.09248345615115082
+      xyz:
+      - -0.019148396599668563
+      - -0.9943058594020202
+      - -0.04935592370536188
+    tcp_position:
+    - 0.06320462555628065
+    - -0.012439344405927425
+    - 0.013073157985406758
+  grasp_3:
+    confidence: 0.9536449313163757
+    position:
+    - 0.08846745651680976
+    - -0.0069250548258423805
+    - 0.11130019300617278
+    orientation:
+      w: 0.1120497669695809
+      xyz:
+      - 0.04769752305709137
+      - -0.9923474487942184
+      - -0.020404335026827116
+    tcp_position:
+    - 0.06558568704415574
+    - -0.0038847013590555964
+    - 0.011946376388000945
+  grasp_4:
+    confidence: 0.953485369682312
+    position:
+    - 0.08285846572834998
+    - 0.010087940376251936
+    - 0.11512628220953047
+    orientation:
+      w: 0.09747233749297733
+      xyz:
+      - 0.05469943754082651
+      - -0.9931699058429507
+      - 0.03347615695202299
+    tcp_position:
+    - 0.06348347080839672
+    - 0.002217784864577216
+    - 0.015293070180297186
+  grasp_5:
+    confidence: 0.9533449411392212
+    position:
+    - 0.08510264765936881
+    - -0.016301313880831003
+    - 0.11035411083139479
+    orientation:
+      w: 0.10048551083641656
+      xyz:
+      - -0.0219423692955637
+      - -0.9942262818461793
+      - -0.030582593545404782
+    tcp_position:
+    - 0.06485885428299897
+    - -0.009648688555503705
+    - 0.010604767946262694
+  grasp_6:
+    confidence: 0.9527618885040283
+    position:
+    - 0.08134644490201026
+    - -0.004349714145064354
+    - 0.11292040371336043
+    orientation:
+      w: 0.08635428681545783
+      xyz:
+      - 0.08100125534241763
+      - -0.9898569930953824
+      - -0.07851666703136231
+    tcp_position:
+    - 0.06261142287230105
+    - 0.010078280979989666
+    - 0.013699277403396909
+  grasp_7:
+    confidence: 0.9502331614494324
+    position:
+    - 0.08837340783793479
+    - -0.009447566699236631
+    - 0.11586126708425581
+    orientation:
+      w: 0.10760030345052646
+      xyz:
+      - -0.011093638626542031
+      - -0.9941122631278153
+      - -0.006317766873772129
+    tcp_position:
+    - 0.06656648223055588
+    - -0.007922820024129895
+    - 0.016231285938362802
+  grasp_8:
+    confidence: 0.9501575827598572
+    position:
+    - 0.017590081435628235
+    - -0.08451543608680367
+    - 0.1104226412717253
+    orientation:
+      w: 0.08796651669520845
+      xyz:
+      - -0.628277281153302
+      - -0.768567117569788
+      - -0.08266883159688374
+    tcp_position:
+    - 0.014393559856462974
+    - -0.06027943853756913
+    - 0.011395379002250058
+  grasp_9:
+    confidence: 0.9499045610427856
+    position:
+    - 0.07547406863886863
+    - 0.03998052841052413
+    - 0.10963342362083495
+    orientation:
+      w: 0.09076123643062722
+      xyz:
+      - 0.2643377418701739
+      - -0.9597682691215005
+      - 0.02707075492262018
+    tcp_position:
+    - 0.05916346639553029
+    - 0.02978598094632839
+    - 0.009463390894176305
+  grasp_10:
+    confidence: 0.9484732747077942
+    position:
+    - 0.08170654636342078
+    - 0.019585780333727598
+    - 0.11296860151924193
+    orientation:
+      w: 0.09491198023491207
+      xyz:
+      - 0.1502117532558393
+      - -0.9837104050912426
+      - 0.02723938521549189
+    tcp_position:
+    - 0.06349460411375109
+    - 0.01121105776307672
+    - 0.012957656211444082
+  grasp_11:
+    confidence: 0.9482674598693848
+    position:
+    - 0.01927686494309455
+    - -0.08395455637946725
+    - 0.10930711054243147
+    orientation:
+      w: 0.12105853779369893
+      xyz:
+      - -0.6820640210986785
+      - -0.7208910217995131
+      - -0.02120462776864143
+    tcp_position:
+    - 0.004424216680616187
+    - -0.06399195301306543
+    - 0.010388490927988714
+  grasp_12:
+    confidence: 0.9480646848678589
+    position:
+    - 0.09226741653401405
+    - -0.021885643247514963
+    - 0.11027806275524199
+    orientation:
+      w: 0.12563872213085694
+      xyz:
+      - 0.02464173172306269
+      - -0.9879327467826315
+      - -0.0871583868227232
+    tcp_position:
+    - 0.06650826687974451
+    - -0.004951466809430604
+    - 0.013047924025253621
+  grasp_13:
+    confidence: 0.9474610686302185
+    position:
+    - 0.027800960582681
+    - 0.0924592255614698
+    - 0.1017357932869345
+    orientation:
+      w: 0.0008960551292463822
+      xyz:
+      - -0.40557974336394453
+      - 0.876627749435874
+      - -0.25889777476262155
+    tcp_position:
+    - 0.04938195734943758
+    - 0.04623414099126018
+    - 0.01340968086806811
+  grasp_14:
+    confidence: 0.9453001618385315
+    position:
+    - 0.06037530687171966
+    - -0.07253711530938745
+    - 0.10651560151018202
+    orientation:
+      w: 0.12365446758993738
+      xyz:
+      - -0.9159126736069844
+      - 0.36265338013057696
+      - 0.11956618606872955
+    tcp_position:
+    - 0.04718293807056529
+    - -0.04058708909904506
+    - 0.010551247552200466
+  grasp_15:
+    confidence: 0.9448297619819641
+    position:
+    - 0.07757649582345039
+    - 0.0006564619252458215
+    - 0.11733870976604521
+    orientation:
+      w: 0.07452731141141737
+      xyz:
+      - 0.10420718752742322
+      - -0.9893818839303106
+      - -0.06862965592161041
+    tcp_position:
+    - 0.06107541008406718
+    - 0.012923931902867558
+    - 0.0174326371289443
+  grasp_16:
+    confidence: 0.9437054395675659
+    position:
+    - 0.057012084987945855
+    - -0.06840716162696481
+    - 0.10837347083725035
+    orientation:
+      w: 0.12789240567089666
+      xyz:
+      - -0.4480193289735223
+      - -0.8842473685454625
+      - -0.032074984929862
+    tcp_position:
+    - 0.036873549758895244
+    - -0.05093242150583531
+    - 0.009920066342904488
+  grasp_17:
+    confidence: 0.943586528301239
+    position:
+    - 0.015294358250685036
+    - -0.07782131293788552
+    - 0.11195331090129912
+    orientation:
+      w: 0.07349149585018208
+      xyz:
+      - -0.6872305356433025
+      - -0.7222073195002743
+      - -0.02701441425148535
+    tcp_position:
+    - 0.00825412121771605
+    - -0.06353812895427771
+    - 0.011203989723387375
+  grasp_18:
+    confidence: 0.9429404139518738
+    position:
+    - 0.07990261178929359
+    - 0.01412530755624175
+    - 0.11662290268577635
+    orientation:
+      w: 0.09035058332071436
+      xyz:
+      - 0.09315495282369324
+      - -0.9911671713141326
+      - 0.027323348388570336
+    tcp_position:
+    - 0.062153137508537445
+    - 0.006883591063209068
+    - 0.016440500513581896
+  grasp_19:
+    confidence: 0.9428650140762329
+    position:
+    - 0.09650626045186073
+    - -0.003738346276804805
+    - 0.11193429701961577
+    orientation:
+      w: 0.13968093023447392
+      xyz:
+      - 0.07054432628752073
+      - -0.9871919356224415
+      - -0.03106151959401736
+    tcp_position:
+    - 0.06792930767222895
+    - 0.0005068905678837924
+    - 0.014111315394829849
+  grasp_20:
+    confidence: 0.9421899318695068
+    position:
+    - 0.01218856603372842
+    - 0.0865613310597837
+    - 0.10919052385725081
+    orientation:
+      w: 0.08921803414439085
+      xyz:
+      - 0.657329937643038
+      - -0.7454189387051382
+      - 0.06563612786656114
+    tcp_position:
+    - 0.007423081054255266
+    - 0.06461662315024588
+    - 0.009693187472423453
+  grasp_21:
+    confidence: 0.9415995478630066
+    position:
+    - 0.08242721867281944
+    - 0.018059182446449995
+    - 0.11161343031562865
+    orientation:
+      w: 0.09595978507002327
+      xyz:
+      - 0.1783739375061519
+      - -0.978261207549374
+      - -0.04449121117599979
+    tcp_position:
+    - 0.06165801789372478
+    - 0.02344627190454746
+    - 0.011895730953037517
+  grasp_22:
+    confidence: 0.9401375651359558
+    position:
+    - 0.03519345831591636
+    - 0.09002547105774283
+    - 0.10398813360370696
+    orientation:
+      w: 0.06995332733204228
+      xyz:
+      - -0.7306134306641512
+      - -0.6260063440271273
+      - 0.2634892866249517
+    tcp_position:
+    - -0.013011749505437625
+    - 0.06680269765118176
+    - 0.01714942832658066
+  grasp_23:
+    confidence: 0.9380300641059875
+    position:
+    - 0.040852785226888955
+    - 0.07114812871441245
+    - 0.108599558705464
+    orientation:
+      w: 0.0625750329501362
+      xyz:
+      - 0.43196436923341797
+      - -0.8940074702825562
+      - 0.10120173932818065
+    tcp_position:
+    - 0.038358476937948145
+    - 0.04717704841139078
+    - 0.009487673770982946
+  grasp_24:
+    confidence: 0.9378392100334167
+    position:
+    - 0.006452616420574486
+    - 0.08380565932020545
+    - 0.10684282355941832
+    orientation:
+      w: 0.04776467475914915
+      xyz:
+      - -0.5177725970187553
+      - 0.8305800865786527
+      - -0.19941613124470225
+    tcp_position:
+    - 0.03560923397578147
+    - 0.05506209443705025
+    - 0.013420668100730435
+  grasp_25:
+    confidence: 0.9376983046531677
+    position:
+    - 0.030439149704761803
+    - -0.07138760993257165
+    - 0.11248739087022841
+    orientation:
+      w: 0.09085952468633347
+      xyz:
+      - -0.6078171504533957
+      - -0.7888587572352886
+      - 0.002172446014000913
+    tcp_position:
+    - 0.015548010243511844
+    - -0.060471116170550794
+    - 0.012172466110802083
+  grasp_26:
+    confidence: 0.9376132488250732
+    position:
+    - 0.0003810578491538763
+    - 0.09824966778978705
+    - 0.10409058653749526
+    orientation:
+      w: 0.034381958677877744
+      xyz:
+      - -0.5489908020684576
+      - 0.8005896190576333
+      - -0.23766203318758797
+    tcp_position:
+    - 0.032613080171089236
+    - 0.06328521477104342
+    - 0.013854320202177861
+  grasp_27:
+    confidence: 0.937393844127655
+    position:
+    - -0.022059125709347427
+    - -0.08441276708617806
+    - 0.10904017114080489
+    orientation:
+      w: 0.0074082351877348355
+      xyz:
+      - -0.7053439393999387
+      - -0.6936848014007085
+      - -0.1457272847096164
+    tcp_position:
+    - -0.0021387548176258556
+    - -0.06272467919204838
+    - 0.011383601126121481
+  grasp_28:
+    confidence: 0.936476469039917
+    position:
+    - -0.0018607457750476897
+    - 0.08618039032444358
+    - 0.10948788397945464
+    orientation:
+      w: 0.037461645885933204
+      xyz:
+      - -0.6047770234473927
+      - 0.7731479243689189
+      - -0.18730633743058836
+    tcp_position:
+    - 0.027156614673740715
+    - 0.06125983940853675
+    - 0.014931239926100084
+  grasp_29:
+    confidence: 0.9343640208244324
+    position:
+    - 0.02926502574700862
+    - -0.07885312149301171
+    - 0.1101201104465872
+    orientation:
+      w: 0.11305316781073681
+      xyz:
+      - -0.695740191580621
+      - -0.7087032488519648
+      - 0.03007111793712453
+    tcp_position:
+    - 0.008652287881289446
+    - -0.06715491822784309
+    - 0.010911909787337526
+  grasp_30:
+    confidence: 0.9339256286621094
+    position:
+    - -0.028082823264412582
+    - 0.09275331487879157
+    - 0.10477279149927199
+    orientation:
+      w: 0.051656916716506546
+      xyz:
+      - -0.6693948564228915
+      - 0.7072828476388208
+      - -0.22134376563581049
+    tcp_position:
+    - 0.009596472327756476
+    - 0.06787066487726223
+    - 0.013311737423893327
+  grasp_31:
+    confidence: 0.9327889084815979
+    position:
+    - 0.05399816867429763
+    - 0.07883677026256919
+    - 0.10899369441904128
+    orientation:
+      w: 0.14165263706742012
+      xyz:
+      - 0.45670657250838126
+      - -0.8766421462684427
+      - 0.05340584635927452
+    tcp_position:
+    - 0.033641443043191874
+    - 0.05608842301051668
+    - 0.011668895837796192
+  grasp_32:
+    confidence: 0.9323499798774719
+    position:
+    - 0.06915318232495338
+    - -0.04413208598271012
+    - 0.11299072974361479
+    orientation:
+      w: 0.12972003193974183
+      xyz:
+      - -0.36265964588732513
+      - -0.9225629761928779
+      - 0.022983679352352848
+    tcp_position:
+    - 0.04303911136728517
+    - -0.0388606588217098
+    - 0.014531259129030763
+  grasp_33:
+    confidence: 0.9312502145767212
+    position:
+    - 0.012132049654610455
+    - -0.08503310242667794
+    - 0.1137909370008856
+    orientation:
+      w: 0.08158055706014768
+      xyz:
+      - -0.6567202083180534
+      - -0.7447577806847074
+      - -0.08601760753495444
+    tcp_position:
+    - 0.01126132594392303
+    - -0.06103497431206203
+    - 0.01465803788452702
+  grasp_34:
+    confidence: 0.9299582242965698
+    position:
+    - 0.05851406615693122
+    - 0.08508371701464057
+    - 0.09955649101175368
+    orientation:
+      w: 0.0743792981801366
+      xyz:
+      - -0.7029790948124058
+      - -0.6164681818467436
+      - 0.34677816111965665
+    tcp_position:
+    - -0.0005705086213023125
+    - 0.05213963241508452
+    - 0.023217115109322936
+  grasp_35:
+    confidence: 0.9274827241897583
+    position:
+    - 0.07969918113667518
+    - -0.040375175420194864
+    - 0.10765622579492629
+    orientation:
+      w: 0.1031466706993396
+      xyz:
+      - -0.18971466883762475
+      - -0.9750907111674364
+      - -0.05066767950533476
+    tcp_position:
+    - 0.061142329613151206
+    - -0.026304475316635035
+    - 0.008350341477180195
+  grasp_36:
+    confidence: 0.9266824126243591
+    position:
+    - -0.0012438582052709535
+    - 0.09535094490274787
+    - 0.10661476128734648
+    orientation:
+      w: 0.048665800088618406
+      xyz:
+      - -0.5546575183599187
+      - 0.8018811300192928
+      - -0.21673331665328374
+    tcp_position:
+    - 0.031240479661881607
+    - 0.06540343788996714
+    - 0.014680466179089274
+  grasp_37:
+    confidence: 0.9266625642776489
+    position:
+    - 0.07063186180312186
+    - 0.05174090852960944
+    - 0.1130219625774771
+    orientation:
+      w: 0.0854162536330507
+      xyz:
+      - 0.26549112366974004
+      - -0.9561927510048464
+      - 0.08896038328186746
+    tcp_position:
+    - 0.058788394876968436
+    - 0.029761840251013194
+    - 0.014124779357863007
+  grasp_38:
+    confidence: 0.9242146015167236
+    position:
+    - 0.09516323369462043
+    - 0.018836846109479666
+    - 0.11264804773963988
+    orientation:
+      w: 0.1467531242473134
+      xyz:
+      - 0.03541917344001482
+      - -0.9828683592055953
+      - 0.10572980255812402
+    tcp_position:
+    - 0.06650242908919635
+    - -0.0034228896822033027
+    - 0.01732196294720656
+  grasp_39:
+    confidence: 0.9240913987159729
+    position:
+    - 0.06441787641961128
+    - 0.07746915658935905
+    - 0.10758955799974501
+    orientation:
+      w: 0.06253148183262698
+      xyz:
+      - -0.8397707182034878
+      - -0.4722599454715438
+      - 0.26047168470109827
+    tcp_position:
+    - 0.013771284401147686
+    - 0.06308751640355775
+    - 0.02022771768899237
+  grasp_40:
+    confidence: 0.9226189851760864
+    position:
+    - 0.07512999337632209
+    - 0.030553934630006552
+    - 0.1155149640981108
+    orientation:
+      w: 0.0889516067595588
+      xyz:
+      - 0.26280772952784254
+      - -0.9600660906847484
+      - -0.03595567371942468
+    tcp_position:
+    - 0.05578082790785509
+    - 0.03282703590227045
+    - 0.015392824656926693
+  grasp_41:
+    confidence: 0.9217594265937805
+    position:
+    - -0.0183299871860072
+    - 0.08932870021089911
+    - 0.10919725173152983
+    orientation:
+      w: 0.11049308706650218
+      xyz:
+      - 0.6528859219957214
+      - 0.7453887390407467
+      - -0.07698622137471613
+    tcp_position:
+    - -0.011782182311530866
+    - 0.06290579533739316
+    - 0.010896914248022457
+  grasp_42:
+    confidence: 0.9195939898490906
+    position:
+    - 0.002066341112367809
+    - -0.09514532098546624
+    - 0.10794907831586897
+    orientation:
+      w: 0.001609637238292825
+      xyz:
+      - 0.6062230451929733
+      - 0.7702066469132407
+      - 0.19817353404423615
+    tcp_position:
+    - 0.0268272728957083
+    - -0.06420693109458578
+    - 0.013961247783503605
+  grasp_43:
+    confidence: 0.9185975193977356
+    position:
+    - -0.00784303608816117
+    - -0.09324102709069848
+    - 0.1026423426810652
+    orientation:
+      w: 0.04342234512384936
+      xyz:
+      - 0.5729256415779497
+      - 0.7785560273943324
+      - 0.2524306268549748
+    tcp_position:
+    - 0.028556828214213216
+    - -0.058223690426712646
+    - 0.014026113852877026
+  grasp_44:
+    confidence: 0.9183839559555054
+    position:
+    - -0.026277730125002563
+    - 0.08476415416225791
+    - 0.10601399862207472
+    orientation:
+      w: 0.08674383541990788
+      xyz:
+      - -0.6713098346325393
+      - 0.704071089760552
+      - -0.21471495873754526
+    tcp_position:
+    - 0.015585944271174483
+    - 0.06580386270653651
+    - 0.014953907945835163
+  grasp_45:
+    confidence: 0.9166034460067749
+    position:
+    - 0.008039945852942765
+    - -0.09557475754991174
+    - 0.11208006762899458
+    orientation:
+      w: 0.13981761390612912
+      xyz:
+      - -0.7268788884519025
+      - 0.6626129539982758
+      - 0.11420240609637793
+    tcp_position:
+    - 0.01000520926351315
+    - -0.059405054600291246
+    - 0.016728663191182033
+  grasp_46:
+    confidence: 0.916599452495575
+    position:
+    - 0.09371620428282768
+    - 0.003683865536004305
+    - 0.10583480470813811
+    orientation:
+      w: 0.14982864633319465
+      xyz:
+      - -0.11504465999009009
+      - -0.9680813007530358
+      - 0.164726130525904
+    tcp_position:
+    - 0.06026078109075881
+    - -0.025331319874799852
+    - 0.013949802261513336
+  grasp_47:
+    confidence: 0.9163258671760559
+    position:
+    - 0.011161642265506089
+    - 0.09105907520279288
+    - 0.09892833256162703
+    orientation:
+      w: 0.06071711592504706
+      xyz:
+      - -0.45849301027185024
+      - 0.8426495710981092
+      - -0.27575222881016503
+    tcp_position:
+    - 0.04739076138396164
+    - 0.049336153890323226
+    - 0.013192407973073
+  grasp_48:
+    confidence: 0.9157416224479675
+    position:
+    - -0.06234753120224923
+    - -0.06529618659988046
+    - 0.10853356891311705
+    orientation:
+      w: 0.05444213513729948
+      xyz:
+      - 0.8210845302841647
+      - 0.5449800474196214
+      - 0.16078866864375643
+    tcp_position:
+    - -0.02936257416739555
+    - -0.05653948225363279
+    - 0.012412225089795115
+  grasp_49:
+    confidence: 0.9153054356575012
+    position:
+    - -0.04850431147497147
+    - 0.07654702803120017
+    - 0.10944574349559844
+    orientation:
+      w: 0.1146410148715103
+      xyz:
+      - 0.9085957271687113
+      - -0.39514570797183723
+      - 0.07191044257565428
+    tcp_position:
+    - -0.0444166378356478
+    - 0.04950123047261672
+    - 0.011181733000206487
+  grasp_50:
+    confidence: 0.9144722819328308
+    position:
+    - -0.01585438649635762
+    - 0.0886127962730825
+    - 0.11217650794424117
+    orientation:
+      w: 0.08677566101184267
+      xyz:
+      - 0.7627401472067821
+      - -0.634802423879389
+      - 0.08788250754152971
+    tcp_position:
+    - -0.01341737867016261
+    - 0.06372983318443001
+    - 0.013288191441310382
+  grasp_51:
+    confidence: 0.9137841463088989
+    position:
+    - -0.08428262907546014
+    - 0.049595927353948355
+    - 0.1003261732403189
+    orientation:
+      w: 0.12749276149283212
+      xyz:
+      - -0.8765646248529426
+      - 0.42389771508286783
+      - -0.1889200396222581
+    tcp_position:
+    - -0.03947514823065885
+    - 0.05605719314406712
+    - 0.008922991103523362
+  grasp_52:
+    confidence: 0.9132247567176819
+    position:
+    - -0.026787850889377296
+    - 0.07708031823858619
+    - 0.11125231557525694
+    orientation:
+      w: 0.15768346666150657
+      xyz:
+      - 0.873715384679457
+      - -0.46002440737006817
+      - 0.01161445391982269
+    tcp_position:
+    - -0.03951551620001532
+    - 0.047885184023905236
+    - 0.014352105699699164
+  grasp_53:
+    confidence: 0.9123148322105408
+    position:
+    - -0.06542994070332497
+    - -0.05774276936426759
+    - 0.10952287935651839
+    orientation:
+      w: 0.07279502789718627
+      xyz:
+      - 0.8382748184149137
+      - 0.5225129682025377
+      - 0.13775489386974518
+    tcp_position:
+    - -0.034113328536085126
+    - -0.05550764750785771
+    - 0.012475086838328181
+  grasp_54:
+    confidence: 0.9121657013893127
+    position:
+    - 0.06270775210577995
+    - 0.05997191509231925
+    - 0.11158380680717528
+    orientation:
+      w: 0.005110882444414183
+      xyz:
+      - 0.33450985725213117
+      - -0.9337954785295552
+      - 0.1268977484416387
+    tcp_position:
+    - 0.07039366198076358
+    - 0.03544985349771075
+    - 0.012874155381674496
+  grasp_55:
+    confidence: 0.9105618000030518
+    position:
+    - 0.06282425683457404
+    - 0.058325888123363256
+    - 0.11255130195058882
+    orientation:
+      w: 0.10587155354042045
+      xyz:
+      - 0.3806192344464498
+      - -0.917257055526717
+      - 0.05059354313342515
+    tcp_position:
+    - 0.04694192785750795
+    - 0.040638265174829366
+    - 0.013360074411583406
+  grasp_56:
+    confidence: 0.910319983959198
+    position:
+    - 0.08919434261042625
+    - 0.009155985433608294
+    - 0.10280127101577818
+    orientation:
+      w: 0.1290779280352608
+      xyz:
+      - -0.0883925307771208
+      - -0.9736728423025172
+      - 0.16579157143677972
+    tcp_position:
+    - 0.060566123041943545
+    - -0.021447528642677575
+    - 0.009807454175510169

Objects/bowl/002/cache/jsons/caption_properties.json

@@ -0,0 +1,50 @@
+{
+  "color": [
+    "blue",
+    "dark blue",
+    "black",
+    "teal",
+    "gradient blue"
+  ],
+  "material": [
+    "glass",
+    "ceramic",
+    "smooth",
+    "shiny",
+    "reflective"
+  ],
+  "size": [
+    "medium size",
+    "small bowl",
+    "normal size",
+    "round shape"
+  ],
+  "name": [
+    "bowl",
+    "blue bowl",
+    "ceramic bowl",
+    "glass bowl",
+    "round bowl"
+  ],
+  "shape": [
+    "round",
+    "circular",
+    "curved sides",
+    "wide rim",
+    "deep center"
+  ],
+  "function": [
+    "eating",
+    "serving",
+    "holding food",
+    "drinking",
+    "decorative"
+  ],
+  "scene": [
+    "dining table",
+    "kitchen use",
+    "daily use",
+    "modern design",
+    "simple look"
+  ]
+}

Objects/bowl/002/cache/jsons/container_placement.json

@@ -0,0 +1,28 @@
+{
+  "ASSERT_CONTAINER": true,
+  "PLACEMENT_POINTS": [
+    {
+      "id": 18,
+      "description": "bowl interior",
+      "confidence": 0.95,
+      "rationale": "concave holds",
+      "point_coordinates": [
+        -0.00811643,
+        0.0288236,
+        -0.02825
+      ],
+      "closest_point_on_surface": [
+        -0.008063429105710201,
+        0.028520419741537125,
+        -0.028268637425815108
+      ],
+      "surface_normal": [
+        -0.01741080829132068,
+        0.05820377553759666,
+        -0.9981528862192464
+      ],
+      "distance_to_surface": 0.0003083418842099603,
+      "normal_magnitude": 0.9999999999999999
+    }
+  ]
+}

Objects/bowl/002/cache/jsons/desktop_grasp.json

@@ -0,0 +1,1207 @@
+{
+  "point": {
+    "id_0": {
+      "raw_id": 1,
+      "grasp_type": "enveloping",
+      "confidence": 0.95,
+      "rationale": "wide rim stable grip",
+      "grasp_scenario": "daily holding and stability",
+      "ranking": [
+        "grasp_49",
+        "grasp_52",
+        "grasp_51",
+        "grasp_53",
+        "grasp_48",
+        "grasp_50",
+        "grasp_41",
+        "grasp_34",
+        "grasp_22",
+        "grasp_27"
+      ]
+    },
+    "id_1": {
+      "raw_id": 23,
+      "grasp_type": "parallel_jaw",
+      "confidence": 0.9,
+      "rationale": "mid-side easy access",
+      "grasp_scenario": "precision operation control",
+      "ranking": [
+        "grasp_8",
+        "grasp_25",
+        "grasp_17",
+        "grasp_11",
+        "grasp_33",
+        "grasp_27",
+        "grasp_16",
+        "grasp_45",
+        "grasp_29",
+        "grasp_43",
+        "grasp_42",
+        "grasp_32",
+        "grasp_14",
+        "grasp_48",
+        "grasp_53",
+        "grasp_35",
+        "grasp_56",
+        "grasp_46",
+        "grasp_0",
+        "grasp_2",
+        "grasp_5",
+        "grasp_3",
+        "grasp_12",
+        "grasp_7",
+        "grasp_4",
+        "grasp_38",
+        "grasp_1",
+        "grasp_19",
+        "grasp_18",
+        "grasp_6"
+      ]
+    },
+    "id_2": {
+      "raw_id": 42,
+      "grasp_type": "pinch",
+      "confidence": 0.85,
+      "rationale": "top edge secure hold",
+      "grasp_scenario": "powerful holding",
+      "ranking": [
+        "grasp_15",
+        "grasp_18",
+        "grasp_6",
+        "grasp_10",
+        "grasp_4",
+        "grasp_19",
+        "grasp_38",
+        "grasp_1",
+        "grasp_21",
+        "grasp_12",
+        "grasp_7",
+        "grasp_3",
+        "grasp_37",
+        "grasp_54",
+        "grasp_5",
+        "grasp_9",
+        "grasp_40",
+        "grasp_2",
+        "grasp_0",
+        "grasp_56",
+        "grasp_55",
+        "grasp_46",
+        "grasp_13",
+        "grasp_35",
+        "grasp_47",
+        "grasp_23",
+        "grasp_24",
+        "grasp_32",
+        "grasp_14",
+        "grasp_31"
+      ]
+    }
+  },
+  "grasp": {
+    "format": "isaac_grasp",
+    "format_version": "1.0",
+    "grasps": {
+      "grasp_49": {
+        "confidence": 0.9153054356575012,
+        "position": [
+          -0.04850431147497147,
+          0.07654702803120017,
+          0.10944574349559844
+        ],
+        "orientation": {
+          "w": 0.1146410148715103,
+          "xyz": [
+            0.9085957271687113,
+            -0.39514570797183723,
+            0.07191044257565428
+          ]
+        },
+        "tcp_position": [
+          -0.0444166378356478,
+          0.04950123047261672,
+          0.011181733000206487
+        ],
+        "score": 0.0
+      },
+      "grasp_52": {
+        "confidence": 0.9132247567176819,
+        "position": [
+          -0.026787850889377296,
+          0.07708031823858619,
+          0.11125231557525694
+        ],
+        "orientation": {
+          "w": 0.15768346666150657,
+          "xyz": [
+            0.873715384679457,
+            -0.46002440737006817,
+            0.01161445391982269
+          ]
+        },
+        "tcp_position": [
+          -0.03951551620001532,
+          0.047885184023905236,
+          0.014352105699699164
+        ],
+        "score": 0.0
+      },
+      "grasp_51": {
+        "confidence": 0.9137841463088989,
+        "position": [
+          -0.08428262907546014,
+          0.049595927353948355,
+          0.1003261732403189
+        ],
+        "orientation": {
+          "w": 0.12749276149283212,
+          "xyz": [
+            -0.8765646248529426,
+            0.42389771508286783,
+            -0.1889200396222581
+          ]
+        },
+        "tcp_position": [
+          -0.03947514823065885,
+          0.05605719314406712,
+          0.008922991103523362
+        ],
+        "score": 0.0
+      },
+      "grasp_53": {
+        "confidence": 0.9123148322105408,
+        "position": [
+          -0.06542994070332497,
+          -0.05774276936426759,
+          0.10952287935651839
+        ],
+        "orientation": {
+          "w": 0.07279502789718627,
+          "xyz": [
+            0.8382748184149137,
+            0.5225129682025377,
+            0.13775489386974518
+          ]
+        },
+        "tcp_position": [
+          -0.034113328536085126,
+          -0.05550764750785771,
+          0.012475086838328181
+        ],
+        "score": 0.0
+      },
+      "grasp_48": {
+        "confidence": 0.9157416224479675,
+        "position": [
+          -0.06234753120224923,
+          -0.06529618659988046,
+          0.10853356891311705
+        ],
+        "orientation": {
+          "w": 0.05444213513729948,
+          "xyz": [
+            0.8210845302841647,
+            0.5449800474196214,
+            0.16078866864375643
+          ]
+        },
+        "tcp_position": [
+          -0.02936257416739555,
+          -0.05653948225363279,
+          0.012412225089795115
+        ],
+        "score": 0.0
+      },
+      "grasp_50": {
+        "confidence": 0.9144722819328308,
+        "position": [
+          -0.01585438649635762,
+          0.0886127962730825,
+          0.11217650794424117
+        ],
+        "orientation": {
+          "w": 0.08677566101184267,
+          "xyz": [
+            0.7627401472067821,
+            -0.634802423879389,
+            0.08788250754152971
+          ]
+        },
+        "tcp_position": [
+          -0.01341737867016261,
+          0.06372983318443001,
+          0.013288191441310382
+        ],
+        "score": 0.0
+      },
+      "grasp_41": {
+        "confidence": 0.9217594265937805,
+        "position": [
+          -0.0183299871860072,
+          0.08932870021089911,
+          0.10919725173152983
+        ],
+        "orientation": {
+          "w": 0.11049308706650218,
+          "xyz": [
+            0.6528859219957214,
+            0.7453887390407467,
+            -0.07698622137471613
+          ]
+        },
+        "tcp_position": [
+          -0.011782182311530866,
+          0.06290579533739316,
+          0.010896914248022457
+        ],
+        "score": 0.0
+      },
+      "grasp_34": {
+        "confidence": 0.9299582242965698,
+        "position": [
+          0.05851406615693122,
+          0.08508371701464057,
+          0.09955649101175368
+        ],
+        "orientation": {
+          "w": 0.0743792981801366,
+          "xyz": [
+            -0.7029790948124058,
+            -0.6164681818467436,
+            0.34677816111965665
+          ]
+        },
+        "tcp_position": [
+          -0.0005705086213023125,
+          0.05213963241508452,
+          0.023217115109322936
+        ],
+        "score": 0.0
+      },
+      "grasp_22": {
+        "confidence": 0.9401375651359558,
+        "position": [
+          0.03519345831591636,
+          0.09002547105774283,
+          0.10398813360370696
+        ],
+        "orientation": {
+          "w": 0.06995332733204228,
+          "xyz": [
+            -0.7306134306641512,
+            -0.6260063440271273,
+            0.2634892866249517
+          ]
+        },
+        "tcp_position": [
+          -0.013011749505437625,
+          0.06680269765118176,
+          0.01714942832658066
+        ],
+        "score": 0.0
+      },
+      "grasp_27": {
+        "confidence": 0.937393844127655,
+        "position": [
+          -0.022059125709347427,
+          -0.08441276708617806,
+          0.10904017114080489
+        ],
+        "orientation": {
+          "w": 0.0074082351877348355,
+          "xyz": [
+            -0.7053439393999387,
+            -0.6936848014007085,
+            -0.1457272847096164
+          ]
+        },
+        "tcp_position": [
+          -0.0021387548176258556,
+          -0.06272467919204838,
+          0.011383601126121481
+        ],
+        "score": 0.0
+      },
+      "grasp_8": {
+        "confidence": 0.9501575827598572,
+        "position": [
+          0.017590081435628235,
+          -0.08451543608680367,
+          0.1104226412717253
+        ],
+        "orientation": {
+          "w": 0.08796651669520845,
+          "xyz": [
+            -0.628277281153302,
+            -0.768567117569788,
+            -0.08266883159688374
+          ]
+        },
+        "tcp_position": [
+          0.014393559856462974,
+          -0.06027943853756913,
+          0.011395379002250058
+        ],
+        "score": 0.0
+      },
+      "grasp_25": {
+        "confidence": 0.9376983046531677,
+        "position": [
+          0.030439149704761803,
+          -0.07138760993257165,
+          0.11248739087022841
+        ],
+        "orientation": {
+          "w": 0.09085952468633347,
+          "xyz": [
+            -0.6078171504533957,
+            -0.7888587572352886,
+            0.002172446014000913
+          ]
+        },
+        "tcp_position": [
+          0.015548010243511844,
+          -0.060471116170550794,
+          0.012172466110802083
+        ],
+        "score": 0.0
+      },
+      "grasp_17": {
+        "confidence": 0.943586528301239,
+        "position": [
+          0.015294358250685036,
+          -0.07782131293788552,
+          0.11195331090129912
+        ],
+        "orientation": {
+          "w": 0.07349149585018208,
+          "xyz": [
+            -0.6872305356433025,
+            -0.7222073195002743,
+            -0.02701441425148535
+          ]
+        },
+        "tcp_position": [
+          0.00825412121771605,
+          -0.06353812895427771,
+          0.011203989723387375
+        ],
+        "score": 0.0
+      },
+      "grasp_11": {
+        "confidence": 0.9482674598693848,
+        "position": [
+          0.01927686494309455,
+          -0.08395455637946725,
+          0.10930711054243147
+        ],
+        "orientation": {
+          "w": 0.12105853779369893,
+          "xyz": [
+            -0.6820640210986785,
+            -0.7208910217995131,
+            -0.02120462776864143
+          ]
+        },
+        "tcp_position": [
+          0.004424216680616187,
+          -0.06399195301306543,
+          0.010388490927988714
+        ],
+        "score": 0.0
+      },
+      "grasp_33": {
+        "confidence": 0.9312502145767212,
+        "position": [
+          0.012132049654610455,
+          -0.08503310242667794,
+          0.1137909370008856
+        ],
+        "orientation": {
+          "w": 0.08158055706014768,
+          "xyz": [
+            -0.6567202083180534,
+            -0.7447577806847074,
+            -0.08601760753495444
+          ]
+        },
+        "tcp_position": [
+          0.01126132594392303,
+          -0.06103497431206203,
+          0.01465803788452702
+        ],
+        "score": 0.0
+      },
+      "grasp_16": {
+        "confidence": 0.9437054395675659,
+        "position": [
+          0.057012084987945855,
+          -0.06840716162696481,
+          0.10837347083725035
+        ],
+        "orientation": {
+          "w": 0.12789240567089666,
+          "xyz": [
+            -0.4480193289735223,
+            -0.8842473685454625,
+            -0.032074984929862
+          ]
+        },
+        "tcp_position": [
+          0.036873549758895244,
+          -0.05093242150583531,
+          0.009920066342904488
+        ],
+        "score": 0.0
+      },
+      "grasp_45": {
+        "confidence": 0.9166034460067749,
+        "position": [
+          0.008039945852942765,
+          -0.09557475754991174,
+          0.11208006762899458
+        ],
+        "orientation": {
+          "w": 0.13981761390612912,
+          "xyz": [
+            -0.7268788884519025,
+            0.6626129539982758,
+            0.11420240609637793
+          ]
+        },
+        "tcp_position": [
+          0.01000520926351315,
+          -0.059405054600291246,
+          0.016728663191182033
+        ],
+        "score": 0.0
+      },
+      "grasp_29": {
+        "confidence": 0.9343640208244324,
+        "position": [
+          0.02926502574700862,
+          -0.07885312149301171,
+          0.1101201104465872
+        ],
+        "orientation": {
+          "w": 0.11305316781073681,
+          "xyz": [
+            -0.695740191580621,
+            -0.7087032488519648,
+            0.03007111793712453
+          ]
+        },
+        "tcp_position": [
+          0.008652287881289446,
+          -0.06715491822784309,
+          0.010911909787337526
+        ],
+        "score": 0.0
+      },
+      "grasp_43": {
+        "confidence": 0.9185975193977356,
+        "position": [
+          -0.00784303608816117,
+          -0.09324102709069848,
+          0.1026423426810652
+        ],
+        "orientation": {
+          "w": 0.04342234512384936,
+          "xyz": [
+            0.5729256415779497,
+            0.7785560273943324,
+            0.2524306268549748
+          ]
+        },
+        "tcp_position": [
+          0.028556828214213216,
+          -0.058223690426712646,
+          0.014026113852877026
+        ],
+        "score": 0.0
+      },
+      "grasp_42": {
+        "confidence": 0.9195939898490906,
+        "position": [
+          0.002066341112367809,
+          -0.09514532098546624,
+          0.10794907831586897
+        ],
+        "orientation": {
+          "w": 0.001609637238292825,
+          "xyz": [
+            0.6062230451929733,
+            0.7702066469132407,
+            0.19817353404423615
+          ]
+        },
+        "tcp_position": [
+          0.0268272728957083,
+          -0.06420693109458578,
+          0.013961247783503605
+        ],
+        "score": 0.0
+      },
+      "grasp_32": {
+        "confidence": 0.9323499798774719,
+        "position": [
+          0.06915318232495338,
+          -0.04413208598271012,
+          0.11299072974361479
+        ],
+        "orientation": {
+          "w": 0.12972003193974183,
+          "xyz": [
+            -0.36265964588732513,
+            -0.9225629761928779,
+            0.022983679352352848
+          ]
+        },
+        "tcp_position": [
+          0.04303911136728517,
+          -0.0388606588217098,
+          0.014531259129030763
+        ],
+        "score": 0.0
+      },
+      "grasp_14": {
+        "confidence": 0.9453001618385315,
+        "position": [
+          0.06037530687171966,
+          -0.07253711530938745,
+          0.10651560151018202
+        ],
+        "orientation": {
+          "w": 0.12365446758993738,
+          "xyz": [
+            -0.9159126736069844,
+            0.36265338013057696,
+            0.11956618606872955
+          ]
+        },
+        "tcp_position": [
+          0.04718293807056529,
+          -0.04058708909904506,
+          0.010551247552200466
+        ],
+        "score": 0.0
+      },
+      "grasp_35": {
+        "confidence": 0.9274827241897583,
+        "position": [
+          0.07969918113667518,
+          -0.040375175420194864,
+          0.10765622579492629
+        ],
+        "orientation": {
+          "w": 0.1031466706993396,
+          "xyz": [
+            -0.18971466883762475,
+            -0.9750907111674364,
+            -0.05066767950533476
+          ]
+        },
+        "tcp_position": [
+          0.061142329613151206,
+          -0.026304475316635035,
+          0.008350341477180195
+        ],
+        "score": 0.0
+      },
+      "grasp_56": {
+        "confidence": 0.910319983959198,
+        "position": [
+          0.08919434261042625,
+          0.009155985433608294,
+          0.10280127101577818
+        ],
+        "orientation": {
+          "w": 0.1290779280352608,
+          "xyz": [
+            -0.0883925307771208,
+            -0.9736728423025172,
+            0.16579157143677972
+          ]
+        },
+        "tcp_position": [
+          0.060566123041943545,
+          -0.021447528642677575,
+          0.009807454175510169
+        ],
+        "score": 0.0
+      },
+      "grasp_46": {
+        "confidence": 0.916599452495575,
+        "position": [
+          0.09371620428282768,
+          0.003683865536004305,
+          0.10583480470813811
+        ],
+        "orientation": {
+          "w": 0.14982864633319465,
+          "xyz": [
+            -0.11504465999009009,
+            -0.9680813007530358,
+            0.164726130525904
+          ]
+        },
+        "tcp_position": [
+          0.06026078109075881,
+          -0.025331319874799852,
+          0.013949802261513336
+        ],
+        "score": 0.0
+      },
+      "grasp_0": {
+        "confidence": 0.9573201537132263,
+        "position": [
+          0.07991041254717857,
+          0.004667075350880623,
+          0.11196471028961241
+        ],
+        "orientation": {
+          "w": 0.09539400588830922,
+          "xyz": [
+            -0.014734869864605765,
+            -0.992045012143388,
+            0.08080569987370564
+          ]
+        },
+        "tcp_position": [
+          0.060361947470004916,
+          -0.011399408392086256,
+          0.01315314409787803
+        ],
+        "score": 0.0
+      },
+      "grasp_2": {
+        "confidence": 0.955051839351654,
+        "position": [
+          0.08177102368790656,
+          -0.02281188638880849,
+          0.11283136182464659
+        ],
+        "orientation": {
+          "w": 0.09248345615115082,
+          "xyz": [
+            -0.019148396599668563,
+            -0.9943058594020202,
+            -0.04935592370536188
+          ]
+        },
+        "tcp_position": [
+          0.06320462555628065,
+          -0.012439344405927425,
+          0.013073157985406758
+        ],
+        "score": 0.0
+      },
+      "grasp_5": {
+        "confidence": 0.9533449411392212,
+        "position": [
+          0.08510264765936881,
+          -0.016301313880831003,
+          0.11035411083139479
+        ],
+        "orientation": {
+          "w": 0.10048551083641656,
+          "xyz": [
+            -0.0219423692955637,
+            -0.9942262818461793,
+            -0.030582593545404782
+          ]
+        },
+        "tcp_position": [
+          0.06485885428299897,
+          -0.009648688555503705,
+          0.010604767946262694
+        ],
+        "score": 0.0
+      },
+      "grasp_3": {
+        "confidence": 0.9536449313163757,
+        "position": [
+          0.08846745651680976,
+          -0.0069250548258423805,
+          0.11130019300617278
+        ],
+        "orientation": {
+          "w": 0.1120497669695809,
+          "xyz": [
+            0.04769752305709137,
+            -0.9923474487942184,
+            -0.020404335026827116
+          ]
+        },
+        "tcp_position": [
+          0.06558568704415574,
+          -0.0038847013590555964,
+          0.011946376388000945
+        ],
+        "score": 0.0
+      },
+      "grasp_12": {
+        "confidence": 0.9480646848678589,
+        "position": [
+          0.09226741653401405,
+          -0.021885643247514963,
+          0.11027806275524199
+        ],
+        "orientation": {
+          "w": 0.12563872213085694,
+          "xyz": [
+            0.02464173172306269,
+            -0.9879327467826315,
+            -0.0871583868227232
+          ]
+        },
+        "tcp_position": [
+          0.06650826687974451,
+          -0.004951466809430604,
+          0.013047924025253621
+        ],
+        "score": 0.0
+      },
+      "grasp_7": {
+        "confidence": 0.9502331614494324,
+        "position": [
+          0.08837340783793479,
+          -0.009447566699236631,
+          0.11586126708425581
+        ],
+        "orientation": {
+          "w": 0.10760030345052646,
+          "xyz": [
+            -0.011093638626542031,
+            -0.9941122631278153,
+            -0.006317766873772129
+          ]
+        },
+        "tcp_position": [
+          0.06656648223055588,
+          -0.007922820024129895,
+          0.016231285938362802
+        ],
+        "score": 0.0
+      },
+      "grasp_4": {
+        "confidence": 0.953485369682312,
+        "position": [
+          0.08285846572834998,
+          0.010087940376251936,
+          0.11512628220953047
+        ],
+        "orientation": {
+          "w": 0.09747233749297733,
+          "xyz": [
+            0.05469943754082651,
+            -0.9931699058429507,
+            0.03347615695202299
+          ]
+        },
+        "tcp_position": [
+          0.06348347080839672,
+          0.002217784864577216,
+          0.015293070180297186
+        ],
+        "score": 0.0
+      },
+      "grasp_38": {
+        "confidence": 0.9242146015167236,
+        "position": [
+          0.09516323369462043,
+          0.018836846109479666,
+          0.11264804773963988
+        ],
+        "orientation": {
+          "w": 0.1467531242473134,
+          "xyz": [
+            0.03541917344001482,
+            -0.9828683592055953,
+            0.10572980255812402
+          ]
+        },
+        "tcp_position": [
+          0.06650242908919635,
+          -0.0034228896822033027,
+          0.01732196294720656
+        ],
+        "score": 0.0
+      },
+      "grasp_1": {
+        "confidence": 0.9552531242370605,
+        "position": [
+          0.07681408536154777,
+          0.02919551869854331,
+          0.10743879550136626
+        ],
+        "orientation": {
+          "w": 0.08293410664352958,
+          "xyz": [
+            0.1440969671058307,
+            -0.9819394768716379,
+            0.0902931990085352
+          ]
+        },
+        "tcp_position": [
+          0.06285532473989777,
+          0.008670464691903045,
+          0.008505104779085157
+        ],
+        "score": 0.0
+      },
+      "grasp_19": {
+        "confidence": 0.9428650140762329,
+        "position": [
+          0.09650626045186073,
+          -0.003738346276804805,
+          0.11193429701961577
+        ],
+        "orientation": {
+          "w": 0.13968093023447392,
+          "xyz": [
+            0.07054432628752073,
+            -0.9871919356224415,
+            -0.03106151959401736
+          ]
+        },
+        "tcp_position": [
+          0.06792930767222895,
+          0.0005068905678837924,
+          0.014111315394829849
+        ],
+        "score": 0.0
+      },
+      "grasp_18": {
+        "confidence": 0.9429404139518738,
+        "position": [
+          0.07990261178929359,
+          0.01412530755624175,
+          0.11662290268577635
+        ],
+        "orientation": {
+          "w": 0.09035058332071436,
+          "xyz": [
+            0.09315495282369324,
+            -0.9911671713141326,
+            0.027323348388570336
+          ]
+        },
+        "tcp_position": [
+          0.062153137508537445,
+          0.006883591063209068,
+          0.016440500513581896
+        ],
+        "score": 0.0
+      },
+      "grasp_6": {
+        "confidence": 0.9527618885040283,
+        "position": [
+          0.08134644490201026,
+          -0.004349714145064354,
+          0.11292040371336043
+        ],
+        "orientation": {
+          "w": 0.08635428681545783,
+          "xyz": [
+            0.08100125534241763,
+            -0.9898569930953824,
+            -0.07851666703136231
+          ]
+        },
+        "tcp_position": [
+          0.06261142287230105,
+          0.010078280979989666,
+          0.013699277403396909
+        ],
+        "score": 0.0
+      },
+      "grasp_15": {
+        "confidence": 0.9448297619819641,
+        "position": [
+          0.07757649582345039,
+          0.0006564619252458215,
+          0.11733870976604521
+        ],
+        "orientation": {
+          "w": 0.07452731141141737,
+          "xyz": [
+            0.10420718752742322,
+            -0.9893818839303106,
+            -0.06862965592161041
+          ]
+        },
+        "tcp_position": [
+          0.06107541008406718,
+          0.012923931902867558,
+          0.0174326371289443
+        ],
+        "score": 0.0
+      },
+      "grasp_10": {
+        "confidence": 0.9484732747077942,
+        "position": [
+          0.08170654636342078,
+          0.019585780333727598,
+          0.11296860151924193
+        ],
+        "orientation": {
+          "w": 0.09491198023491207,
+          "xyz": [
+            0.1502117532558393,
+            -0.9837104050912426,
+            0.02723938521549189
+          ]
+        },
+        "tcp_position": [
+          0.06349460411375109,
+          0.01121105776307672,
+          0.012957656211444082
+        ],
+        "score": 0.0
+      },
+      "grasp_21": {
+        "confidence": 0.9415995478630066,
+        "position": [
+          0.08242721867281944,
+          0.018059182446449995,
+          0.11161343031562865
+        ],
+        "orientation": {
+          "w": 0.09595978507002327,
+          "xyz": [
+            0.1783739375061519,
+            -0.978261207549374,
+            -0.04449121117599979
+          ]
+        },
+        "tcp_position": [
+          0.06165801789372478,
+          0.02344627190454746,
+          0.011895730953037517
+        ],
+        "score": 0.0
+      },
+      "grasp_37": {
+        "confidence": 0.9266625642776489,
+        "position": [
+          0.07063186180312186,
+          0.05174090852960944,
+          0.1130219625774771
+        ],
+        "orientation": {
+          "w": 0.0854162536330507,
+          "xyz": [
+            0.26549112366974004,
+            -0.9561927510048464,
+            0.08896038328186746
+          ]
+        },
+        "tcp_position": [
+          0.058788394876968436,
+          0.029761840251013194,
+          0.014124779357863007
+        ],
+        "score": 0.0
+      },
+      "grasp_54": {
+        "confidence": 0.9121657013893127,
+        "position": [
+          0.06270775210577995,
+          0.05997191509231925,
+          0.11158380680717528
+        ],
+        "orientation": {
+          "w": 0.005110882444414183,
+          "xyz": [
+            0.33450985725213117,
+            -0.9337954785295552,
+            0.1268977484416387
+          ]
+        },
+        "tcp_position": [
+          0.07039366198076358,
+          0.03544985349771075,
+          0.012874155381674496
+        ],
+        "score": 0.0
+      },
+      "grasp_9": {
+        "confidence": 0.9499045610427856,
+        "position": [
+          0.07547406863886863,
+          0.03998052841052413,
+          0.10963342362083495
+        ],
+        "orientation": {
+          "w": 0.09076123643062722,
+          "xyz": [
+            0.2643377418701739,
+            -0.9597682691215005,
+            0.02707075492262018
+          ]
+        },
+        "tcp_position": [
+          0.05916346639553029,
+          0.02978598094632839,
+          0.009463390894176305
+        ],
+        "score": 0.0
+      },
+      "grasp_40": {
+        "confidence": 0.9226189851760864,
+        "position": [
+          0.07512999337632209,
+          0.030553934630006552,
+          0.1155149640981108
+        ],
+        "orientation": {
+          "w": 0.0889516067595588,
+          "xyz": [
+            0.26280772952784254,
+            -0.9600660906847484,
+            -0.03595567371942468
+          ]
+        },
+        "tcp_position": [
+          0.05578082790785509,
+          0.03282703590227045,
+          0.015392824656926693
+        ],
+        "score": 0.0
+      },
+      "grasp_55": {
+        "confidence": 0.9105618000030518,
+        "position": [
+          0.06282425683457404,
+          0.058325888123363256,
+          0.11255130195058882
+        ],
+        "orientation": {
+          "w": 0.10587155354042045,
+          "xyz": [
+            0.3806192344464498,
+            -0.917257055526717,
+            0.05059354313342515
+          ]
+        },
+        "tcp_position": [
+          0.04694192785750795,
+          0.040638265174829366,
+          0.013360074411583406
+        ],
+        "score": 0.0
+      },
+      "grasp_13": {
+        "confidence": 0.9474610686302185,
+        "position": [
+          0.027800960582681,
+          0.0924592255614698,
+          0.1017357932869345
+        ],
+        "orientation": {
+          "w": 0.0008960551292463822,
+          "xyz": [
+            -0.40557974336394453,
+            0.876627749435874,
+            -0.25889777476262155
+          ]
+        },
+        "tcp_position": [
+          0.04938195734943758,
+          0.04623414099126018,
+          0.01340968086806811
+        ],
+        "score": 0.0
+      },
+      "grasp_47": {
+        "confidence": 0.9163258671760559,
+        "position": [
+          0.011161642265506089,
+          0.09105907520279288,
+          0.09892833256162703
+        ],
+        "orientation": {
+          "w": 0.06071711592504706,
+          "xyz": [
+            -0.45849301027185024,
+            0.8426495710981092,
+            -0.27575222881016503
+          ]
+        },
+        "tcp_position": [
+          0.04739076138396164,
+          0.049336153890323226,
+          0.013192407973073
+        ],
+        "score": 0.0
+      },
+      "grasp_23": {
+        "confidence": 0.9380300641059875,
+        "position": [
+          0.040852785226888955,
+          0.07114812871441245,
+          0.108599558705464
+        ],
+        "orientation": {
+          "w": 0.0625750329501362,
+          "xyz": [
+            0.43196436923341797,
+            -0.8940074702825562,
+            0.10120173932818065
+          ]
+        },
+        "tcp_position": [
+          0.038358476937948145,
+          0.04717704841139078,
+          0.009487673770982946
+        ],
+        "score": 0.0
+      },
+      "grasp_24": {
+        "confidence": 0.9378392100334167,
+        "position": [
+          0.006452616420574486,
+          0.08380565932020545,
+          0.10684282355941832
+        ],
+        "orientation": {
+          "w": 0.04776467475914915,
+          "xyz": [
+            -0.5177725970187553,
+            0.8305800865786527,
+            -0.19941613124470225
+          ]
+        },
+        "tcp_position": [
+          0.03560923397578147,
+          0.05506209443705025,
+          0.013420668100730435
+        ],
+        "score": 0.0
+      },
+      "grasp_31": {
+        "confidence": 0.9327889084815979,
+        "position": [
+          0.05399816867429763,
+          0.07883677026256919,
+          0.10899369441904128
+        ],
+        "orientation": {
+          "w": 0.14165263706742012,
+          "xyz": [
+            0.45670657250838126,
+            -0.8766421462684427,
+            0.05340584635927452
+          ]
+        },
+        "tcp_position": [
+          0.033641443043191874,
+          0.05608842301051668,
+          0.011668895837796192
+        ],
+        "score": 0.0
+      }
+    }
+  }
+}

Objects/bowl/002/cache/jsons/desktop_grasp_fps.json

@@ -0,0 +1,1207 @@
+{
+  "point": {
+    "id_0": {
+      "raw_id": 1,
+      "grasp_type": "enveloping",
+      "confidence": 0.95,
+      "rationale": "wide rim stable grip",
+      "grasp_scenario": "daily holding and stability",
+      "ranking": [
+        "grasp_49",
+        "grasp_52",
+        "grasp_51",
+        "grasp_53",
+        "grasp_48",
+        "grasp_50",
+        "grasp_41",
+        "grasp_34",
+        "grasp_22",
+        "grasp_27"
+      ]
+    },
+    "id_1": {
+      "raw_id": 23,
+      "grasp_type": "parallel_jaw",
+      "confidence": 0.9,
+      "rationale": "mid-side easy access",
+      "grasp_scenario": "precision operation control",
+      "ranking": [
+        "grasp_8",
+        "grasp_25",
+        "grasp_17",
+        "grasp_11",
+        "grasp_33",
+        "grasp_27",
+        "grasp_16",
+        "grasp_45",
+        "grasp_29",
+        "grasp_43",
+        "grasp_42",
+        "grasp_32",
+        "grasp_14",
+        "grasp_48",
+        "grasp_53",
+        "grasp_35",
+        "grasp_56",
+        "grasp_46",
+        "grasp_0",
+        "grasp_2",
+        "grasp_5",
+        "grasp_3",
+        "grasp_12",
+        "grasp_7",
+        "grasp_4",
+        "grasp_38",
+        "grasp_1",
+        "grasp_19",
+        "grasp_18",
+        "grasp_6"
+      ]
+    },
+    "id_2": {
+      "raw_id": 42,
+      "grasp_type": "pinch",
+      "confidence": 0.85,
+      "rationale": "top edge secure hold",
+      "grasp_scenario": "powerful holding",
+      "ranking": [
+        "grasp_15",
+        "grasp_18",
+        "grasp_6",
+        "grasp_10",
+        "grasp_4",
+        "grasp_19",
+        "grasp_38",
+        "grasp_1",
+        "grasp_21",
+        "grasp_12",
+        "grasp_7",
+        "grasp_3",
+        "grasp_37",
+        "grasp_54",
+        "grasp_5",
+        "grasp_9",
+        "grasp_40",
+        "grasp_2",
+        "grasp_0",
+        "grasp_56",
+        "grasp_55",
+        "grasp_46",
+        "grasp_13",
+        "grasp_35",
+        "grasp_47",
+        "grasp_23",
+        "grasp_24",
+        "grasp_32",
+        "grasp_14",
+        "grasp_31"
+      ]
+    }
+  },
+  "grasp": {
+    "format": "isaac_grasp",
+    "format_version": "1.0",
+    "grasps": {
+      "grasp_49": {
+        "confidence": 0.9153054356575012,
+        "position": [
+          -0.04850431147497147,
+          0.07654702803120017,
+          0.10944574349559844
+        ],
+        "orientation": {
+          "w": 0.1146410148715103,
+          "xyz": [
+            0.9085957271687113,
+            -0.39514570797183723,
+            0.07191044257565428
+          ]
+        },
+        "tcp_position": [
+          -0.0444166378356478,
+          0.04950123047261672,
+          0.011181733000206487
+        ],
+        "score": 0.0
+      },
+      "grasp_16": {
+        "confidence": 0.9437054395675659,
+        "position": [
+          0.057012084987945855,
+          -0.06840716162696481,
+          0.10837347083725035
+        ],
+        "orientation": {
+          "w": 0.12789240567089666,
+          "xyz": [
+            -0.4480193289735223,
+            -0.8842473685454625,
+            -0.032074984929862
+          ]
+        },
+        "tcp_position": [
+          0.036873549758895244,
+          -0.05093242150583531,
+          0.009920066342904488
+        ],
+        "score": 0.0
+      },
+      "grasp_54": {
+        "confidence": 0.9121657013893127,
+        "position": [
+          0.06270775210577995,
+          0.05997191509231925,
+          0.11158380680717528
+        ],
+        "orientation": {
+          "w": 0.005110882444414183,
+          "xyz": [
+            0.33450985725213117,
+            -0.9337954785295552,
+            0.1268977484416387
+          ]
+        },
+        "tcp_position": [
+          0.07039366198076358,
+          0.03544985349771075,
+          0.012874155381674496
+        ],
+        "score": 0.0
+      },
+      "grasp_53": {
+        "confidence": 0.9123148322105408,
+        "position": [
+          -0.06542994070332497,
+          -0.05774276936426759,
+          0.10952287935651839
+        ],
+        "orientation": {
+          "w": 0.07279502789718627,
+          "xyz": [
+            0.8382748184149137,
+            0.5225129682025377,
+            0.13775489386974518
+          ]
+        },
+        "tcp_position": [
+          -0.034113328536085126,
+          -0.05550764750785771,
+          0.012475086838328181
+        ],
+        "score": 0.0
+      },
+      "grasp_34": {
+        "confidence": 0.9299582242965698,
+        "position": [
+          0.05851406615693122,
+          0.08508371701464057,
+          0.09955649101175368
+        ],
+        "orientation": {
+          "w": 0.0743792981801366,
+          "xyz": [
+            -0.7029790948124058,
+            -0.6164681818467436,
+            0.34677816111965665
+          ]
+        },
+        "tcp_position": [
+          -0.0005705086213023125,
+          0.05213963241508452,
+          0.023217115109322936
+        ],
+        "score": 0.0
+      },
+      "grasp_45": {
+        "confidence": 0.9166034460067749,
+        "position": [
+          0.008039945852942765,
+          -0.09557475754991174,
+          0.11208006762899458
+        ],
+        "orientation": {
+          "w": 0.13981761390612912,
+          "xyz": [
+            -0.7268788884519025,
+            0.6626129539982758,
+            0.11420240609637793
+          ]
+        },
+        "tcp_position": [
+          0.01000520926351315,
+          -0.059405054600291246,
+          0.016728663191182033
+        ],
+        "score": 0.0
+      },
+      "grasp_56": {
+        "confidence": 0.910319983959198,
+        "position": [
+          0.08919434261042625,
+          0.009155985433608294,
+          0.10280127101577818
+        ],
+        "orientation": {
+          "w": 0.1290779280352608,
+          "xyz": [
+            -0.0883925307771208,
+            -0.9736728423025172,
+            0.16579157143677972
+          ]
+        },
+        "tcp_position": [
+          0.060566123041943545,
+          -0.021447528642677575,
+          0.009807454175510169
+        ],
+        "score": 0.0
+      },
+      "grasp_41": {
+        "confidence": 0.9217594265937805,
+        "position": [
+          -0.0183299871860072,
+          0.08932870021089911,
+          0.10919725173152983
+        ],
+        "orientation": {
+          "w": 0.11049308706650218,
+          "xyz": [
+            0.6528859219957214,
+            0.7453887390407467,
+            -0.07698622137471613
+          ]
+        },
+        "tcp_position": [
+          -0.011782182311530866,
+          0.06290579533739316,
+          0.010896914248022457
+        ],
+        "score": 0.0
+      },
+      "grasp_43": {
+        "confidence": 0.9185975193977356,
+        "position": [
+          -0.00784303608816117,
+          -0.09324102709069848,
+          0.1026423426810652
+        ],
+        "orientation": {
+          "w": 0.04342234512384936,
+          "xyz": [
+            0.5729256415779497,
+            0.7785560273943324,
+            0.2524306268549748
+          ]
+        },
+        "tcp_position": [
+          0.028556828214213216,
+          -0.058223690426712646,
+          0.014026113852877026
+        ],
+        "score": 0.0
+      },
+      "grasp_14": {
+        "confidence": 0.9453001618385315,
+        "position": [
+          0.06037530687171966,
+          -0.07253711530938745,
+          0.10651560151018202
+        ],
+        "orientation": {
+          "w": 0.12365446758993738,
+          "xyz": [
+            -0.9159126736069844,
+            0.36265338013057696,
+            0.11956618606872955
+          ]
+        },
+        "tcp_position": [
+          0.04718293807056529,
+          -0.04058708909904506,
+          0.010551247552200466
+        ],
+        "score": 0.0
+      },
+      "grasp_15": {
+        "confidence": 0.9448297619819641,
+        "position": [
+          0.07757649582345039,
+          0.0006564619252458215,
+          0.11733870976604521
+        ],
+        "orientation": {
+          "w": 0.07452731141141737,
+          "xyz": [
+            0.10420718752742322,
+            -0.9893818839303106,
+            -0.06862965592161041
+          ]
+        },
+        "tcp_position": [
+          0.06107541008406718,
+          0.012923931902867558,
+          0.0174326371289443
+        ],
+        "score": 0.0
+      },
+      "grasp_50": {
+        "confidence": 0.9144722819328308,
+        "position": [
+          -0.01585438649635762,
+          0.0886127962730825,
+          0.11217650794424117
+        ],
+        "orientation": {
+          "w": 0.08677566101184267,
+          "xyz": [
+            0.7627401472067821,
+            -0.634802423879389,
+            0.08788250754152971
+          ]
+        },
+        "tcp_position": [
+          -0.01341737867016261,
+          0.06372983318443001,
+          0.013288191441310382
+        ],
+        "score": 0.0
+      },
+      "grasp_51": {
+        "confidence": 0.9137841463088989,
+        "position": [
+          -0.08428262907546014,
+          0.049595927353948355,
+          0.1003261732403189
+        ],
+        "orientation": {
+          "w": 0.12749276149283212,
+          "xyz": [
+            -0.8765646248529426,
+            0.42389771508286783,
+            -0.1889200396222581
+          ]
+        },
+        "tcp_position": [
+          -0.03947514823065885,
+          0.05605719314406712,
+          0.008922991103523362
+        ],
+        "score": 0.0
+      },
+      "grasp_11": {
+        "confidence": 0.9482674598693848,
+        "position": [
+          0.01927686494309455,
+          -0.08395455637946725,
+          0.10930711054243147
+        ],
+        "orientation": {
+          "w": 0.12105853779369893,
+          "xyz": [
+            -0.6820640210986785,
+            -0.7208910217995131,
+            -0.02120462776864143
+          ]
+        },
+        "tcp_position": [
+          0.004424216680616187,
+          -0.06399195301306543,
+          0.010388490927988714
+        ],
+        "score": 0.0
+      },
+      "grasp_35": {
+        "confidence": 0.9274827241897583,
+        "position": [
+          0.07969918113667518,
+          -0.040375175420194864,
+          0.10765622579492629
+        ],
+        "orientation": {
+          "w": 0.1031466706993396,
+          "xyz": [
+            -0.18971466883762475,
+            -0.9750907111674364,
+            -0.05066767950533476
+          ]
+        },
+        "tcp_position": [
+          0.061142329613151206,
+          -0.026304475316635035,
+          0.008350341477180195
+        ],
+        "score": 0.0
+      },
+      "grasp_24": {
+        "confidence": 0.9378392100334167,
+        "position": [
+          0.006452616420574486,
+          0.08380565932020545,
+          0.10684282355941832
+        ],
+        "orientation": {
+          "w": 0.04776467475914915,
+          "xyz": [
+            -0.5177725970187553,
+            0.8305800865786527,
+            -0.19941613124470225
+          ]
+        },
+        "tcp_position": [
+          0.03560923397578147,
+          0.05506209443705025,
+          0.013420668100730435
+        ],
+        "score": 0.0
+      },
+      "grasp_31": {
+        "confidence": 0.9327889084815979,
+        "position": [
+          0.05399816867429763,
+          0.07883677026256919,
+          0.10899369441904128
+        ],
+        "orientation": {
+          "w": 0.14165263706742012,
+          "xyz": [
+            0.45670657250838126,
+            -0.8766421462684427,
+            0.05340584635927452
+          ]
+        },
+        "tcp_position": [
+          0.033641443043191874,
+          0.05608842301051668,
+          0.011668895837796192
+        ],
+        "score": 0.0
+      },
+      "grasp_27": {
+        "confidence": 0.937393844127655,
+        "position": [
+          -0.022059125709347427,
+          -0.08441276708617806,
+          0.10904017114080489
+        ],
+        "orientation": {
+          "w": 0.0074082351877348355,
+          "xyz": [
+            -0.7053439393999387,
+            -0.6936848014007085,
+            -0.1457272847096164
+          ]
+        },
+        "tcp_position": [
+          -0.0021387548176258556,
+          -0.06272467919204838,
+          0.011383601126121481
+        ],
+        "score": 0.0
+      },
+      "grasp_40": {
+        "confidence": 0.9226189851760864,
+        "position": [
+          0.07512999337632209,
+          0.030553934630006552,
+          0.1155149640981108
+        ],
+        "orientation": {
+          "w": 0.0889516067595588,
+          "xyz": [
+            0.26280772952784254,
+            -0.9600660906847484,
+            -0.03595567371942468
+          ]
+        },
+        "tcp_position": [
+          0.05578082790785509,
+          0.03282703590227045,
+          0.015392824656926693
+        ],
+        "score": 0.0
+      },
+      "grasp_1": {
+        "confidence": 0.9552531242370605,
+        "position": [
+          0.07681408536154777,
+          0.02919551869854331,
+          0.10743879550136626
+        ],
+        "orientation": {
+          "w": 0.08293410664352958,
+          "xyz": [
+            0.1440969671058307,
+            -0.9819394768716379,
+            0.0902931990085352
+          ]
+        },
+        "tcp_position": [
+          0.06285532473989777,
+          0.008670464691903045,
+          0.008505104779085157
+        ],
+        "score": 0.0
+      },
+      "grasp_13": {
+        "confidence": 0.9474610686302185,
+        "position": [
+          0.027800960582681,
+          0.0924592255614698,
+          0.1017357932869345
+        ],
+        "orientation": {
+          "w": 0.0008960551292463822,
+          "xyz": [
+            -0.40557974336394453,
+            0.876627749435874,
+            -0.25889777476262155
+          ]
+        },
+        "tcp_position": [
+          0.04938195734943758,
+          0.04623414099126018,
+          0.01340968086806811
+        ],
+        "score": 0.0
+      },
+      "grasp_7": {
+        "confidence": 0.9502331614494324,
+        "position": [
+          0.08837340783793479,
+          -0.009447566699236631,
+          0.11586126708425581
+        ],
+        "orientation": {
+          "w": 0.10760030345052646,
+          "xyz": [
+            -0.011093638626542031,
+            -0.9941122631278153,
+            -0.006317766873772129
+          ]
+        },
+        "tcp_position": [
+          0.06656648223055588,
+          -0.007922820024129895,
+          0.016231285938362802
+        ],
+        "score": 0.0
+      },
+      "grasp_38": {
+        "confidence": 0.9242146015167236,
+        "position": [
+          0.09516323369462043,
+          0.018836846109479666,
+          0.11264804773963988
+        ],
+        "orientation": {
+          "w": 0.1467531242473134,
+          "xyz": [
+            0.03541917344001482,
+            -0.9828683592055953,
+            0.10572980255812402
+          ]
+        },
+        "tcp_position": [
+          0.06650242908919635,
+          -0.0034228896822033027,
+          0.01732196294720656
+        ],
+        "score": 0.0
+      },
+      "grasp_37": {
+        "confidence": 0.9266625642776489,
+        "position": [
+          0.07063186180312186,
+          0.05174090852960944,
+          0.1130219625774771
+        ],
+        "orientation": {
+          "w": 0.0854162536330507,
+          "xyz": [
+            0.26549112366974004,
+            -0.9561927510048464,
+            0.08896038328186746
+          ]
+        },
+        "tcp_position": [
+          0.058788394876968436,
+          0.029761840251013194,
+          0.014124779357863007
+        ],
+        "score": 0.0
+      },
+      "grasp_32": {
+        "confidence": 0.9323499798774719,
+        "position": [
+          0.06915318232495338,
+          -0.04413208598271012,
+          0.11299072974361479
+        ],
+        "orientation": {
+          "w": 0.12972003193974183,
+          "xyz": [
+            -0.36265964588732513,
+            -0.9225629761928779,
+            0.022983679352352848
+          ]
+        },
+        "tcp_position": [
+          0.04303911136728517,
+          -0.0388606588217098,
+          0.014531259129030763
+        ],
+        "score": 0.0
+      },
+      "grasp_25": {
+        "confidence": 0.9376983046531677,
+        "position": [
+          0.030439149704761803,
+          -0.07138760993257165,
+          0.11248739087022841
+        ],
+        "orientation": {
+          "w": 0.09085952468633347,
+          "xyz": [
+            -0.6078171504533957,
+            -0.7888587572352886,
+            0.002172446014000913
+          ]
+        },
+        "tcp_position": [
+          0.015548010243511844,
+          -0.060471116170550794,
+          0.012172466110802083
+        ],
+        "score": 0.0
+      },
+      "grasp_52": {
+        "confidence": 0.9132247567176819,
+        "position": [
+          -0.026787850889377296,
+          0.07708031823858619,
+          0.11125231557525694
+        ],
+        "orientation": {
+          "w": 0.15768346666150657,
+          "xyz": [
+            0.873715384679457,
+            -0.46002440737006817,
+            0.01161445391982269
+          ]
+        },
+        "tcp_position": [
+          -0.03951551620001532,
+          0.047885184023905236,
+          0.014352105699699164
+        ],
+        "score": 0.0
+      },
+      "grasp_23": {
+        "confidence": 0.9380300641059875,
+        "position": [
+          0.040852785226888955,
+          0.07114812871441245,
+          0.108599558705464
+        ],
+        "orientation": {
+          "w": 0.0625750329501362,
+          "xyz": [
+            0.43196436923341797,
+            -0.8940074702825562,
+            0.10120173932818065
+          ]
+        },
+        "tcp_position": [
+          0.038358476937948145,
+          0.04717704841139078,
+          0.009487673770982946
+        ],
+        "score": 0.0
+      },
+      "grasp_12": {
+        "confidence": 0.9480646848678589,
+        "position": [
+          0.09226741653401405,
+          -0.021885643247514963,
+          0.11027806275524199
+        ],
+        "orientation": {
+          "w": 0.12563872213085694,
+          "xyz": [
+            0.02464173172306269,
+            -0.9879327467826315,
+            -0.0871583868227232
+          ]
+        },
+        "tcp_position": [
+          0.06650826687974451,
+          -0.004951466809430604,
+          0.013047924025253621
+        ],
+        "score": 0.0
+      },
+      "grasp_8": {
+        "confidence": 0.9501575827598572,
+        "position": [
+          0.017590081435628235,
+          -0.08451543608680367,
+          0.1104226412717253
+        ],
+        "orientation": {
+          "w": 0.08796651669520845,
+          "xyz": [
+            -0.628277281153302,
+            -0.768567117569788,
+            -0.08266883159688374
+          ]
+        },
+        "tcp_position": [
+          0.014393559856462974,
+          -0.06027943853756913,
+          0.011395379002250058
+        ],
+        "score": 0.0
+      },
+      "grasp_22": {
+        "confidence": 0.9401375651359558,
+        "position": [
+          0.03519345831591636,
+          0.09002547105774283,
+          0.10398813360370696
+        ],
+        "orientation": {
+          "w": 0.06995332733204228,
+          "xyz": [
+            -0.7306134306641512,
+            -0.6260063440271273,
+            0.2634892866249517
+          ]
+        },
+        "tcp_position": [
+          -0.013011749505437625,
+          0.06680269765118176,
+          0.01714942832658066
+        ],
+        "score": 0.0
+      },
+      "grasp_47": {
+        "confidence": 0.9163258671760559,
+        "position": [
+          0.011161642265506089,
+          0.09105907520279288,
+          0.09892833256162703
+        ],
+        "orientation": {
+          "w": 0.06071711592504706,
+          "xyz": [
+            -0.45849301027185024,
+            0.8426495710981092,
+            -0.27575222881016503
+          ]
+        },
+        "tcp_position": [
+          0.04739076138396164,
+          0.049336153890323226,
+          0.013192407973073
+        ],
+        "score": 0.0
+      },
+      "grasp_55": {
+        "confidence": 0.9105618000030518,
+        "position": [
+          0.06282425683457404,
+          0.058325888123363256,
+          0.11255130195058882
+        ],
+        "orientation": {
+          "w": 0.10587155354042045,
+          "xyz": [
+            0.3806192344464498,
+            -0.917257055526717,
+            0.05059354313342515
+          ]
+        },
+        "tcp_position": [
+          0.04694192785750795,
+          0.040638265174829366,
+          0.013360074411583406
+        ],
+        "score": 0.0
+      },
+      "grasp_18": {
+        "confidence": 0.9429404139518738,
+        "position": [
+          0.07990261178929359,
+          0.01412530755624175,
+          0.11662290268577635
+        ],
+        "orientation": {
+          "w": 0.09035058332071436,
+          "xyz": [
+            0.09315495282369324,
+            -0.9911671713141326,
+            0.027323348388570336
+          ]
+        },
+        "tcp_position": [
+          0.062153137508537445,
+          0.006883591063209068,
+          0.016440500513581896
+        ],
+        "score": 0.0
+      },
+      "grasp_21": {
+        "confidence": 0.9415995478630066,
+        "position": [
+          0.08242721867281944,
+          0.018059182446449995,
+          0.11161343031562865
+        ],
+        "orientation": {
+          "w": 0.09595978507002327,
+          "xyz": [
+            0.1783739375061519,
+            -0.978261207549374,
+            -0.04449121117599979
+          ]
+        },
+        "tcp_position": [
+          0.06165801789372478,
+          0.02344627190454746,
+          0.011895730953037517
+        ],
+        "score": 0.0
+      },
+      "grasp_0": {
+        "confidence": 0.9573201537132263,
+        "position": [
+          0.07991041254717857,
+          0.004667075350880623,
+          0.11196471028961241
+        ],
+        "orientation": {
+          "w": 0.09539400588830922,
+          "xyz": [
+            -0.014734869864605765,
+            -0.992045012143388,
+            0.08080569987370564
+          ]
+        },
+        "tcp_position": [
+          0.060361947470004916,
+          -0.011399408392086256,
+          0.01315314409787803
+        ],
+        "score": 0.0
+      },
+      "grasp_42": {
+        "confidence": 0.9195939898490906,
+        "position": [
+          0.002066341112367809,
+          -0.09514532098546624,
+          0.10794907831586897
+        ],
+        "orientation": {
+          "w": 0.001609637238292825,
+          "xyz": [
+            0.6062230451929733,
+            0.7702066469132407,
+            0.19817353404423615
+          ]
+        },
+        "tcp_position": [
+          0.0268272728957083,
+          -0.06420693109458578,
+          0.013961247783503605
+        ],
+        "score": 0.0
+      },
+      "grasp_19": {
+        "confidence": 0.9428650140762329,
+        "position": [
+          0.09650626045186073,
+          -0.003738346276804805,
+          0.11193429701961577
+        ],
+        "orientation": {
+          "w": 0.13968093023447392,
+          "xyz": [
+            0.07054432628752073,
+            -0.9871919356224415,
+            -0.03106151959401736
+          ]
+        },
+        "tcp_position": [
+          0.06792930767222895,
+          0.0005068905678837924,
+          0.014111315394829849
+        ],
+        "score": 0.0
+      },
+      "grasp_9": {
+        "confidence": 0.9499045610427856,
+        "position": [
+          0.07547406863886863,
+          0.03998052841052413,
+          0.10963342362083495
+        ],
+        "orientation": {
+          "w": 0.09076123643062722,
+          "xyz": [
+            0.2643377418701739,
+            -0.9597682691215005,
+            0.02707075492262018
+          ]
+        },
+        "tcp_position": [
+          0.05916346639553029,
+          0.02978598094632839,
+          0.009463390894176305
+        ],
+        "score": 0.0
+      },
+      "grasp_10": {
+        "confidence": 0.9484732747077942,
+        "position": [
+          0.08170654636342078,
+          0.019585780333727598,
+          0.11296860151924193
+        ],
+        "orientation": {
+          "w": 0.09491198023491207,
+          "xyz": [
+            0.1502117532558393,
+            -0.9837104050912426,
+            0.02723938521549189
+          ]
+        },
+        "tcp_position": [
+          0.06349460411375109,
+          0.01121105776307672,
+          0.012957656211444082
+        ],
+        "score": 0.0
+      },
+      "grasp_29": {
+        "confidence": 0.9343640208244324,
+        "position": [
+          0.02926502574700862,
+          -0.07885312149301171,
+          0.1101201104465872
+        ],
+        "orientation": {
+          "w": 0.11305316781073681,
+          "xyz": [
+            -0.695740191580621,
+            -0.7087032488519648,
+            0.03007111793712453
+          ]
+        },
+        "tcp_position": [
+          0.008652287881289446,
+          -0.06715491822784309,
+          0.010911909787337526
+        ],
+        "score": 0.0
+      },
+      "grasp_17": {
+        "confidence": 0.943586528301239,
+        "position": [
+          0.015294358250685036,
+          -0.07782131293788552,
+          0.11195331090129912
+        ],
+        "orientation": {
+          "w": 0.07349149585018208,
+          "xyz": [
+            -0.6872305356433025,
+            -0.7222073195002743,
+            -0.02701441425148535
+          ]
+        },
+        "tcp_position": [
+          0.00825412121771605,
+          -0.06353812895427771,
+          0.011203989723387375
+        ],
+        "score": 0.0
+      },
+      "grasp_2": {
+        "confidence": 0.955051839351654,
+        "position": [
+          0.08177102368790656,
+          -0.02281188638880849,
+          0.11283136182464659
+        ],
+        "orientation": {
+          "w": 0.09248345615115082,
+          "xyz": [
+            -0.019148396599668563,
+            -0.9943058594020202,
+            -0.04935592370536188
+          ]
+        },
+        "tcp_position": [
+          0.06320462555628065,
+          -0.012439344405927425,
+          0.013073157985406758
+        ],
+        "score": 0.0
+      },
+      "grasp_48": {
+        "confidence": 0.9157416224479675,
+        "position": [
+          -0.06234753120224923,
+          -0.06529618659988046,
+          0.10853356891311705
+        ],
+        "orientation": {
+          "w": 0.05444213513729948,
+          "xyz": [
+            0.8210845302841647,
+            0.5449800474196214,
+            0.16078866864375643
+          ]
+        },
+        "tcp_position": [
+          -0.02936257416739555,
+          -0.05653948225363279,
+          0.012412225089795115
+        ],
+        "score": 0.0
+      },
+      "grasp_4": {
+        "confidence": 0.953485369682312,
+        "position": [
+          0.08285846572834998,
+          0.010087940376251936,
+          0.11512628220953047
+        ],
+        "orientation": {
+          "w": 0.09747233749297733,
+          "xyz": [
+            0.05469943754082651,
+            -0.9931699058429507,
+            0.03347615695202299
+          ]
+        },
+        "tcp_position": [
+          0.06348347080839672,
+          0.002217784864577216,
+          0.015293070180297186
+        ],
+        "score": 0.0
+      },
+      "grasp_3": {
+        "confidence": 0.9536449313163757,
+        "position": [
+          0.08846745651680976,
+          -0.0069250548258423805,
+          0.11130019300617278
+        ],
+        "orientation": {
+          "w": 0.1120497669695809,
+          "xyz": [
+            0.04769752305709137,
+            -0.9923474487942184,
+            -0.020404335026827116
+          ]
+        },
+        "tcp_position": [
+          0.06558568704415574,
+          -0.0038847013590555964,
+          0.011946376388000945
+        ],
+        "score": 0.0
+      },
+      "grasp_33": {
+        "confidence": 0.9312502145767212,
+        "position": [
+          0.012132049654610455,
+          -0.08503310242667794,
+          0.1137909370008856
+        ],
+        "orientation": {
+          "w": 0.08158055706014768,
+          "xyz": [
+            -0.6567202083180534,
+            -0.7447577806847074,
+            -0.08601760753495444
+          ]
+        },
+        "tcp_position": [
+          0.01126132594392303,
+          -0.06103497431206203,
+          0.01465803788452702
+        ],
+        "score": 0.0
+      },
+      "grasp_46": {
+        "confidence": 0.916599452495575,
+        "position": [
+          0.09371620428282768,
+          0.003683865536004305,
+          0.10583480470813811
+        ],
+        "orientation": {
+          "w": 0.14982864633319465,
+          "xyz": [
+            -0.11504465999009009,
+            -0.9680813007530358,
+            0.164726130525904
+          ]
+        },
+        "tcp_position": [
+          0.06026078109075881,
+          -0.025331319874799852,
+          0.013949802261513336
+        ],
+        "score": 0.0
+      },
+      "grasp_6": {
+        "confidence": 0.9527618885040283,
+        "position": [
+          0.08134644490201026,
+          -0.004349714145064354,
+          0.11292040371336043
+        ],
+        "orientation": {
+          "w": 0.08635428681545783,
+          "xyz": [
+            0.08100125534241763,
+            -0.9898569930953824,
+            -0.07851666703136231
+          ]
+        },
+        "tcp_position": [
+          0.06261142287230105,
+          0.010078280979989666,
+          0.013699277403396909
+        ],
+        "score": 0.0
+      },
+      "grasp_5": {
+        "confidence": 0.9533449411392212,
+        "position": [
+          0.08510264765936881,
+          -0.016301313880831003,
+          0.11035411083139479
+        ],
+        "orientation": {
+          "w": 0.10048551083641656,
+          "xyz": [
+            -0.0219423692955637,
+            -0.9942262818461793,
+            -0.030582593545404782
+          ]
+        },
+        "tcp_position": [
+          0.06485885428299897,
+          -0.009648688555503705,
+          0.010604767946262694
+        ],
+        "score": 0.0
+      }
+    }
+  }
+}

Objects/bowl/002/cache/jsons/functional_points.json

@@ -0,0 +1,50 @@
+{
+  "FUNCTIONAL_POINTS": [
+    {
+      "id": 1,
+      "function": "container",
+      "confidence": 0.98,
+      "rationale": "holds liquid",
+      "point_coordinates": [
+        -0.0666367,
+        0.035243,
+        0.0275337
+      ],
+      "closest_point_on_surface": [
+        -0.06662672295661497,
+        0.03524314562859577,
+        0.02795000846491688
+      ],
+      "surface_normal": [
+        -0.9116214002651064,
+        0.4104536783953488,
+        0.021776144525931164
+      ],
+      "distance_to_surface": 0.00041642802567051567,
+      "normal_magnitude": 1.0
+    },
+    {
+      "id": 25,
+      "function": "rim edge",
+      "confidence": 0.95,
+      "rationale": "defines opening",
+      "point_coordinates": [
+        0.0231356,
+        -0.0153942,
+        -0.0200335
+      ],
+      "closest_point_on_surface": [
+        0.023191399018318917,
+        -0.015348339990744697,
+        -0.02002863308575687
+      ],
+      "surface_normal": [
+        -0.1678597472739819,
+        0.09979713868527408,
+        0.9807464689487019
+      ],
+      "distance_to_surface": 7.2390315294944e-05,
+      "normal_magnitude": 1.0
+    }
+  ]
+}

Objects/bowl/002/cache/jsons/grasp.json

@@ -0,0 +1,2107 @@
+{
+  "point": {
+    "id_0": {
+      "raw_id": 1,
+      "grasp_type": "enveloping",
+      "confidence": 0.95,
+      "rationale": "wide rim stable grip",
+      "grasp_scenario": "daily holding and stability",
+      "ranking": [
+        "grasp_980",
+        "grasp_958",
+        "grasp_887",
+        "grasp_779",
+        "grasp_516",
+        "grasp_421",
+        "grasp_752",
+        "grasp_600",
+        "grasp_920",
+        "grasp_428",
+        "grasp_787",
+        "grasp_955",
+        "grasp_930",
+        "grasp_910",
+        "grasp_911",
+        "grasp_641",
+        "grasp_619",
+        "grasp_666",
+        "grasp_574",
+        "grasp_487",
+        "grasp_792",
+        "grasp_671",
+        "grasp_308",
+        "grasp_348",
+        "grasp_870",
+        "grasp_734",
+        "grasp_886",
+        "grasp_998",
+        "grasp_991",
+        "grasp_846"
+      ]
+    },
+    "id_1": {
+      "raw_id": 23,
+      "grasp_type": "parallel_jaw",
+      "confidence": 0.9,
+      "rationale": "mid-side easy access",
+      "grasp_scenario": "precision operation control",
+      "ranking": [
+        "grasp_962",
+        "grasp_517",
+        "grasp_170",
+        "grasp_405",
+        "grasp_213",
+        "grasp_198",
+        "grasp_789",
+        "grasp_146",
+        "grasp_557",
+        "grasp_341",
+        "grasp_615",
+        "grasp_112",
+        "grasp_729",
+        "grasp_422",
+        "grasp_520",
+        "grasp_626",
+        "grasp_681",
+        "grasp_63",
+        "grasp_172",
+        "grasp_796",
+        "grasp_618",
+        "grasp_713",
+        "grasp_310",
+        "grasp_57",
+        "grasp_865",
+        "grasp_937",
+        "grasp_883",
+        "grasp_473",
+        "grasp_352",
+        "grasp_50"
+      ]
+    },
+    "id_2": {
+      "raw_id": 42,
+      "grasp_type": "pinch",
+      "confidence": 0.85,
+      "rationale": "top edge secure hold",
+      "grasp_scenario": "powerful holding",
+      "ranking": [
+        "grasp_695",
+        "grasp_200",
+        "grasp_347",
+        "grasp_228",
+        "grasp_462",
+        "grasp_53",
+        "grasp_805",
+        "grasp_133",
+        "grasp_293",
+        "grasp_99",
+        "grasp_141",
+        "grasp_254",
+        "grasp_117",
+        "grasp_433",
+        "grasp_665",
+        "grasp_450",
+        "grasp_551",
+        "grasp_297",
+        "grasp_147",
+        "grasp_345",
+        "grasp_569",
+        "grasp_874",
+        "grasp_975",
+        "grasp_240",
+        "grasp_507",
+        "grasp_144",
+        "grasp_981",
+        "grasp_773",
+        "grasp_60",
+        "grasp_253"
+      ]
+    }
+  },
+  "grasp": {
+    "format": "isaac_grasp",
+    "format_version": "1.0",
+    "grasps": {
+      "grasp_980": {
+        "confidence": 0.907511293888092,
+        "position": [
+          -0.10399914170557167,
+          0.021727247338276356,
+          0.0983328940346837
+        ],
+        "orientation": {
+          "w": 0.1950177327257605,
+          "xyz": [
+            0.02074133197835528,
+            0.9737207259712556,
+            -0.11578354323597893
+          ]
+        },
+        "tcp_position": [
+          -0.0657509158162336,
+          -0.0020970483772477927,
+          0.006826194006885611
+        ],
+        "score": 0.0
+      },
+      "grasp_958": {
+        "confidence": 0.9086001515388489,
+        "position": [
+          -0.10343388105684426,
+          0.02795808034716174,
+          0.09439884591847658
+        ],
+        "orientation": {
+          "w": 0.18367551453603445,
+          "xyz": [
+            0.01233044554843894,
+            0.9692976115886417,
+            -0.16301351367618216
+          ]
+        },
+        "tcp_position": [
+          -0.06752453456506223,
+          -0.004737695373125281,
+          0.004702106375827436
+        ],
+        "score": 0.0
+      },
+      "grasp_887": {
+        "confidence": 0.9131632447242737,
+        "position": [
+          -0.11184585477167275,
+          0.0030045159510336816,
+          0.09478962142020464
+        ],
+        "orientation": {
+          "w": 0.225112940973708,
+          "xyz": [
+            -0.0138948959013411,
+            0.9736016757927389,
+            -0.035083793518223695
+          ]
+        },
+        "tcp_position": [
+          -0.0670356590360604,
+          -0.003325546782419778,
+          0.0033785900075427727
+        ],
+        "score": 0.0
+      },
+      "grasp_779": {
+        "confidence": 0.9192975163459778,
+        "position": [
+          -0.08564331765228417,
+          0.052660692657809705,
+          0.0976280989125371
+        ],
+        "orientation": {
+          "w": 0.13840325015072755,
+          "xyz": [
+            0.11590000407163367,
+            0.9608900228135774,
+            -0.21000498437235632
+          ]
+        },
+        "tcp_position": [
+          -0.06347857002748296,
+          0.008222835835784655,
+          0.008532639747694887
+        ],
+        "score": 0.0
+      },
+      "grasp_516": {
+        "confidence": 0.9329848885536194,
+        "position": [
+          -0.10174627984815743,
+          -0.019220676098484546,
+          0.09798600990325212
+        ],
+        "orientation": {
+          "w": 0.19645859174697097,
+          "xyz": [
+            0.035770730131283505,
+            0.9726492956800568,
+            0.11865000719663238
+          ]
+        },
+        "tcp_position": [
+          -0.0618990601589369,
+          0.002888309149152054,
+          0.0067314656089607905
+        ],
+        "score": 0.0
+      },
+      "grasp_421": {
+        "confidence": 0.9378556609153748,
+        "position": [
+          -0.1032993459230056,
+          -0.022203316737432033,
+          0.09673060197383165
+        ],
+        "orientation": {
+          "w": 0.20560029828718504,
+          "xyz": [
+            0.026767863665853108,
+            0.9668819836386188,
+            0.14883288794495944
+          ]
+        },
+        "tcp_position": [
+          -0.061933212732590955,
+          0.006030356125793987,
+          0.007872835056554131
+        ],
+        "score": 0.0
+      },
+      "grasp_752": {
+        "confidence": 0.9206705689430237,
+        "position": [
+          -0.11248270059877541,
+          0.045058589603286237,
+          0.08517398405820131
+        ],
+        "orientation": {
+          "w": 0.2736087789806462,
+          "xyz": [
+            0.05975320035678232,
+            0.9402118093896974,
+            -0.19382864751112944
+          ]
+        },
+        "tcp_position": [
+          -0.062366362678076194,
+          0.004546436953414633,
+          0.006109970998581127
+        ],
+        "score": 0.0
+      },
+      "grasp_600": {
+        "confidence": 0.9292510151863098,
+        "position": [
+          -0.09877909357601311,
+          0.022109611134510487,
+          0.09878796804696321
+        ],
+        "orientation": {
+          "w": 0.18908691546306655,
+          "xyz": [
+            0.07395228291122025,
+            0.975787832942978,
+            -0.08133451501871065
+          ]
+        },
+        "tcp_position": [
+          -0.06236635053986981,
+          0.003066488733485556,
+          0.005431277693227002
+        ],
+        "score": 0.0
+      },
+      "grasp_920": {
+        "confidence": 0.9114412069320679,
+        "position": [
+          -0.08833737309032585,
+          0.05211989599047229,
+          0.09468254167586565
+        ],
+        "orientation": {
+          "w": 0.14907219189402238,
+          "xyz": [
+            0.10649300313250852,
+            0.9601560654526418,
+            -0.211038034160274
+          ]
+        },
+        "tcp_position": [
+          -0.06372304006861657,
+          0.007544958827012352,
+          0.006301494008563183
+        ],
+        "score": 0.0
+      },
+      "grasp_428": {
+        "confidence": 0.9376628994941711,
+        "position": [
+          -0.10687382901960518,
+          -0.027818033297080547,
+          0.0911552282050252
+        ],
+        "orientation": {
+          "w": 0.1469305970696941,
+          "xyz": [
+            -0.9664582611560343,
+            0.0007008408623141449,
+            -0.2106403045717598
+          ]
+        },
+        "tcp_position": [
+          -0.06532350937936637,
+          0.001120318163387108,
+          0.0026106476111546068
+        ],
+        "score": 0.0
+      },
+      "grasp_787": {
+        "confidence": 0.9191445708274841,
+        "position": [
+          -0.10767899091297295,
+          -0.021779721428174525,
+          0.09254460502415895
+        ],
+        "orientation": {
+          "w": 0.1623957914306487,
+          "xyz": [
+            -0.9651168201130493,
+            0.05559440539570493,
+            -0.19770278842036348
+          ]
+        },
+        "tcp_position": [
+          -0.06691273578694935,
+          0.007951185706854769,
+          0.003898197291368005
+        ],
+        "score": 0.0
+      },
+      "grasp_955": {
+        "confidence": 0.9089612364768982,
+        "position": [
+          -0.08789123232418206,
+          0.023787399928551167,
+          0.09877828974276781
+        ],
+        "orientation": {
+          "w": 0.12051147162013158,
+          "xyz": [
+            0.9848484383568976,
+            -0.04426594153235802,
+            0.1165807235102947
+          ]
+        },
+        "tcp_position": [
+          -0.06555735521825921,
+          -0.001477202455905359,
+          0.00251356203955945
+        ],
+        "score": 0.0
+      },
+      "grasp_930": {
+        "confidence": 0.91057950258255,
+        "position": [
+          -0.09288646663480904,
+          -0.03226410207571462,
+          0.10485685337334871
+        ],
+        "orientation": {
+          "w": 0.15878250964027335,
+          "xyz": [
+            -0.03792372517913156,
+            0.9796941061379798,
+            0.11640173580913411
+          ]
+        },
+        "tcp_position": [
+          -0.06205311074652171,
+          -0.007771919445555581,
+          0.010764148264625475
+        ],
+        "score": 0.0
+      },
+      "grasp_910": {
+        "confidence": 0.9121014475822449,
+        "position": [
+          -0.09074993069225457,
+          -0.025592548598069698,
+          0.10507132578641176
+        ],
+        "orientation": {
+          "w": 0.14893344204612904,
+          "xyz": [
+            -0.007850933638931221,
+            0.9841307305964186,
+            0.09614519112804885
+          ]
+        },
+        "tcp_position": [
+          -0.06100364057862165,
+          -0.0060516530313763466,
+          0.009482039645510157
+        ],
+        "score": 0.0
+      },
+      "grasp_911": {
+        "confidence": 0.9120672345161438,
+        "position": [
+          -0.09413130219036248,
+          0.052710343326907605,
+          0.09172093588858843
+        ],
+        "orientation": {
+          "w": 0.1918270150779858,
+          "xyz": [
+            0.1081800207902258,
+            0.9512778287329374,
+            -0.21580076911180082
+          ]
+        },
+        "tcp_position": [
+          -0.06166766943020681,
+          0.006598522464905207,
+          0.006727921323835234
+        ],
+        "score": 0.0
+      },
+      "grasp_641": {
+        "confidence": 0.9267181158065796,
+        "position": [
+          -0.09875939424091484,
+          0.03149811195908114,
+          0.09402864146977663
+        ],
+        "orientation": {
+          "w": 0.1978289857817241,
+          "xyz": [
+            0.07910228936751305,
+            0.9667928278659221,
+            -0.14113166968616983
+          ]
+        },
+        "tcp_position": [
+          -0.06201984973055662,
+          0.0004709743690336776,
+          0.004075750453758312
+        ],
+        "score": 0.0
+      },
+      "grasp_619": {
+        "confidence": 0.9281089901924133,
+        "position": [
+          -0.1049436816101661,
+          0.02704378793714568,
+          0.0954247759655118
+        ],
+        "orientation": {
+          "w": 0.20069736979958988,
+          "xyz": [
+            0.07676262307200908,
+            0.9736173933869361,
+            -0.07679346814058619
+          ]
+        },
+        "tcp_position": [
+          -0.06628413488326308,
+          0.008648391319897118,
+          0.0028448168481923913
+        ],
+        "score": 0.0
+      },
+      "grasp_666": {
+        "confidence": 0.9254989624023438,
+        "position": [
+          -0.10159587497764733,
+          -0.017753371794242412,
+          0.09839349705725908
+        ],
+        "orientation": {
+          "w": 0.19099206986887482,
+          "xyz": [
+            0.10504156315948762,
+            0.9632948878293844,
+            0.1566884116263468
+          ]
+        },
+        "tcp_position": [
+          -0.06070601701545023,
+          0.008945136433418984,
+          0.00884345979177914
+        ],
+        "score": 0.0
+      },
+      "grasp_574": {
+        "confidence": 0.9306106567382812,
+        "position": [
+          -0.1018468775873771,
+          -0.0067804528516717255,
+          0.09883181471377611
+        ],
+        "orientation": {
+          "w": 0.202990417222169,
+          "xyz": [
+            0.03860286007504219,
+            0.9749876995812593,
+            0.08187609770403384
+          ]
+        },
+        "tcp_position": [
+          -0.06082782004797815,
+          0.007905951353951363,
+          0.006605210905067355
+        ],
+        "score": 0.0
+      },
+      "grasp_487": {
+        "confidence": 0.9347400665283203,
+        "position": [
+          -0.0987127685075393,
+          0.029031148354988545,
+          0.09470486361533403
+        ],
+        "orientation": {
+          "w": 0.18733087006935809,
+          "xyz": [
+            0.0810122622932611,
+            0.9733417417489267,
+            -0.10464230619759593
+          ]
+        },
+        "tcp_position": [
+          -0.06324540084593941,
+          0.005157268635026614,
+          0.0020976085093019903
+        ],
+        "score": 0.0
+      },
+      "grasp_792": {
+        "confidence": 0.9188237190246582,
+        "position": [
+          -0.09964939589553978,
+          -0.003085376985836774,
+          0.10104307997971773
+        ],
+        "orientation": {
+          "w": 0.18459905217985306,
+          "xyz": [
+            0.10060987469121759,
+            0.9738563724584167,
+            0.08605003701946357
+          ]
+        },
+        "tcp_position": [
+          -0.06120958475714513,
+          0.010221112450489185,
+          0.00750528944281495
+        ],
+        "score": 0.0
+      },
+      "grasp_671": {
+        "confidence": 0.9252611398696899,
+        "position": [
+          -0.11301130439096596,
+          -0.029968246642965823,
+          0.08594076801091433
+        ],
+        "orientation": {
+          "w": 0.2776177357318824,
+          "xyz": [
+            0.03329560583898822,
+            0.9414430948701311,
+            0.18842689447174601
+          ]
+        },
+        "tcp_position": [
+          -0.058413746454050224,
+          0.0043343019460572105,
+          0.0069063335685597416
+        ],
+        "score": 0.0
+      },
+      "grasp_308": {
+        "confidence": 0.9431836009025574,
+        "position": [
+          -0.11057389165216591,
+          0.004770834639202803,
+          0.09124995488673449
+        ],
+        "orientation": {
+          "w": 0.22288693219709976,
+          "xyz": [
+            0.005512819821342242,
+            0.9742303116471842,
+            -0.03415148812589962
+          ]
+        },
+        "tcp_position": [
+          -0.06631508503134342,
+          -0.0022671960460375,
+          -0.0003776837414341677
+        ],
+        "score": 0.0
+      },
+      "grasp_348": {
+        "confidence": 0.9416698813438416,
+        "position": [
+          -0.10093357796722557,
+          -0.0013256295351311564,
+          0.0967615069821477
+        ],
+        "orientation": {
+          "w": 0.20237746250154198,
+          "xyz": [
+            0.03255591132000597,
+            0.9785209920030453,
+            0.021912177412063506
+          ]
+        },
+        "tcp_position": [
+          -0.060389808847998036,
+          0.0017043708074583803,
+          0.003214610275037791
+        ],
+        "score": 0.0
+      },
+      "grasp_870": {
+        "confidence": 0.9138134121894836,
+        "position": [
+          -0.1090662219648948,
+          0.029426224704366177,
+          0.08655170816928148
+        ],
+        "orientation": {
+          "w": 0.23958607545882796,
+          "xyz": [
+            0.00837494295079213,
+            0.9544529884514987,
+            -0.17761718839350008
+          ]
+        },
+        "tcp_position": [
+          -0.06272025513868837,
+          -0.005566665594799167,
+          0.002697376215262795
+        ],
+        "score": 0.0
+      },
+      "grasp_734": {
+        "confidence": 0.9220620393753052,
+        "position": [
+          -0.10815073187404778,
+          0.013899423356633633,
+          0.09300070721656084
+        ],
+        "orientation": {
+          "w": 0.22345563997397572,
+          "xyz": [
+            0.005009110470431276,
+            0.9680679293453481,
+            -0.11352079082320668
+          ]
+        },
+        "tcp_position": [
+          -0.06413740537037046,
+          -0.00874766742609705,
+          0.0038158633855630703
+        ],
+        "score": 0.0
+      },
+      "grasp_886": {
+        "confidence": 0.9132193326950073,
+        "position": [
+          -0.11142376447969582,
+          0.022184705536346883,
+          0.09367393422871828
+        ],
+        "orientation": {
+          "w": 0.2432300015022978,
+          "xyz": [
+            0.09091019210694165,
+            0.9650715576099116,
+            -0.03480505757285716
+          ]
+        },
+        "tcp_position": [
+          -0.06418343920453923,
+          0.010821608249740636,
+          0.0039898682640636535
+        ],
+        "score": 0.0
+      },
+      "grasp_998": {
+        "confidence": 0.906251847743988,
+        "position": [
+          -0.0958685615187278,
+          0.05134590732632205,
+          0.095411223359406
+        ],
+        "orientation": {
+          "w": 0.19831577850422283,
+          "xyz": [
+            0.1575149144749581,
+            0.9527136280689485,
+            -0.16791857135502297
+          ]
+        },
+        "tcp_position": [
+          -0.06272091456971596,
+          0.01233784246423316,
+          0.007186485459774156
+        ],
+        "score": 0.0
+      },
+      "grasp_991": {
+        "confidence": 0.9067584276199341,
+        "position": [
+          -0.12207706655317452,
+          0.013609339657705277,
+          0.08390070963650942
+        ],
+        "orientation": {
+          "w": 0.3084773447415402,
+          "xyz": [
+            -0.029258022125480683,
+            0.9431247532361154,
+            -0.12042174120909337
+          ]
+        },
+        "tcp_position": [
+          -0.06200805854535021,
+          -0.007718307091118863,
+          0.004271281903332064
+        ],
+        "score": 0.0
+      },
+      "grasp_846": {
+        "confidence": 0.914871335029602,
+        "position": [
+          -0.10198790217691567,
+          0.03931383433518931,
+          0.08917874563485384
+        ],
+        "orientation": {
+          "w": 0.21609571019311138,
+          "xyz": [
+            0.09679008501663258,
+            0.959877034371496,
+            -0.15023449126212515
+          ]
+        },
+        "tcp_position": [
+          -0.0626395457241053,
+          0.005628832075948033,
+          0.0013093683338994133
+        ],
+        "score": 0.0
+      },
+      "grasp_962": {
+        "confidence": 0.9084576368331909,
+        "position": [
+          0.04704757024592254,
+          -0.11313877237262204,
+          0.07685465831309557
+        ],
+        "orientation": {
+          "w": 0.14429751016108136,
+          "xyz": [
+            -0.761278192933703,
+            0.5562541090392158,
+            0.30035829887302357
+          ]
+        },
+        "tcp_position": [
+          0.016775981676239282,
+          -0.056645850887290634,
+          -0.0024938183422253263
+        ],
+        "score": 0.0
+      },
+      "grasp_517": {
+        "confidence": 0.9329794049263,
+        "position": [
+          -0.002068393034278415,
+          -0.10481008869828656,
+          0.0911171855404973
+        ],
+        "orientation": {
+          "w": 0.22221462539068193,
+          "xyz": [
+            -0.6666637393128286,
+            0.693199848646265,
+            0.16016893826429282
+          ]
+        },
+        "tcp_position": [
+          0.007572712527806289,
+          -0.05193909925974575,
+          0.004424004959032599
+        ],
+        "score": 0.0
+      },
+      "grasp_170": {
+        "confidence": 0.9503899216651917,
+        "position": [
+          0.030113577740848996,
+          -0.12064746004762128,
+          0.07897792477160692
+        ],
+        "orientation": {
+          "w": 0.19992371044207438,
+          "xyz": [
+            -0.7413151872331409,
+            0.5804231530521748,
+            0.27127710294372215
+          ]
+        },
+        "tcp_position": [
+          0.01276103460172244,
+          -0.05829241321446759,
+          0.00014431911361380279
+        ],
+        "score": 0.0
+      },
+      "grasp_405": {
+        "confidence": 0.9383503198623657,
+        "position": [
+          0.036299515413702466,
+          -0.10563305002870038,
+          0.08958547282963991
+        ],
+        "orientation": {
+          "w": 0.11924170341624903,
+          "xyz": [
+            -0.7045652266210607,
+            0.6523044116640606,
+            0.252721609931578
+          ]
+        },
+        "tcp_position": [
+          0.0158430137008346,
+          -0.054864594338942335,
+          0.0035151792054834013
+        ],
+        "score": 0.0
+      },
+      "grasp_213": {
+        "confidence": 0.9479790925979614,
+        "position": [
+          0.009973866763175465,
+          -0.10206021351041272,
+          0.09364878851920366
+        ],
+        "orientation": {
+          "w": 0.15475080422872756,
+          "xyz": [
+            -0.7225850405637695,
+            0.6536053259894522,
+            0.16347209420032488
+          ]
+        },
+        "tcp_position": [
+          0.0065106526085327646,
+          -0.05745217660595468,
+          0.0019856596655059428
+        ],
+        "score": 0.0
+      },
+      "grasp_198": {
+        "confidence": 0.9487698078155518,
+        "position": [
+          0.020815383541048504,
+          -0.09815221262397245,
+          0.09491365123540163
+        ],
+        "orientation": {
+          "w": 0.1450852121743245,
+          "xyz": [
+            -0.7643046213813358,
+            0.6108920886497816,
+            0.1469679657904113
+          ]
+        },
+        "tcp_position": [
+          0.01598121856219236,
+          -0.057215356011943115,
+          0.0016141087944906568
+        ],
+        "score": 0.0
+      },
+      "grasp_789": {
+        "confidence": 0.9190541505813599,
+        "position": [
+          0.052148383008898236,
+          -0.1263311876100488,
+          0.06728519219905138
+        ],
+        "orientation": {
+          "w": 0.209189338471455,
+          "xyz": [
+            -0.7239574396442254,
+            0.5357610386680344,
+            0.38090097886327623
+          ]
+        },
+        "tcp_position": [
+          0.018757540576647698,
+          -0.053805906893039615,
+          0.0038097221449932966
+        ],
+        "score": 0.0
+      },
+      "grasp_146": {
+        "confidence": 0.9520597457885742,
+        "position": [
+          0.036840911852777936,
+          -0.11966156942071393,
+          0.07826188672333956
+        ],
+        "orientation": {
+          "w": 0.24033633895087253,
+          "xyz": [
+            -0.7662255291384203,
+            0.5372876551516919,
+            0.25779615648383125
+          ]
+        },
+        "tcp_position": [
+          0.022887261177338247,
+          -0.05383841311545351,
+          0.0016028512034410303
+        ],
+        "score": 0.0
+      },
+      "grasp_557": {
+        "confidence": 0.9313101768493652,
+        "position": [
+          0.049384448575438,
+          -0.12320867908420041,
+          0.07112198043614626
+        ],
+        "orientation": {
+          "w": 0.1648504924709847,
+          "xyz": [
+            -0.7157544970484516,
+            0.562819158799803,
+            0.3791495873331188
+          ]
+        },
+        "tcp_position": [
+          0.012950659211189743,
+          -0.05560611192590942,
+          0.003991719702477567
+        ],
+        "score": 0.0
+      },
+      "grasp_341": {
+        "confidence": 0.9419208765029907,
+        "position": [
+          0.035153996097506024,
+          -0.127698652271647,
+          0.07282352168112993
+        ],
+        "orientation": {
+          "w": 0.24426010924811756,
+          "xyz": [
+            -0.724946491669089,
+            0.565664774971783,
+            0.30791710833095814
+          ]
+        },
+        "tcp_position": [
+          0.017802962211398148,
+          -0.05604296457782952,
+          0.002336614781981397
+        ],
+        "score": 0.0
+      },
+      "grasp_615": {
+        "confidence": 0.9283967018127441,
+        "position": [
+          0.030989585342467763,
+          -0.10802514088572934,
+          0.08608762640506029
+        ],
+        "orientation": {
+          "w": 0.20253364658485934,
+          "xyz": [
+            -0.7875599267955989,
+            0.554534465932061,
+            0.17669467960353014
+          ]
+        },
+        "tcp_position": [
+          0.025513050018597633,
+          -0.05549704345806981,
+          -0.0011752324839121447
+        ],
+        "score": 0.0
+      },
+      "grasp_112": {
+        "confidence": 0.9543185234069824,
+        "position": [
+          0.03716247891134117,
+          -0.11549757403554395,
+          0.0834296839311719
+        ],
+        "orientation": {
+          "w": 0.1646019619086377,
+          "xyz": [
+            -0.7519586993952416,
+            0.5779297973303639,
+            0.27103774256979174
+          ]
+        },
+        "tcp_position": [
+          0.014991593690973384,
+          -0.058292982410843415,
+          0.0019429577385181585
+        ],
+        "score": 0.0
+      },
+      "grasp_729": {
+        "confidence": 0.9221326112747192,
+        "position": [
+          0.05654549961036537,
+          -0.12225423735799268,
+          0.07037632633000612
+        ],
+        "orientation": {
+          "w": 0.19897040987921652,
+          "xyz": [
+            -0.7470846725767422,
+            0.5254154698768119,
+            0.35526588916968593
+          ]
+        },
+        "tcp_position": [
+          0.023727699516056452,
+          -0.05385101008629349,
+          0.0022001538370724216
+        ],
+        "score": 0.0
+      },
+      "grasp_422": {
+        "confidence": 0.9378324151039124,
+        "position": [
+          0.019297428327263333,
+          -0.11843459290685132,
+          0.08133021462708712
+        ],
+        "orientation": {
+          "w": 0.177110724215488,
+          "xyz": [
+            -0.7294271056560448,
+            0.6071718642934267,
+            0.26059588659945326
+          ]
+        },
+        "tcp_position": [
+          0.002457421168497346,
+          -0.059801758846108,
+          -0.0004169867249961684
+        ],
+        "score": 0.0
+      },
+      "grasp_520": {
+        "confidence": 0.9328951239585876,
+        "position": [
+          -0.010561527786194347,
+          -0.10789014381589368,
+          0.08998980093747377
+        ],
+        "orientation": {
+          "w": 0.21779249093550881,
+          "xyz": [
+            -0.6470368309584518,
+            0.7150029147155789,
+            0.15060080419299546
+          ]
+        },
+        "tcp_position": [
+          0.0013271839561995492,
+          -0.057175789287909666,
+          0.002293091889093782
+        ],
+        "score": 0.0
+      },
+      "grasp_626": {
+        "confidence": 0.9276886582374573,
+        "position": [
+          0.03593978275603149,
+          -0.09769957495154813,
+          0.09226181078702211
+        ],
+        "orientation": {
+          "w": 0.13982834464958457,
+          "xyz": [
+            -0.8051762256527973,
+            0.5520644374207848,
+            0.16542108877451245
+          ]
+        },
+        "tcp_position": [
+          0.024516012974440803,
+          -0.056102024895950675,
+          -0.00016730428690513166
+        ],
+        "score": 0.0
+      },
+      "grasp_681": {
+        "confidence": 0.9245957136154175,
+        "position": [
+          0.055247884141863324,
+          -0.1277928872150369,
+          0.06384531874209642
+        ],
+        "orientation": {
+          "w": 0.26057440090748657,
+          "xyz": [
+            -0.7452140470077478,
+            0.4940326037137108,
+            0.364264728188017
+          ]
+        },
+        "tcp_position": [
+          0.026132403864987813,
+          -0.051467846600282044,
+          0.0027652321065742697
+        ],
+        "score": 0.0
+      },
+      "grasp_63": {
+        "confidence": 0.9577380418777466,
+        "position": [
+          0.011675446192384697,
+          -0.10595211369218305,
+          0.09343975502997637
+        ],
+        "orientation": {
+          "w": 0.16470648503650032,
+          "xyz": [
+            -0.7424477804833047,
+            0.6246807307149833,
+            0.177248559135836
+          ]
+        },
+        "tcp_position": [
+          0.005818844485158476,
+          -0.05841813006029855,
+          0.003382991727453377
+        ],
+        "score": 0.0
+      },
+      "grasp_172": {
+        "confidence": 0.950354814529419,
+        "position": [
+          0.009008355336845852,
+          -0.08158410323085263,
+          0.1049106391146779
+        ],
+        "orientation": {
+          "w": 0.13636546305257416,
+          "xyz": [
+            -0.7586171959318438,
+            0.634008860423759,
+            0.06274691567821897
+          ]
+        },
+        "tcp_position": [
+          0.016934983948457296,
+          -0.05236492094659513,
+          0.007507312962575091
+        ],
+        "score": 0.0
+      },
+      "grasp_796": {
+        "confidence": 0.9184277057647705,
+        "position": [
+          0.046430818634689786,
+          -0.10380882007302716,
+          0.08601559419184923
+        ],
+        "orientation": {
+          "w": 0.05550255471670396,
+          "xyz": [
+            -0.7493265676995335,
+            0.5915102966593689,
+            0.2924803075516394
+          ]
+        },
+        "tcp_position": [
+          0.008418900430894924,
+          -0.06003151100151851,
+          0.00209514802450797
+        ],
+        "score": 0.0
+      },
+      "grasp_618": {
+        "confidence": 0.9281584620475769,
+        "position": [
+          0.057390022921026684,
+          -0.10840035212459043,
+          0.07861683238297701
+        ],
+        "orientation": {
+          "w": 0.1884199906416702,
+          "xyz": [
+            -0.8051967161693467,
+            0.4938378032288916,
+            0.26885010600473225
+          ]
+        },
+        "tcp_position": [
+          0.032210648041310984,
+          -0.050365717416187464,
+          -0.0013955432531017886
+        ],
+        "score": 0.0
+      },
+      "grasp_713": {
+        "confidence": 0.923223614692688,
+        "position": [
+          0.04349744682258461,
+          -0.12432876211823896,
+          0.0762655483558774
+        ],
+        "orientation": {
+          "w": 0.17301057707685236,
+          "xyz": [
+            -0.6989921132969187,
+            0.5960197991361708,
+            0.3552995423666075
+          ]
+        },
+        "tcp_position": [
+          0.013869741713389762,
+          -0.05645824960152876,
+          0.0061243149715001916
+        ],
+        "score": 0.0
+      },
+      "grasp_310": {
+        "confidence": 0.9431138038635254,
+        "position": [
+          -0.014788740416406654,
+          -0.10285786521853879,
+          0.09285410959273577
+        ],
+        "orientation": {
+          "w": 0.20652769030518928,
+          "xyz": [
+            -0.6888934782876188,
+            0.683176504414351,
+            0.12665682976523054
+          ]
+        },
+        "tcp_position": [
+          -0.0038050129059969233,
+          -0.05618173719066102,
+          0.002828020028086589
+        ],
+        "score": 0.0
+      },
+      "grasp_57": {
+        "confidence": 0.958064615726471,
+        "position": [
+          0.031085250797332264,
+          -0.09725776297273114,
+          0.09730832744389772
+        ],
+        "orientation": {
+          "w": 0.1107229404962715,
+          "xyz": [
+            -0.7825589124049876,
+            0.587400402962567,
+            0.17407683838694882
+          ]
+        },
+        "tcp_position": [
+          0.016563167779843298,
+          -0.05872215707550164,
+          0.00399103974774484
+        ],
+        "score": 0.0
+      },
+      "grasp_865": {
+        "confidence": 0.914034366607666,
+        "position": [
+          0.015571483309031464,
+          -0.11664482933701947,
+          0.08565243799239397
+        ],
+        "orientation": {
+          "w": 0.1656047426867704,
+          "xyz": [
+            -0.583950109921515,
+            -0.7648359574732662,
+            -0.2158779666345118
+          ]
+        },
+        "tcp_position": [
+          0.015449389392856373,
+          -0.06323433698025398,
+          -0.0012458036427710484
+        ],
+        "score": 0.0
+      },
+      "grasp_937": {
+        "confidence": 0.9101402759552002,
+        "position": [
+          0.04604868208116386,
+          -0.13449347746791318,
+          0.06425820011645555
+        ],
+        "orientation": {
+          "w": 0.2682501287869505,
+          "xyz": [
+            -0.7241823676157271,
+            0.5048329313458904,
+            0.3856753534632208
+          ]
+        },
+        "tcp_position": [
+          0.016697612563633703,
+          -0.055144896414482225,
+          0.007281736528547411
+        ],
+        "score": 0.0
+      },
+      "grasp_883": {
+        "confidence": 0.9133544564247131,
+        "position": [
+          0.019137857379973866,
+          -0.10993280989350751,
+          0.08669634629040956
+        ],
+        "orientation": {
+          "w": 0.1137269825947947,
+          "xyz": [
+            -0.7037141642689283,
+            0.6514689076596522,
+            0.25969368646524127
+          ]
+        },
+        "tcp_position": [
+          -0.0030288912325525524,
+          -0.059093225138642576,
+          0.0010927723118543398
+        ],
+        "score": 0.0
+      },
+      "grasp_473": {
+        "confidence": 0.9354754686355591,
+        "position": [
+          0.012451533126295544,
+          -0.10805848223390058,
+          0.09074465651065111
+        ],
+        "orientation": {
+          "w": 0.2297439351300828,
+          "xyz": [
+            -0.7490063974054192,
+            0.6104605956092576,
+            0.1163829975773526
+          ]
+        },
+        "tcp_position": [
+          0.023279447113759115,
+          -0.05846059234963319,
+          0.0022754211928967955
+        ],
+        "score": 0.0
+      },
+      "grasp_352": {
+        "confidence": 0.9415093064308167,
+        "position": [
+          0.019113952192128636,
+          -0.11037915182532743,
+          0.09035792667418718
+        ],
+        "orientation": {
+          "w": 0.11911162653801345,
+          "xyz": [
+            -0.5050240891233524,
+            -0.8215151017770642,
+            -0.23638110622639977
+          ]
+        },
+        "tcp_position": [
+          0.02350528737551767,
+          -0.05849279442115953,
+          0.002650902493486096
+        ],
+        "score": 0.0
+      },
+      "grasp_50": {
+        "confidence": 0.9590290784835815,
+        "position": [
+          0.022140903296531178,
+          -0.10451625270070508,
+          0.09501293022185564
+        ],
+        "orientation": {
+          "w": 0.17735969622394337,
+          "xyz": [
+            -0.7651238482028293,
+            0.6014157363415299,
+            0.14638356173908154
+          ]
+        },
+        "tcp_position": [
+          0.02105263637553083,
+          -0.05887339248474408,
+          0.003801390456237702
+        ],
+        "score": 0.0
+      },
+      "grasp_695": {
+        "confidence": 0.9239621758460999,
+        "position": [
+          0.07255045686906669,
+          0.021259579982142895,
+          0.11898375768214464
+        ],
+        "orientation": {
+          "w": 0.06525045994757506,
+          "xyz": [
+            0.13028384764109727,
+            -0.988737225448579,
+            0.03416424348213983
+          ]
+        },
+        "tcp_position": [
+          0.06029729690348415,
+          0.012634349762492881,
+          0.018090420565584353
+        ],
+        "score": 0.0
+      },
+      "grasp_200": {
+        "confidence": 0.9487308263778687,
+        "position": [
+          0.08556197946018074,
+          0.011375062342267483,
+          0.11377931106835604
+        ],
+        "orientation": {
+          "w": 0.11195570238351517,
+          "xyz": [
+            0.09948201186547595,
+            -0.9886233420376409,
+            -0.013897395343596207
+          ]
+        },
+        "tcp_position": [
+          0.06270080891437797,
+          0.01190581136939258,
+          0.014375663314634593
+        ],
+        "score": 0.0
+      },
+      "grasp_347": {
+        "confidence": 0.9417091012001038,
+        "position": [
+          0.11004402105754707,
+          -0.014727648172993213,
+          0.09883723128587008
+        ],
+        "orientation": {
+          "w": 0.15327511896971718,
+          "xyz": [
+            -0.9599002512068656,
+            -0.05219687564469466,
+            0.22885307909387567
+          ]
+        },
+        "tcp_position": [
+          0.06359799252861041,
+          0.012849767363461537,
+          0.012314098042679508
+        ],
+        "score": 0.0
+      },
+      "grasp_228": {
+        "confidence": 0.9473786950111389,
+        "position": [
+          0.0973910055035958,
+          -0.03322343510808423,
+          0.1070594759657979
+        ],
+        "orientation": {
+          "w": 0.1596103288557675,
+          "xyz": [
+            -0.9708667168662487,
+            0.03231802047676702,
+            0.175778003619248
+          ]
+        },
+        "tcp_position": [
+          0.06362926593104463,
+          -0.0004526398808916629,
+          0.01655964214709607
+        ],
+        "score": 0.0
+      },
+      "grasp_462": {
+        "confidence": 0.9359769225120544,
+        "position": [
+          0.07109700505679939,
+          0.05648583191214129,
+          0.1097072409465909
+        ],
+        "orientation": {
+          "w": 0.07915845300459441,
+          "xyz": [
+            0.2297815837567813,
+            -0.9563389501067705,
+            0.16232737166856331
+          ]
+        },
+        "tcp_position": [
+          0.06326290091375937,
+          0.021106286761716754,
+          0.01436095314667142
+        ],
+        "score": 0.0
+      },
+      "grasp_53": {
+        "confidence": 0.958477795124054,
+        "position": [
+          0.10478337471431587,
+          -0.005153698206413537,
+          0.10309526044875383
+        ],
+        "orientation": {
+          "w": 0.10465445116036251,
+          "xyz": [
+            -0.9691030359214499,
+            -0.07372319943914035,
+            0.21083557926642513
+          ]
+        },
+        "tcp_position": [
+          0.06152785508613826,
+          0.012365306261733777,
+          0.012397716357740118
+        ],
+        "score": 0.0
+      },
+      "grasp_805": {
+        "confidence": 0.9176365733146667,
+        "position": [
+          0.10771890346950386,
+          0.027147783141117543,
+          0.10191133338958025
+        ],
+        "orientation": {
+          "w": 0.08271668807226755,
+          "xyz": [
+            0.964667363863476,
+            0.03820977867217856,
+            -0.24721415700738175
+          ]
+        },
+        "tcp_position": [
+          0.05971385953701755,
+          0.008942805259686649,
+          0.013774538931325353
+        ],
+        "score": 0.0
+      },
+      "grasp_133": {
+        "confidence": 0.9532029032707214,
+        "position": [
+          0.11068793748563621,
+          -0.018448293034452945,
+          0.09952130634337664
+        ],
+        "orientation": {
+          "w": 0.126614579673219,
+          "xyz": [
+            -0.963621215152962,
+            -0.035647857094528224,
+            0.23266313031047914
+          ]
+        },
+        "tcp_position": [
+          0.0640305534597927,
+          0.004749475798011372,
+          0.011834636677682808
+        ],
+        "score": 0.0
+      },
+      "grasp_293": {
+        "confidence": 0.9441593885421753,
+        "position": [
+          0.08234745626396034,
+          0.025365410547237843,
+          0.11232252139598131
+        ],
+        "orientation": {
+          "w": 0.11399333633306609,
+          "xyz": [
+            0.16788500075065732,
+            -0.9789305558766941,
+            0.022696091415806995
+          ]
+        },
+        "tcp_position": [
+          0.060360086001169266,
+          0.016928854123920648,
+          0.013078478427936538
+        ],
+        "score": 0.0
+      },
+      "grasp_99": {
+        "confidence": 0.9549151659011841,
+        "position": [
+          0.09175556515401695,
+          -0.019191780884284526,
+          0.1075889291241765
+        ],
+        "orientation": {
+          "w": 0.13308778757288878,
+          "xyz": [
+            0.052069450600471905,
+            -0.9829893079383105,
+            -0.11536218441101172
+          ]
+        },
+        "tcp_position": [
+          0.06384209873022897,
+          0.002528096226234896,
+          0.011917170853974271
+        ],
+        "score": 0.0
+      },
+      "grasp_141": {
+        "confidence": 0.9526551961898804,
+        "position": [
+          0.09515228484815452,
+          0.014478475030045956,
+          0.10792650748044252
+        ],
+        "orientation": {
+          "w": 0.1439306292308537,
+          "xyz": [
+            0.08321857743337527,
+            -0.9849284069085278,
+            0.04769355935349842
+          ]
+        },
+        "tcp_position": [
+          0.06704264030907746,
+          0.002452176525951732,
+          0.010616610613899971
+        ],
+        "score": 0.0
+      },
+      "grasp_254": {
+        "confidence": 0.9462251663208008,
+        "position": [
+          0.07555079077428672,
+          0.04862016829429194,
+          0.1066763000562787
+        ],
+        "orientation": {
+          "w": 0.09095747131400446,
+          "xyz": [
+            0.20344865129581913,
+            -0.9644592124870119,
+            0.14196412274587708
+          ]
+        },
+        "tcp_position": [
+          0.06354694895723925,
+          0.016913716992933786,
+          0.010475423098186928
+        ],
+        "score": 0.0
+      },
+      "grasp_117": {
+        "confidence": 0.9541511535644531,
+        "position": [
+          0.10998843972629402,
+          0.008452731359284371,
+          0.10104755777865648
+        ],
+        "orientation": {
+          "w": 0.07574538748970591,
+          "xyz": [
+            -0.9580617264475925,
+            -0.1305852786227613,
+            0.24357308881998593
+          ]
+        },
+        "tcp_position": [
+          0.06036558527605475,
+          0.016768117555498445,
+          0.012320861296604452
+        ],
+        "score": 0.0
+      },
+      "grasp_433": {
+        "confidence": 0.937559962272644,
+        "position": [
+          0.11597942923253868,
+          -0.011271800671238452,
+          0.09335082489997149
+        ],
+        "orientation": {
+          "w": 0.16202985343745815,
+          "xyz": [
+            -0.9462517336400572,
+            -0.10141666480994199,
+            0.2608996804847602
+          ]
+        },
+        "tcp_position": [
+          0.06226433156331582,
+          0.01460793600022818,
+          0.010592577503102385
+        ],
+        "score": 0.0
+      },
+      "grasp_665": {
+        "confidence": 0.925521969795227,
+        "position": [
+          0.0854504144663224,
+          0.05806984397349879,
+          0.0969923185184598
+        ],
+        "orientation": {
+          "w": 0.22541062210896237,
+          "xyz": [
+            0.9502322625498881,
+            0.14794067503833358,
+            -0.1560841289784874
+          ]
+        },
+        "tcp_position": [
+          0.0619967842782462,
+          0.009663982055440903,
+          0.01032744810967838
+        ],
+        "score": 0.0
+      },
+      "grasp_450": {
+        "confidence": 0.9365867972373962,
+        "position": [
+          0.11953360949701164,
+          -0.004490542516577989,
+          0.09240019787102938
+        ],
+        "orientation": {
+          "w": 0.132312113889413,
+          "xyz": [
+            -0.9447097499737852,
+            -0.12177977236308735,
+            0.2742018961746585
+          ]
+        },
+        "tcp_position": [
+          0.06340216414389414,
+          0.014196734588213876,
+          0.009309605641952698
+        ],
+        "score": 0.0
+      },
+      "grasp_551": {
+        "confidence": 0.931544840335846,
+        "position": [
+          0.11131323491281364,
+          -0.00368254171917215,
+          0.09918695408850908
+        ],
+        "orientation": {
+          "w": 0.22120316787808647,
+          "xyz": [
+            0.11932041692719121,
+            -0.9642469998163008,
+            -0.08402094959165304
+          ]
+        },
+        "tcp_position": [
+          0.06575597414752464,
+          0.007460528727950279,
+          0.008608987824224201
+        ],
+        "score": 0.0
+      },
+      "grasp_297": {
+        "confidence": 0.9438366889953613,
+        "position": [
+          0.09383367364353035,
+          0.008391919720452279,
+          0.11129102576524019
+        ],
+        "orientation": {
+          "w": 0.03029641346944066,
+          "xyz": [
+            0.9815344843641854,
+            0.07619225714504735,
+            -0.17282049440377176
+          ]
+        },
+        "tcp_position": [
+          0.059700205405277526,
+          -0.00036061013650875474,
+          0.015571124140075568
+        ],
+        "score": 0.0
+      },
+      "grasp_147": {
+        "confidence": 0.951970636844635,
+        "position": [
+          0.08452225838846061,
+          0.04003962891874835,
+          0.10285243112593889
+        ],
+        "orientation": {
+          "w": 0.11456285133922783,
+          "xyz": [
+            0.1325300909490981,
+            -0.9687112236571844,
+            0.17581152762731378
+          ]
+        },
+        "tcp_position": [
+          0.06663594594779373,
+          0.0021989293844212818,
+          0.009835436517278168
+        ],
+        "score": 0.0
+      },
+      "grasp_345": {
+        "confidence": 0.9418476819992065,
+        "position": [
+          0.08569461469596718,
+          0.03589374216971919,
+          0.10782416630536318
+        ],
+        "orientation": {
+          "w": 0.13442451922660859,
+          "xyz": [
+            0.20955207564507478,
+            -0.9663589384866154,
+            0.06456297879247071
+          ]
+        },
+        "tcp_position": [
+          0.061954516679883144,
+          0.017419512640436775,
+          0.010360785543734999
+        ],
+        "score": 0.0
+      },
+      "grasp_569": {
+        "confidence": 0.9308804869651794,
+        "position": [
+          0.08746829991287086,
+          0.048583977099042386,
+          0.10094856936484575
+        ],
+        "orientation": {
+          "w": 0.13807302943388505,
+          "xyz": [
+            0.18854136756989598,
+            -0.9600264472037074,
+            0.15406885450099977
+          ]
+        },
+        "tcp_position": [
+          0.06635319680846884,
+          0.01309967592675651,
+          0.0076800495352430526
+        ],
+        "score": 0.0
+      },
+      "grasp_874": {
+        "confidence": 0.9135454297065735,
+        "position": [
+          0.10782275711244438,
+          -0.014738218684215099,
+          0.09557696152478456
+        ],
+        "orientation": {
+          "w": 0.19585901444858939,
+          "xyz": [
+            0.1250454099110421,
+            -0.9542324681127099,
+            -0.18826388054784318
+          ]
+        },
+        "tcp_position": [
+          0.0648936978781588,
+          0.016913653591395142,
+          0.008632986145764451
+        ],
+        "score": 0.0
+      },
+      "grasp_975": {
+        "confidence": 0.9077519774436951,
+        "position": [
+          0.08624880378192756,
+          0.06433043646393344,
+          0.09438845980912447
+        ],
+        "orientation": {
+          "w": 0.22829878681867094,
+          "xyz": [
+            0.9444688500483256,
+            0.18011832374247677,
+            -0.15302171309234852
+          ]
+        },
+        "tcp_position": [
+          0.0651545006750104,
+          0.01472108261299282,
+          0.007797799880205625
+        ],
+        "score": 0.0
+      },
+      "grasp_240": {
+        "confidence": 0.9467929005622864,
+        "position": [
+          0.09333321069425438,
+          0.0328419657307677,
+          0.10364424902945757
+        ],
+        "orientation": {
+          "w": 0.10844599812814791,
+          "xyz": [
+            0.9684570611628242,
+            0.12428701964991931,
+            -0.18677024099249911
+          ]
+        },
+        "tcp_position": [
+          0.05918350281824656,
+          0.006681330242888427,
+          0.011159555145260486
+        ],
+        "score": 0.0
+      },
+      "grasp_507": {
+        "confidence": 0.9333956837654114,
+        "position": [
+          0.10064096366113517,
+          0.03277060779510066,
+          0.10169749427586794
+        ],
+        "orientation": {
+          "w": 0.06920054443367897,
+          "xyz": [
+            0.9657423334396041,
+            0.12239439432319027,
+            -0.2181115363546143
+          ]
+        },
+        "tcp_position": [
+          0.05939832745046812,
+          0.013691400767786747,
+          0.010379211234609081
+        ],
+        "score": 0.0
+      },
+      "grasp_144": {
+        "confidence": 0.9522855281829834,
+        "position": [
+          0.10199056928104255,
+          0.010915148246567696,
+          0.10522622335702181
+        ],
+        "orientation": {
+          "w": 0.0820834676701343,
+          "xyz": [
+            -0.9656514643926677,
+            -0.13235916405048898,
+            0.20799183960770756
+          ]
+        },
+        "tcp_position": [
+          0.05880129605397579,
+          0.02146896477317964,
+          0.013425876762684863
+        ],
+        "score": 0.0
+      },
+      "grasp_981": {
+        "confidence": 0.9075040221214294,
+        "position": [
+          0.10366133962816093,
+          0.04438005032716319,
+          0.09517822880297899
+        ],
+        "orientation": {
+          "w": 0.15107427504359733,
+          "xyz": [
+            0.9570015477778812,
+            0.12486084856463991,
+            -0.21385595494750573
+          ]
+        },
+        "tcp_position": [
+          0.06575870721571905,
+          0.00943881791265904,
+          0.007164021236456403
+        ],
+        "score": 0.0
+      },
+      "grasp_773": {
+        "confidence": 0.9196486473083496,
+        "position": [
+          0.10081377242750023,
+          0.04901661741314456,
+          0.09421323705464602
+        ],
+        "orientation": {
+          "w": 0.17667580008271536,
+          "xyz": [
+            0.9535841538908777,
+            0.11910703223877389,
+            -0.21278260733580384
+          ]
+        },
+        "tcp_position": [
+          0.0637137627855004,
+          0.009477511178984703,
+          0.007817355423822045
+        ],
+        "score": 0.0
+      },
+      "grasp_60": {
+        "confidence": 0.9578444361686707,
+        "position": [
+          0.09374552582448814,
+          -0.001208909263368696,
+          0.10888215620070696
+        ],
+        "orientation": {
+          "w": 0.13818426159686445,
+          "xyz": [
+            0.049457040893351456,
+            -0.9891408378305586,
+            -0.007714524539036186
+          ]
+        },
+        "tcp_position": [
+          0.06578421811979818,
+          -0.0010464096791325329,
+          0.010789654625261477
+        ],
+        "score": 0.0
+      },
+      "grasp_253": {
+        "confidence": 0.9463194608688354,
+        "position": [
+          0.1003117448562989,
+          0.031071558769326657,
+          0.10059964377433062
+        ],
+        "orientation": {
+          "w": 0.07866895610708537,
+          "xyz": [
+            0.9701169422614127,
+            0.11359263061964156,
+            -0.19945181862118513
+          ]
+        },
+        "tcp_position": [
+          0.06266244840995966,
+          0.010880792611981445,
+          0.007977489626011053
+        ],
+        "score": 0.0
+      }
+    }
+  }
+}

Objects/bowl/002/cache/jsons/grasp_fps.json

@@ -0,0 +1,2107 @@
+{
+  "point": {
+    "id_0": {
+      "raw_id": 1,
+      "grasp_type": "enveloping",
+      "confidence": 0.95,
+      "rationale": "wide rim stable grip",
+      "grasp_scenario": "daily holding and stability",
+      "ranking": [
+        "grasp_980",
+        "grasp_958",
+        "grasp_887",
+        "grasp_779",
+        "grasp_516",
+        "grasp_421",
+        "grasp_752",
+        "grasp_600",
+        "grasp_920",
+        "grasp_428",
+        "grasp_787",
+        "grasp_955",
+        "grasp_930",
+        "grasp_910",
+        "grasp_911",
+        "grasp_641",
+        "grasp_619",
+        "grasp_666",
+        "grasp_574",
+        "grasp_487",
+        "grasp_792",
+        "grasp_671",
+        "grasp_308",
+        "grasp_348",
+        "grasp_870",
+        "grasp_734",
+        "grasp_886",
+        "grasp_998",
+        "grasp_991",
+        "grasp_846"
+      ]
+    },
+    "id_1": {
+      "raw_id": 23,
+      "grasp_type": "parallel_jaw",
+      "confidence": 0.9,
+      "rationale": "mid-side easy access",
+      "grasp_scenario": "precision operation control",
+      "ranking": [
+        "grasp_962",
+        "grasp_517",
+        "grasp_170",
+        "grasp_405",
+        "grasp_213",
+        "grasp_198",
+        "grasp_789",
+        "grasp_146",
+        "grasp_557",
+        "grasp_341",
+        "grasp_615",
+        "grasp_112",
+        "grasp_729",
+        "grasp_422",
+        "grasp_520",
+        "grasp_626",
+        "grasp_681",
+        "grasp_63",
+        "grasp_172",
+        "grasp_796",
+        "grasp_618",
+        "grasp_713",
+        "grasp_310",
+        "grasp_57",
+        "grasp_865",
+        "grasp_937",
+        "grasp_883",
+        "grasp_473",
+        "grasp_352",
+        "grasp_50"
+      ]
+    },
+    "id_2": {
+      "raw_id": 42,
+      "grasp_type": "pinch",
+      "confidence": 0.85,
+      "rationale": "top edge secure hold",
+      "grasp_scenario": "powerful holding",
+      "ranking": [
+        "grasp_695",
+        "grasp_200",
+        "grasp_347",
+        "grasp_228",
+        "grasp_462",
+        "grasp_53",
+        "grasp_805",
+        "grasp_133",
+        "grasp_293",
+        "grasp_99",
+        "grasp_141",
+        "grasp_254",
+        "grasp_117",
+        "grasp_433",
+        "grasp_665",
+        "grasp_450",
+        "grasp_551",
+        "grasp_297",
+        "grasp_147",
+        "grasp_345",
+        "grasp_569",
+        "grasp_874",
+        "grasp_975",
+        "grasp_240",
+        "grasp_507",
+        "grasp_144",
+        "grasp_981",
+        "grasp_773",
+        "grasp_60",
+        "grasp_253"
+      ]
+    }
+  },
+  "grasp": {
+    "format": "isaac_grasp",
+    "format_version": "1.0",
+    "grasps": {
+      "grasp_980": {
+        "confidence": 0.907511293888092,
+        "position": [
+          -0.10399914170557167,
+          0.021727247338276356,
+          0.0983328940346837
+        ],
+        "orientation": {
+          "w": 0.1950177327257605,
+          "xyz": [
+            0.02074133197835528,
+            0.9737207259712556,
+            -0.11578354323597893
+          ]
+        },
+        "tcp_position": [
+          -0.0657509158162336,
+          -0.0020970483772477927,
+          0.006826194006885611
+        ],
+        "score": 0.0
+      },
+      "grasp_955": {
+        "confidence": 0.9089612364768982,
+        "position": [
+          -0.08789123232418206,
+          0.023787399928551167,
+          0.09877828974276781
+        ],
+        "orientation": {
+          "w": 0.12051147162013158,
+          "xyz": [
+            0.9848484383568976,
+            -0.04426594153235802,
+            0.1165807235102947
+          ]
+        },
+        "tcp_position": [
+          -0.06555735521825921,
+          -0.001477202455905359,
+          0.00251356203955945
+        ],
+        "score": 0.0
+      },
+      "grasp_713": {
+        "confidence": 0.923223614692688,
+        "position": [
+          0.04349744682258461,
+          -0.12432876211823896,
+          0.0762655483558774
+        ],
+        "orientation": {
+          "w": 0.17301057707685236,
+          "xyz": [
+            -0.6989921132969187,
+            0.5960197991361708,
+            0.3552995423666075
+          ]
+        },
+        "tcp_position": [
+          0.013869741713389762,
+          -0.05645824960152876,
+          0.0061243149715001916
+        ],
+        "score": 0.0
+      },
+      "grasp_865": {
+        "confidence": 0.914034366607666,
+        "position": [
+          0.015571483309031464,
+          -0.11664482933701947,
+          0.08565243799239397
+        ],
+        "orientation": {
+          "w": 0.1656047426867704,
+          "xyz": [
+            -0.583950109921515,
+            -0.7648359574732662,
+            -0.2158779666345118
+          ]
+        },
+        "tcp_position": [
+          0.015449389392856373,
+          -0.06323433698025398,
+          -0.0012458036427710484
+        ],
+        "score": 0.0
+      },
+      "grasp_874": {
+        "confidence": 0.9135454297065735,
+        "position": [
+          0.10782275711244438,
+          -0.014738218684215099,
+          0.09557696152478456
+        ],
+        "orientation": {
+          "w": 0.19585901444858939,
+          "xyz": [
+            0.1250454099110421,
+            -0.9542324681127099,
+            -0.18826388054784318
+          ]
+        },
+        "tcp_position": [
+          0.0648936978781588,
+          0.016913653591395142,
+          0.008632986145764451
+        ],
+        "score": 0.0
+      },
+      "grasp_450": {
+        "confidence": 0.9365867972373962,
+        "position": [
+          0.11953360949701164,
+          -0.004490542516577989,
+          0.09240019787102938
+        ],
+        "orientation": {
+          "w": 0.132312113889413,
+          "xyz": [
+            -0.9447097499737852,
+            -0.12177977236308735,
+            0.2742018961746585
+          ]
+        },
+        "tcp_position": [
+          0.06340216414389414,
+          0.014196734588213876,
+          0.009309605641952698
+        ],
+        "score": 0.0
+      },
+      "grasp_462": {
+        "confidence": 0.9359769225120544,
+        "position": [
+          0.07109700505679939,
+          0.05648583191214129,
+          0.1097072409465909
+        ],
+        "orientation": {
+          "w": 0.07915845300459441,
+          "xyz": [
+            0.2297815837567813,
+            -0.9563389501067705,
+            0.16232737166856331
+          ]
+        },
+        "tcp_position": [
+          0.06326290091375937,
+          0.021106286761716754,
+          0.01436095314667142
+        ],
+        "score": 0.0
+      },
+      "grasp_975": {
+        "confidence": 0.9077519774436951,
+        "position": [
+          0.08624880378192756,
+          0.06433043646393344,
+          0.09438845980912447
+        ],
+        "orientation": {
+          "w": 0.22829878681867094,
+          "xyz": [
+            0.9444688500483256,
+            0.18011832374247677,
+            -0.15302171309234852
+          ]
+        },
+        "tcp_position": [
+          0.0651545006750104,
+          0.01472108261299282,
+          0.007797799880205625
+        ],
+        "score": 0.0
+      },
+      "grasp_671": {
+        "confidence": 0.9252611398696899,
+        "position": [
+          -0.11301130439096596,
+          -0.029968246642965823,
+          0.08594076801091433
+        ],
+        "orientation": {
+          "w": 0.2776177357318824,
+          "xyz": [
+            0.03329560583898822,
+            0.9414430948701311,
+            0.18842689447174601
+          ]
+        },
+        "tcp_position": [
+          -0.058413746454050224,
+          0.0043343019460572105,
+          0.0069063335685597416
+        ],
+        "score": 0.0
+      },
+      "grasp_172": {
+        "confidence": 0.950354814529419,
+        "position": [
+          0.009008355336845852,
+          -0.08158410323085263,
+          0.1049106391146779
+        ],
+        "orientation": {
+          "w": 0.13636546305257416,
+          "xyz": [
+            -0.7586171959318438,
+            0.634008860423759,
+            0.06274691567821897
+          ]
+        },
+        "tcp_position": [
+          0.016934983948457296,
+          -0.05236492094659513,
+          0.007507312962575091
+        ],
+        "score": 0.0
+      },
+      "grasp_787": {
+        "confidence": 0.9191445708274841,
+        "position": [
+          -0.10767899091297295,
+          -0.021779721428174525,
+          0.09254460502415895
+        ],
+        "orientation": {
+          "w": 0.1623957914306487,
+          "xyz": [
+            -0.9651168201130493,
+            0.05559440539570493,
+            -0.19770278842036348
+          ]
+        },
+        "tcp_position": [
+          -0.06691273578694935,
+          0.007951185706854769,
+          0.003898197291368005
+        ],
+        "score": 0.0
+      },
+      "grasp_805": {
+        "confidence": 0.9176365733146667,
+        "position": [
+          0.10771890346950386,
+          0.027147783141117543,
+          0.10191133338958025
+        ],
+        "orientation": {
+          "w": 0.08271668807226755,
+          "xyz": [
+            0.964667363863476,
+            0.03820977867217856,
+            -0.24721415700738175
+          ]
+        },
+        "tcp_position": [
+          0.05971385953701755,
+          0.008942805259686649,
+          0.013774538931325353
+        ],
+        "score": 0.0
+      },
+      "grasp_60": {
+        "confidence": 0.9578444361686707,
+        "position": [
+          0.09374552582448814,
+          -0.001208909263368696,
+          0.10888215620070696
+        ],
+        "orientation": {
+          "w": 0.13818426159686445,
+          "xyz": [
+            0.049457040893351456,
+            -0.9891408378305586,
+            -0.007714524539036186
+          ]
+        },
+        "tcp_position": [
+          0.06578421811979818,
+          -0.0010464096791325329,
+          0.010789654625261477
+        ],
+        "score": 0.0
+      },
+      "grasp_228": {
+        "confidence": 0.9473786950111389,
+        "position": [
+          0.0973910055035958,
+          -0.03322343510808423,
+          0.1070594759657979
+        ],
+        "orientation": {
+          "w": 0.1596103288557675,
+          "xyz": [
+            -0.9708667168662487,
+            0.03231802047676702,
+            0.175778003619248
+          ]
+        },
+        "tcp_position": [
+          0.06362926593104463,
+          -0.0004526398808916629,
+          0.01655964214709607
+        ],
+        "score": 0.0
+      },
+      "grasp_520": {
+        "confidence": 0.9328951239585876,
+        "position": [
+          -0.010561527786194347,
+          -0.10789014381589368,
+          0.08998980093747377
+        ],
+        "orientation": {
+          "w": 0.21779249093550881,
+          "xyz": [
+            -0.6470368309584518,
+            0.7150029147155789,
+            0.15060080419299546
+          ]
+        },
+        "tcp_position": [
+          0.0013271839561995492,
+          -0.057175789287909666,
+          0.002293091889093782
+        ],
+        "score": 0.0
+      },
+      "grasp_618": {
+        "confidence": 0.9281584620475769,
+        "position": [
+          0.057390022921026684,
+          -0.10840035212459043,
+          0.07861683238297701
+        ],
+        "orientation": {
+          "w": 0.1884199906416702,
+          "xyz": [
+            -0.8051967161693467,
+            0.4938378032288916,
+            0.26885010600473225
+          ]
+        },
+        "tcp_position": [
+          0.032210648041310984,
+          -0.050365717416187464,
+          -0.0013955432531017886
+        ],
+        "score": 0.0
+      },
+      "grasp_910": {
+        "confidence": 0.9121014475822449,
+        "position": [
+          -0.09074993069225457,
+          -0.025592548598069698,
+          0.10507132578641176
+        ],
+        "orientation": {
+          "w": 0.14893344204612904,
+          "xyz": [
+            -0.007850933638931221,
+            0.9841307305964186,
+            0.09614519112804885
+          ]
+        },
+        "tcp_position": [
+          -0.06100364057862165,
+          -0.0060516530313763466,
+          0.009482039645510157
+        ],
+        "score": 0.0
+      },
+      "grasp_998": {
+        "confidence": 0.906251847743988,
+        "position": [
+          -0.0958685615187278,
+          0.05134590732632205,
+          0.095411223359406
+        ],
+        "orientation": {
+          "w": 0.19831577850422283,
+          "xyz": [
+            0.1575149144749581,
+            0.9527136280689485,
+            -0.16791857135502297
+          ]
+        },
+        "tcp_position": [
+          -0.06272091456971596,
+          0.01233784246423316,
+          0.007186485459774156
+        ],
+        "score": 0.0
+      },
+      "grasp_796": {
+        "confidence": 0.9184277057647705,
+        "position": [
+          0.046430818634689786,
+          -0.10380882007302716,
+          0.08601559419184923
+        ],
+        "orientation": {
+          "w": 0.05550255471670396,
+          "xyz": [
+            -0.7493265676995335,
+            0.5915102966593689,
+            0.2924803075516394
+          ]
+        },
+        "tcp_position": [
+          0.008418900430894924,
+          -0.06003151100151851,
+          0.00209514802450797
+        ],
+        "score": 0.0
+      },
+      "grasp_937": {
+        "confidence": 0.9101402759552002,
+        "position": [
+          0.04604868208116386,
+          -0.13449347746791318,
+          0.06425820011645555
+        ],
+        "orientation": {
+          "w": 0.2682501287869505,
+          "xyz": [
+            -0.7241823676157271,
+            0.5048329313458904,
+            0.3856753534632208
+          ]
+        },
+        "tcp_position": [
+          0.016697612563633703,
+          -0.055144896414482225,
+          0.007281736528547411
+        ],
+        "score": 0.0
+      },
+      "grasp_626": {
+        "confidence": 0.9276886582374573,
+        "position": [
+          0.03593978275603149,
+          -0.09769957495154813,
+          0.09226181078702211
+        ],
+        "orientation": {
+          "w": 0.13982834464958457,
+          "xyz": [
+            -0.8051762256527973,
+            0.5520644374207848,
+            0.16542108877451245
+          ]
+        },
+        "tcp_position": [
+          0.024516012974440803,
+          -0.056102024895950675,
+          -0.00016730428690513166
+        ],
+        "score": 0.0
+      },
+      "grasp_991": {
+        "confidence": 0.9067584276199341,
+        "position": [
+          -0.12207706655317452,
+          0.013609339657705277,
+          0.08390070963650942
+        ],
+        "orientation": {
+          "w": 0.3084773447415402,
+          "xyz": [
+            -0.029258022125480683,
+            0.9431247532361154,
+            -0.12042174120909337
+          ]
+        },
+        "tcp_position": [
+          -0.06200805854535021,
+          -0.007718307091118863,
+          0.004271281903332064
+        ],
+        "score": 0.0
+      },
+      "grasp_293": {
+        "confidence": 0.9441593885421753,
+        "position": [
+          0.08234745626396034,
+          0.025365410547237843,
+          0.11232252139598131
+        ],
+        "orientation": {
+          "w": 0.11399333633306609,
+          "xyz": [
+            0.16788500075065732,
+            -0.9789305558766941,
+            0.022696091415806995
+          ]
+        },
+        "tcp_position": [
+          0.060360086001169266,
+          0.016928854123920648,
+          0.013078478427936538
+        ],
+        "score": 0.0
+      },
+      "grasp_752": {
+        "confidence": 0.9206705689430237,
+        "position": [
+          -0.11248270059877541,
+          0.045058589603286237,
+          0.08517398405820131
+        ],
+        "orientation": {
+          "w": 0.2736087789806462,
+          "xyz": [
+            0.05975320035678232,
+            0.9402118093896974,
+            -0.19382864751112944
+          ]
+        },
+        "tcp_position": [
+          -0.062366362678076194,
+          0.004546436953414633,
+          0.006109970998581127
+        ],
+        "score": 0.0
+      },
+      "grasp_666": {
+        "confidence": 0.9254989624023438,
+        "position": [
+          -0.10159587497764733,
+          -0.017753371794242412,
+          0.09839349705725908
+        ],
+        "orientation": {
+          "w": 0.19099206986887482,
+          "xyz": [
+            0.10504156315948762,
+            0.9632948878293844,
+            0.1566884116263468
+          ]
+        },
+        "tcp_position": [
+          -0.06070601701545023,
+          0.008945136433418984,
+          0.00884345979177914
+        ],
+        "score": 0.0
+      },
+      "grasp_886": {
+        "confidence": 0.9132193326950073,
+        "position": [
+          -0.11142376447969582,
+          0.022184705536346883,
+          0.09367393422871828
+        ],
+        "orientation": {
+          "w": 0.2432300015022978,
+          "xyz": [
+            0.09091019210694165,
+            0.9650715576099116,
+            -0.03480505757285716
+          ]
+        },
+        "tcp_position": [
+          -0.06418343920453923,
+          0.010821608249740636,
+          0.0039898682640636535
+        ],
+        "score": 0.0
+      },
+      "grasp_981": {
+        "confidence": 0.9075040221214294,
+        "position": [
+          0.10366133962816093,
+          0.04438005032716319,
+          0.09517822880297899
+        ],
+        "orientation": {
+          "w": 0.15107427504359733,
+          "xyz": [
+            0.9570015477778812,
+            0.12486084856463991,
+            -0.21385595494750573
+          ]
+        },
+        "tcp_position": [
+          0.06575870721571905,
+          0.00943881791265904,
+          0.007164021236456403
+        ],
+        "score": 0.0
+      },
+      "grasp_473": {
+        "confidence": 0.9354754686355591,
+        "position": [
+          0.012451533126295544,
+          -0.10805848223390058,
+          0.09074465651065111
+        ],
+        "orientation": {
+          "w": 0.2297439351300828,
+          "xyz": [
+            -0.7490063974054192,
+            0.6104605956092576,
+            0.1163829975773526
+          ]
+        },
+        "tcp_position": [
+          0.023279447113759115,
+          -0.05846059234963319,
+          0.0022754211928967955
+        ],
+        "score": 0.0
+      },
+      "grasp_352": {
+        "confidence": 0.9415093064308167,
+        "position": [
+          0.019113952192128636,
+          -0.11037915182532743,
+          0.09035792667418718
+        ],
+        "orientation": {
+          "w": 0.11911162653801345,
+          "xyz": [
+            -0.5050240891233524,
+            -0.8215151017770642,
+            -0.23638110622639977
+          ]
+        },
+        "tcp_position": [
+          0.02350528737551767,
+          -0.05849279442115953,
+          0.002650902493486096
+        ],
+        "score": 0.0
+      },
+      "grasp_99": {
+        "confidence": 0.9549151659011841,
+        "position": [
+          0.09175556515401695,
+          -0.019191780884284526,
+          0.1075889291241765
+        ],
+        "orientation": {
+          "w": 0.13308778757288878,
+          "xyz": [
+            0.052069450600471905,
+            -0.9829893079383105,
+            -0.11536218441101172
+          ]
+        },
+        "tcp_position": [
+          0.06384209873022897,
+          0.002528096226234896,
+          0.011917170853974271
+        ],
+        "score": 0.0
+      },
+      "grasp_551": {
+        "confidence": 0.931544840335846,
+        "position": [
+          0.11131323491281364,
+          -0.00368254171917215,
+          0.09918695408850908
+        ],
+        "orientation": {
+          "w": 0.22120316787808647,
+          "xyz": [
+            0.11932041692719121,
+            -0.9642469998163008,
+            -0.08402094959165304
+          ]
+        },
+        "tcp_position": [
+          0.06575597414752464,
+          0.007460528727950279,
+          0.008608987824224201
+        ],
+        "score": 0.0
+      },
+      "grasp_405": {
+        "confidence": 0.9383503198623657,
+        "position": [
+          0.036299515413702466,
+          -0.10563305002870038,
+          0.08958547282963991
+        ],
+        "orientation": {
+          "w": 0.11924170341624903,
+          "xyz": [
+            -0.7045652266210607,
+            0.6523044116640606,
+            0.252721609931578
+          ]
+        },
+        "tcp_position": [
+          0.0158430137008346,
+          -0.054864594338942335,
+          0.0035151792054834013
+        ],
+        "score": 0.0
+      },
+      "grasp_147": {
+        "confidence": 0.951970636844635,
+        "position": [
+          0.08452225838846061,
+          0.04003962891874835,
+          0.10285243112593889
+        ],
+        "orientation": {
+          "w": 0.11456285133922783,
+          "xyz": [
+            0.1325300909490981,
+            -0.9687112236571844,
+            0.17581152762731378
+          ]
+        },
+        "tcp_position": [
+          0.06663594594779373,
+          0.0021989293844212818,
+          0.009835436517278168
+        ],
+        "score": 0.0
+      },
+      "grasp_112": {
+        "confidence": 0.9543185234069824,
+        "position": [
+          0.03716247891134117,
+          -0.11549757403554395,
+          0.0834296839311719
+        ],
+        "orientation": {
+          "w": 0.1646019619086377,
+          "xyz": [
+            -0.7519586993952416,
+            0.5779297973303639,
+            0.27103774256979174
+          ]
+        },
+        "tcp_position": [
+          0.014991593690973384,
+          -0.058292982410843415,
+          0.0019429577385181585
+        ],
+        "score": 0.0
+      },
+      "grasp_297": {
+        "confidence": 0.9438366889953613,
+        "position": [
+          0.09383367364353035,
+          0.008391919720452279,
+          0.11129102576524019
+        ],
+        "orientation": {
+          "w": 0.03029641346944066,
+          "xyz": [
+            0.9815344843641854,
+            0.07619225714504735,
+            -0.17282049440377176
+          ]
+        },
+        "tcp_position": [
+          0.059700205405277526,
+          -0.00036061013650875474,
+          0.015571124140075568
+        ],
+        "score": 0.0
+      },
+      "grasp_213": {
+        "confidence": 0.9479790925979614,
+        "position": [
+          0.009973866763175465,
+          -0.10206021351041272,
+          0.09364878851920366
+        ],
+        "orientation": {
+          "w": 0.15475080422872756,
+          "xyz": [
+            -0.7225850405637695,
+            0.6536053259894522,
+            0.16347209420032488
+          ]
+        },
+        "tcp_position": [
+          0.0065106526085327646,
+          -0.05745217660595468,
+          0.0019856596655059428
+        ],
+        "score": 0.0
+      },
+      "grasp_133": {
+        "confidence": 0.9532029032707214,
+        "position": [
+          0.11068793748563621,
+          -0.018448293034452945,
+          0.09952130634337664
+        ],
+        "orientation": {
+          "w": 0.126614579673219,
+          "xyz": [
+            -0.963621215152962,
+            -0.035647857094528224,
+            0.23266313031047914
+          ]
+        },
+        "tcp_position": [
+          0.0640305534597927,
+          0.004749475798011372,
+          0.011834636677682808
+        ],
+        "score": 0.0
+      },
+      "grasp_887": {
+        "confidence": 0.9131632447242737,
+        "position": [
+          -0.11184585477167275,
+          0.0030045159510336816,
+          0.09478962142020464
+        ],
+        "orientation": {
+          "w": 0.225112940973708,
+          "xyz": [
+            -0.0138948959013411,
+            0.9736016757927389,
+            -0.035083793518223695
+          ]
+        },
+        "tcp_position": [
+          -0.0670356590360604,
+          -0.003325546782419778,
+          0.0033785900075427727
+        ],
+        "score": 0.0
+      },
+      "grasp_341": {
+        "confidence": 0.9419208765029907,
+        "position": [
+          0.035153996097506024,
+          -0.127698652271647,
+          0.07282352168112993
+        ],
+        "orientation": {
+          "w": 0.24426010924811756,
+          "xyz": [
+            -0.724946491669089,
+            0.565664774971783,
+            0.30791710833095814
+          ]
+        },
+        "tcp_position": [
+          0.017802962211398148,
+          -0.05604296457782952,
+          0.002336614781981397
+        ],
+        "score": 0.0
+      },
+      "grasp_144": {
+        "confidence": 0.9522855281829834,
+        "position": [
+          0.10199056928104255,
+          0.010915148246567696,
+          0.10522622335702181
+        ],
+        "orientation": {
+          "w": 0.0820834676701343,
+          "xyz": [
+            -0.9656514643926677,
+            -0.13235916405048898,
+            0.20799183960770756
+          ]
+        },
+        "tcp_position": [
+          0.05880129605397579,
+          0.02146896477317964,
+          0.013425876762684863
+        ],
+        "score": 0.0
+      },
+      "grasp_779": {
+        "confidence": 0.9192975163459778,
+        "position": [
+          -0.08564331765228417,
+          0.052660692657809705,
+          0.0976280989125371
+        ],
+        "orientation": {
+          "w": 0.13840325015072755,
+          "xyz": [
+            0.11590000407163367,
+            0.9608900228135774,
+            -0.21000498437235632
+          ]
+        },
+        "tcp_position": [
+          -0.06347857002748296,
+          0.008222835835784655,
+          0.008532639747694887
+        ],
+        "score": 0.0
+      },
+      "grasp_729": {
+        "confidence": 0.9221326112747192,
+        "position": [
+          0.05654549961036537,
+          -0.12225423735799268,
+          0.07037632633000612
+        ],
+        "orientation": {
+          "w": 0.19897040987921652,
+          "xyz": [
+            -0.7470846725767422,
+            0.5254154698768119,
+            0.35526588916968593
+          ]
+        },
+        "tcp_position": [
+          0.023727699516056452,
+          -0.05385101008629349,
+          0.0022001538370724216
+        ],
+        "score": 0.0
+      },
+      "grasp_421": {
+        "confidence": 0.9378556609153748,
+        "position": [
+          -0.1032993459230056,
+          -0.022203316737432033,
+          0.09673060197383165
+        ],
+        "orientation": {
+          "w": 0.20560029828718504,
+          "xyz": [
+            0.026767863665853108,
+            0.9668819836386188,
+            0.14883288794495944
+          ]
+        },
+        "tcp_position": [
+          -0.061933212732590955,
+          0.006030356125793987,
+          0.007872835056554131
+        ],
+        "score": 0.0
+      },
+      "grasp_507": {
+        "confidence": 0.9333956837654114,
+        "position": [
+          0.10064096366113517,
+          0.03277060779510066,
+          0.10169749427586794
+        ],
+        "orientation": {
+          "w": 0.06920054443367897,
+          "xyz": [
+            0.9657423334396041,
+            0.12239439432319027,
+            -0.2181115363546143
+          ]
+        },
+        "tcp_position": [
+          0.05939832745046812,
+          0.013691400767786747,
+          0.010379211234609081
+        ],
+        "score": 0.0
+      },
+      "grasp_348": {
+        "confidence": 0.9416698813438416,
+        "position": [
+          -0.10093357796722557,
+          -0.0013256295351311564,
+          0.0967615069821477
+        ],
+        "orientation": {
+          "w": 0.20237746250154198,
+          "xyz": [
+            0.03255591132000597,
+            0.9785209920030453,
+            0.021912177412063506
+          ]
+        },
+        "tcp_position": [
+          -0.060389808847998036,
+          0.0017043708074583803,
+          0.003214610275037791
+        ],
+        "score": 0.0
+      },
+      "grasp_792": {
+        "confidence": 0.9188237190246582,
+        "position": [
+          -0.09964939589553978,
+          -0.003085376985836774,
+          0.10104307997971773
+        ],
+        "orientation": {
+          "w": 0.18459905217985306,
+          "xyz": [
+            0.10060987469121759,
+            0.9738563724584167,
+            0.08605003701946357
+          ]
+        },
+        "tcp_position": [
+          -0.06120958475714513,
+          0.010221112450489185,
+          0.00750528944281495
+        ],
+        "score": 0.0
+      },
+      "grasp_146": {
+        "confidence": 0.9520597457885742,
+        "position": [
+          0.036840911852777936,
+          -0.11966156942071393,
+          0.07826188672333956
+        ],
+        "orientation": {
+          "w": 0.24033633895087253,
+          "xyz": [
+            -0.7662255291384203,
+            0.5372876551516919,
+            0.25779615648383125
+          ]
+        },
+        "tcp_position": [
+          0.022887261177338247,
+          -0.05383841311545351,
+          0.0016028512034410303
+        ],
+        "score": 0.0
+      },
+      "grasp_846": {
+        "confidence": 0.914871335029602,
+        "position": [
+          -0.10198790217691567,
+          0.03931383433518931,
+          0.08917874563485384
+        ],
+        "orientation": {
+          "w": 0.21609571019311138,
+          "xyz": [
+            0.09679008501663258,
+            0.959877034371496,
+            -0.15023449126212515
+          ]
+        },
+        "tcp_position": [
+          -0.0626395457241053,
+          0.005628832075948033,
+          0.0013093683338994133
+        ],
+        "score": 0.0
+      },
+      "grasp_615": {
+        "confidence": 0.9283967018127441,
+        "position": [
+          0.030989585342467763,
+          -0.10802514088572934,
+          0.08608762640506029
+        ],
+        "orientation": {
+          "w": 0.20253364658485934,
+          "xyz": [
+            -0.7875599267955989,
+            0.554534465932061,
+            0.17669467960353014
+          ]
+        },
+        "tcp_position": [
+          0.025513050018597633,
+          -0.05549704345806981,
+          -0.0011752324839121447
+        ],
+        "score": 0.0
+      },
+      "grasp_870": {
+        "confidence": 0.9138134121894836,
+        "position": [
+          -0.1090662219648948,
+          0.029426224704366177,
+          0.08655170816928148
+        ],
+        "orientation": {
+          "w": 0.23958607545882796,
+          "xyz": [
+            0.00837494295079213,
+            0.9544529884514987,
+            -0.17761718839350008
+          ]
+        },
+        "tcp_position": [
+          -0.06272025513868837,
+          -0.005566665594799167,
+          0.002697376215262795
+        ],
+        "score": 0.0
+      },
+      "grasp_141": {
+        "confidence": 0.9526551961898804,
+        "position": [
+          0.09515228484815452,
+          0.014478475030045956,
+          0.10792650748044252
+        ],
+        "orientation": {
+          "w": 0.1439306292308537,
+          "xyz": [
+            0.08321857743337527,
+            -0.9849284069085278,
+            0.04769355935349842
+          ]
+        },
+        "tcp_position": [
+          0.06704264030907746,
+          0.002452176525951732,
+          0.010616610613899971
+        ],
+        "score": 0.0
+      },
+      "grasp_569": {
+        "confidence": 0.9308804869651794,
+        "position": [
+          0.08746829991287086,
+          0.048583977099042386,
+          0.10094856936484575
+        ],
+        "orientation": {
+          "w": 0.13807302943388505,
+          "xyz": [
+            0.18854136756989598,
+            -0.9600264472037074,
+            0.15406885450099977
+          ]
+        },
+        "tcp_position": [
+          0.06635319680846884,
+          0.01309967592675651,
+          0.0076800495352430526
+        ],
+        "score": 0.0
+      },
+      "grasp_345": {
+        "confidence": 0.9418476819992065,
+        "position": [
+          0.08569461469596718,
+          0.03589374216971919,
+          0.10782416630536318
+        ],
+        "orientation": {
+          "w": 0.13442451922660859,
+          "xyz": [
+            0.20955207564507478,
+            -0.9663589384866154,
+            0.06456297879247071
+          ]
+        },
+        "tcp_position": [
+          0.061954516679883144,
+          0.017419512640436775,
+          0.010360785543734999
+        ],
+        "score": 0.0
+      },
+      "grasp_600": {
+        "confidence": 0.9292510151863098,
+        "position": [
+          -0.09877909357601311,
+          0.022109611134510487,
+          0.09878796804696321
+        ],
+        "orientation": {
+          "w": 0.18908691546306655,
+          "xyz": [
+            0.07395228291122025,
+            0.975787832942978,
+            -0.08133451501871065
+          ]
+        },
+        "tcp_position": [
+          -0.06236635053986981,
+          0.003066488733485556,
+          0.005431277693227002
+        ],
+        "score": 0.0
+      },
+      "grasp_695": {
+        "confidence": 0.9239621758460999,
+        "position": [
+          0.07255045686906669,
+          0.021259579982142895,
+          0.11898375768214464
+        ],
+        "orientation": {
+          "w": 0.06525045994757506,
+          "xyz": [
+            0.13028384764109727,
+            -0.988737225448579,
+            0.03416424348213983
+          ]
+        },
+        "tcp_position": [
+          0.06029729690348415,
+          0.012634349762492881,
+          0.018090420565584353
+        ],
+        "score": 0.0
+      },
+      "grasp_50": {
+        "confidence": 0.9590290784835815,
+        "position": [
+          0.022140903296531178,
+          -0.10451625270070508,
+          0.09501293022185564
+        ],
+        "orientation": {
+          "w": 0.17735969622394337,
+          "xyz": [
+            -0.7651238482028293,
+            0.6014157363415299,
+            0.14638356173908154
+          ]
+        },
+        "tcp_position": [
+          0.02105263637553083,
+          -0.05887339248474408,
+          0.003801390456237702
+        ],
+        "score": 0.0
+      },
+      "grasp_574": {
+        "confidence": 0.9306106567382812,
+        "position": [
+          -0.1018468775873771,
+          -0.0067804528516717255,
+          0.09883181471377611
+        ],
+        "orientation": {
+          "w": 0.202990417222169,
+          "xyz": [
+            0.03860286007504219,
+            0.9749876995812593,
+            0.08187609770403384
+          ]
+        },
+        "tcp_position": [
+          -0.06082782004797815,
+          0.007905951353951363,
+          0.006605210905067355
+        ],
+        "score": 0.0
+      },
+      "grasp_310": {
+        "confidence": 0.9431138038635254,
+        "position": [
+          -0.014788740416406654,
+          -0.10285786521853879,
+          0.09285410959273577
+        ],
+        "orientation": {
+          "w": 0.20652769030518928,
+          "xyz": [
+            -0.6888934782876188,
+            0.683176504414351,
+            0.12665682976523054
+          ]
+        },
+        "tcp_position": [
+          -0.0038050129059969233,
+          -0.05618173719066102,
+          0.002828020028086589
+        ],
+        "score": 0.0
+      },
+      "grasp_428": {
+        "confidence": 0.9376628994941711,
+        "position": [
+          -0.10687382901960518,
+          -0.027818033297080547,
+          0.0911552282050252
+        ],
+        "orientation": {
+          "w": 0.1469305970696941,
+          "xyz": [
+            -0.9664582611560343,
+            0.0007008408623141449,
+            -0.2106403045717598
+          ]
+        },
+        "tcp_position": [
+          -0.06532350937936637,
+          0.001120318163387108,
+          0.0026106476111546068
+        ],
+        "score": 0.0
+      },
+      "grasp_200": {
+        "confidence": 0.9487308263778687,
+        "position": [
+          0.08556197946018074,
+          0.011375062342267483,
+          0.11377931106835604
+        ],
+        "orientation": {
+          "w": 0.11195570238351517,
+          "xyz": [
+            0.09948201186547595,
+            -0.9886233420376409,
+            -0.013897395343596207
+          ]
+        },
+        "tcp_position": [
+          0.06270080891437797,
+          0.01190581136939258,
+          0.014375663314634593
+        ],
+        "score": 0.0
+      },
+      "grasp_911": {
+        "confidence": 0.9120672345161438,
+        "position": [
+          -0.09413130219036248,
+          0.052710343326907605,
+          0.09172093588858843
+        ],
+        "orientation": {
+          "w": 0.1918270150779858,
+          "xyz": [
+            0.1081800207902258,
+            0.9512778287329374,
+            -0.21580076911180082
+          ]
+        },
+        "tcp_position": [
+          -0.06166766943020681,
+          0.006598522464905207,
+          0.006727921323835234
+        ],
+        "score": 0.0
+      },
+      "grasp_57": {
+        "confidence": 0.958064615726471,
+        "position": [
+          0.031085250797332264,
+          -0.09725776297273114,
+          0.09730832744389772
+        ],
+        "orientation": {
+          "w": 0.1107229404962715,
+          "xyz": [
+            -0.7825589124049876,
+            0.587400402962567,
+            0.17407683838694882
+          ]
+        },
+        "tcp_position": [
+          0.016563167779843298,
+          -0.05872215707550164,
+          0.00399103974774484
+        ],
+        "score": 0.0
+      },
+      "grasp_240": {
+        "confidence": 0.9467929005622864,
+        "position": [
+          0.09333321069425438,
+          0.0328419657307677,
+          0.10364424902945757
+        ],
+        "orientation": {
+          "w": 0.10844599812814791,
+          "xyz": [
+            0.9684570611628242,
+            0.12428701964991931,
+            -0.18677024099249911
+          ]
+        },
+        "tcp_position": [
+          0.05918350281824656,
+          0.006681330242888427,
+          0.011159555145260486
+        ],
+        "score": 0.0
+      },
+      "grasp_53": {
+        "confidence": 0.958477795124054,
+        "position": [
+          0.10478337471431587,
+          -0.005153698206413537,
+          0.10309526044875383
+        ],
+        "orientation": {
+          "w": 0.10465445116036251,
+          "xyz": [
+            -0.9691030359214499,
+            -0.07372319943914035,
+            0.21083557926642513
+          ]
+        },
+        "tcp_position": [
+          0.06152785508613826,
+          0.012365306261733777,
+          0.012397716357740118
+        ],
+        "score": 0.0
+      },
+      "grasp_958": {
+        "confidence": 0.9086001515388489,
+        "position": [
+          -0.10343388105684426,
+          0.02795808034716174,
+          0.09439884591847658
+        ],
+        "orientation": {
+          "w": 0.18367551453603445,
+          "xyz": [
+            0.01233044554843894,
+            0.9692976115886417,
+            -0.16301351367618216
+          ]
+        },
+        "tcp_position": [
+          -0.06752453456506223,
+          -0.004737695373125281,
+          0.004702106375827436
+        ],
+        "score": 0.0
+      },
+      "grasp_557": {
+        "confidence": 0.9313101768493652,
+        "position": [
+          0.049384448575438,
+          -0.12320867908420041,
+          0.07112198043614626
+        ],
+        "orientation": {
+          "w": 0.1648504924709847,
+          "xyz": [
+            -0.7157544970484516,
+            0.562819158799803,
+            0.3791495873331188
+          ]
+        },
+        "tcp_position": [
+          0.012950659211189743,
+          -0.05560611192590942,
+          0.003991719702477567
+        ],
+        "score": 0.0
+      },
+      "grasp_962": {
+        "confidence": 0.9084576368331909,
+        "position": [
+          0.04704757024592254,
+          -0.11313877237262204,
+          0.07685465831309557
+        ],
+        "orientation": {
+          "w": 0.14429751016108136,
+          "xyz": [
+            -0.761278192933703,
+            0.5562541090392158,
+            0.30035829887302357
+          ]
+        },
+        "tcp_position": [
+          0.016775981676239282,
+          -0.056645850887290634,
+          -0.0024938183422253263
+        ],
+        "score": 0.0
+      },
+      "grasp_422": {
+        "confidence": 0.9378324151039124,
+        "position": [
+          0.019297428327263333,
+          -0.11843459290685132,
+          0.08133021462708712
+        ],
+        "orientation": {
+          "w": 0.177110724215488,
+          "xyz": [
+            -0.7294271056560448,
+            0.6071718642934267,
+            0.26059588659945326
+          ]
+        },
+        "tcp_position": [
+          0.002457421168497346,
+          -0.059801758846108,
+          -0.0004169867249961684
+        ],
+        "score": 0.0
+      },
+      "grasp_63": {
+        "confidence": 0.9577380418777466,
+        "position": [
+          0.011675446192384697,
+          -0.10595211369218305,
+          0.09343975502997637
+        ],
+        "orientation": {
+          "w": 0.16470648503650032,
+          "xyz": [
+            -0.7424477804833047,
+            0.6246807307149833,
+            0.177248559135836
+          ]
+        },
+        "tcp_position": [
+          0.005818844485158476,
+          -0.05841813006029855,
+          0.003382991727453377
+        ],
+        "score": 0.0
+      },
+      "grasp_433": {
+        "confidence": 0.937559962272644,
+        "position": [
+          0.11597942923253868,
+          -0.011271800671238452,
+          0.09335082489997149
+        ],
+        "orientation": {
+          "w": 0.16202985343745815,
+          "xyz": [
+            -0.9462517336400572,
+            -0.10141666480994199,
+            0.2608996804847602
+          ]
+        },
+        "tcp_position": [
+          0.06226433156331582,
+          0.01460793600022818,
+          0.010592577503102385
+        ],
+        "score": 0.0
+      },
+      "grasp_930": {
+        "confidence": 0.91057950258255,
+        "position": [
+          -0.09288646663480904,
+          -0.03226410207571462,
+          0.10485685337334871
+        ],
+        "orientation": {
+          "w": 0.15878250964027335,
+          "xyz": [
+            -0.03792372517913156,
+            0.9796941061379798,
+            0.11640173580913411
+          ]
+        },
+        "tcp_position": [
+          -0.06205311074652171,
+          -0.007771919445555581,
+          0.010764148264625475
+        ],
+        "score": 0.0
+      },
+      "grasp_789": {
+        "confidence": 0.9190541505813599,
+        "position": [
+          0.052148383008898236,
+          -0.1263311876100488,
+          0.06728519219905138
+        ],
+        "orientation": {
+          "w": 0.209189338471455,
+          "xyz": [
+            -0.7239574396442254,
+            0.5357610386680344,
+            0.38090097886327623
+          ]
+        },
+        "tcp_position": [
+          0.018757540576647698,
+          -0.053805906893039615,
+          0.0038097221449932966
+        ],
+        "score": 0.0
+      },
+      "grasp_170": {
+        "confidence": 0.9503899216651917,
+        "position": [
+          0.030113577740848996,
+          -0.12064746004762128,
+          0.07897792477160692
+        ],
+        "orientation": {
+          "w": 0.19992371044207438,
+          "xyz": [
+            -0.7413151872331409,
+            0.5804231530521748,
+            0.27127710294372215
+          ]
+        },
+        "tcp_position": [
+          0.01276103460172244,
+          -0.05829241321446759,
+          0.00014431911361380279
+        ],
+        "score": 0.0
+      },
+      "grasp_117": {
+        "confidence": 0.9541511535644531,
+        "position": [
+          0.10998843972629402,
+          0.008452731359284371,
+          0.10104755777865648
+        ],
+        "orientation": {
+          "w": 0.07574538748970591,
+          "xyz": [
+            -0.9580617264475925,
+            -0.1305852786227613,
+            0.24357308881998593
+          ]
+        },
+        "tcp_position": [
+          0.06036558527605475,
+          0.016768117555498445,
+          0.012320861296604452
+        ],
+        "score": 0.0
+      },
+      "grasp_254": {
+        "confidence": 0.9462251663208008,
+        "position": [
+          0.07555079077428672,
+          0.04862016829429194,
+          0.1066763000562787
+        ],
+        "orientation": {
+          "w": 0.09095747131400446,
+          "xyz": [
+            0.20344865129581913,
+            -0.9644592124870119,
+            0.14196412274587708
+          ]
+        },
+        "tcp_position": [
+          0.06354694895723925,
+          0.016913716992933786,
+          0.010475423098186928
+        ],
+        "score": 0.0
+      },
+      "grasp_198": {
+        "confidence": 0.9487698078155518,
+        "position": [
+          0.020815383541048504,
+          -0.09815221262397245,
+          0.09491365123540163
+        ],
+        "orientation": {
+          "w": 0.1450852121743245,
+          "xyz": [
+            -0.7643046213813358,
+            0.6108920886497816,
+            0.1469679657904113
+          ]
+        },
+        "tcp_position": [
+          0.01598121856219236,
+          -0.057215356011943115,
+          0.0016141087944906568
+        ],
+        "score": 0.0
+      },
+      "grasp_734": {
+        "confidence": 0.9220620393753052,
+        "position": [
+          -0.10815073187404778,
+          0.013899423356633633,
+          0.09300070721656084
+        ],
+        "orientation": {
+          "w": 0.22345563997397572,
+          "xyz": [
+            0.005009110470431276,
+            0.9680679293453481,
+            -0.11352079082320668
+          ]
+        },
+        "tcp_position": [
+          -0.06413740537037046,
+          -0.00874766742609705,
+          0.0038158633855630703
+        ],
+        "score": 0.0
+      },
+      "grasp_516": {
+        "confidence": 0.9329848885536194,
+        "position": [
+          -0.10174627984815743,
+          -0.019220676098484546,
+          0.09798600990325212
+        ],
+        "orientation": {
+          "w": 0.19645859174697097,
+          "xyz": [
+            0.035770730131283505,
+            0.9726492956800568,
+            0.11865000719663238
+          ]
+        },
+        "tcp_position": [
+          -0.0618990601589369,
+          0.002888309149152054,
+          0.0067314656089607905
+        ],
+        "score": 0.0
+      },
+      "grasp_681": {
+        "confidence": 0.9245957136154175,
+        "position": [
+          0.055247884141863324,
+          -0.1277928872150369,
+          0.06384531874209642
+        ],
+        "orientation": {
+          "w": 0.26057440090748657,
+          "xyz": [
+            -0.7452140470077478,
+            0.4940326037137108,
+            0.364264728188017
+          ]
+        },
+        "tcp_position": [
+          0.026132403864987813,
+          -0.051467846600282044,
+          0.0027652321065742697
+        ],
+        "score": 0.0
+      },
+      "grasp_665": {
+        "confidence": 0.925521969795227,
+        "position": [
+          0.0854504144663224,
+          0.05806984397349879,
+          0.0969923185184598
+        ],
+        "orientation": {
+          "w": 0.22541062210896237,
+          "xyz": [
+            0.9502322625498881,
+            0.14794067503833358,
+            -0.1560841289784874
+          ]
+        },
+        "tcp_position": [
+          0.0619967842782462,
+          0.009663982055440903,
+          0.01032744810967838
+        ],
+        "score": 0.0
+      },
+      "grasp_347": {
+        "confidence": 0.9417091012001038,
+        "position": [
+          0.11004402105754707,
+          -0.014727648172993213,
+          0.09883723128587008
+        ],
+        "orientation": {
+          "w": 0.15327511896971718,
+          "xyz": [
+            -0.9599002512068656,
+            -0.05219687564469466,
+            0.22885307909387567
+          ]
+        },
+        "tcp_position": [
+          0.06359799252861041,
+          0.012849767363461537,
+          0.012314098042679508
+        ],
+        "score": 0.0
+      },
+      "grasp_517": {
+        "confidence": 0.9329794049263,
+        "position": [
+          -0.002068393034278415,
+          -0.10481008869828656,
+          0.0911171855404973
+        ],
+        "orientation": {
+          "w": 0.22221462539068193,
+          "xyz": [
+            -0.6666637393128286,
+            0.693199848646265,
+            0.16016893826429282
+          ]
+        },
+        "tcp_position": [
+          0.007572712527806289,
+          -0.05193909925974575,
+          0.004424004959032599
+        ],
+        "score": 0.0
+      },
+      "grasp_641": {
+        "confidence": 0.9267181158065796,
+        "position": [
+          -0.09875939424091484,
+          0.03149811195908114,
+          0.09402864146977663
+        ],
+        "orientation": {
+          "w": 0.1978289857817241,
+          "xyz": [
+            0.07910228936751305,
+            0.9667928278659221,
+            -0.14113166968616983
+          ]
+        },
+        "tcp_position": [
+          -0.06201984973055662,
+          0.0004709743690336776,
+          0.004075750453758312
+        ],
+        "score": 0.0
+      },
+      "grasp_773": {
+        "confidence": 0.9196486473083496,
+        "position": [
+          0.10081377242750023,
+          0.04901661741314456,
+          0.09421323705464602
+        ],
+        "orientation": {
+          "w": 0.17667580008271536,
+          "xyz": [
+            0.9535841538908777,
+            0.11910703223877389,
+            -0.21278260733580384
+          ]
+        },
+        "tcp_position": [
+          0.0637137627855004,
+          0.009477511178984703,
+          0.007817355423822045
+        ],
+        "score": 0.0
+      },
+      "grasp_487": {
+        "confidence": 0.9347400665283203,
+        "position": [
+          -0.0987127685075393,
+          0.029031148354988545,
+          0.09470486361533403
+        ],
+        "orientation": {
+          "w": 0.18733087006935809,
+          "xyz": [
+            0.0810122622932611,
+            0.9733417417489267,
+            -0.10464230619759593
+          ]
+        },
+        "tcp_position": [
+          -0.06324540084593941,
+          0.005157268635026614,
+          0.0020976085093019903
+        ],
+        "score": 0.0
+      },
+      "grasp_253": {
+        "confidence": 0.9463194608688354,
+        "position": [
+          0.1003117448562989,
+          0.031071558769326657,
+          0.10059964377433062
+        ],
+        "orientation": {
+          "w": 0.07866895610708537,
+          "xyz": [
+            0.9701169422614127,
+            0.11359263061964156,
+            -0.19945181862118513
+          ]
+        },
+        "tcp_position": [
+          0.06266244840995966,
+          0.010880792611981445,
+          0.007977489626011053
+        ],
+        "score": 0.0
+      },
+      "grasp_308": {
+        "confidence": 0.9431836009025574,
+        "position": [
+          -0.11057389165216591,
+          0.004770834639202803,
+          0.09124995488673449
+        ],
+        "orientation": {
+          "w": 0.22288693219709976,
+          "xyz": [
+            0.005512819821342242,
+            0.9742303116471842,
+            -0.03415148812589962
+          ]
+        },
+        "tcp_position": [
+          -0.06631508503134342,
+          -0.0022671960460375,
+          -0.0003776837414341677
+        ],
+        "score": 0.0
+      },
+      "grasp_920": {
+        "confidence": 0.9114412069320679,
+        "position": [
+          -0.08833737309032585,
+          0.05211989599047229,
+          0.09468254167586565
+        ],
+        "orientation": {
+          "w": 0.14907219189402238,
+          "xyz": [
+            0.10649300313250852,
+            0.9601560654526418,
+            -0.211038034160274
+          ]
+        },
+        "tcp_position": [
+          -0.06372304006861657,
+          0.007544958827012352,
+          0.006301494008563183
+        ],
+        "score": 0.0
+      },
+      "grasp_619": {
+        "confidence": 0.9281089901924133,
+        "position": [
+          -0.1049436816101661,
+          0.02704378793714568,
+          0.0954247759655118
+        ],
+        "orientation": {
+          "w": 0.20069736979958988,
+          "xyz": [
+            0.07676262307200908,
+            0.9736173933869361,
+            -0.07679346814058619
+          ]
+        },
+        "tcp_position": [
+          -0.06628413488326308,
+          0.008648391319897118,
+          0.0028448168481923913
+        ],
+        "score": 0.0
+      },
+      "grasp_883": {
+        "confidence": 0.9133544564247131,
+        "position": [
+          0.019137857379973866,
+          -0.10993280989350751,
+          0.08669634629040956
+        ],
+        "orientation": {
+          "w": 0.1137269825947947,
+          "xyz": [
+            -0.7037141642689283,
+            0.6514689076596522,
+            0.25969368646524127
+          ]
+        },
+        "tcp_position": [
+          -0.0030288912325525524,
+          -0.059093225138642576,
+          0.0010927723118543398
+        ],
+        "score": 0.0
+      }
+    }
+  }
+}

Objects/bowl/002/cache/jsons/grasp_points.json

@@ -0,0 +1,25 @@
+{
+  "GRASP_POINTS": [
+    {
+      "id": 1,
+      "grasp_type": "enveloping",
+      "confidence": 0.95,
+      "rationale": "wide rim stable grip",
+      "grasp_scenario": "daily holding and stability"
+    },
+    {
+      "id": 23,
+      "grasp_type": "parallel_jaw",
+      "confidence": 0.9,
+      "rationale": "mid-side easy access",
+      "grasp_scenario": "precision operation control"
+    },
+    {
+      "id": 42,
+      "grasp_type": "pinch",
+      "confidence": 0.85,
+      "rationale": "top edge secure hold",
+      "grasp_scenario": "powerful holding"
+    }
+  ]
+}

Objects/bowl/002/cache/jsons/physical_properties.json

@@ -0,0 +1,9 @@
+{
+  "PHYSICAL_PROPERTIES": {
+    "obb_length": 0.15,
+    "obb_width": 0.15,
+    "obb_height": 0.08,
+    "weight": 0.45,
+    "friction_coefficient_for_grasping": 0.3
+  }
+}

Objects/bowl/002/cache/jsons/placement.json

@@ -0,0 +1,47 @@
+{
+  "input_file": "dataset/RoboScale_Dataset/bowl/002/base_rescaled.glb",
+  "mesh_info": {
+    "num_vertices": 261048,
+    "num_faces": 87016,
+    "is_watertight": false
+  },
+  "bounding_box": {
+    "min_bounds": [
+      -0.07504985481500626,
+      -0.07499720901250839,
+      -0.030118444934487343
+    ],
+    "max_bounds": [
+      0.07505001872777939,
+      0.07502321898937225,
+      0.029773946851491928
+    ],
+    "dimensions": [
+      0.15009987354278564,
+      0.15002042800188065,
+      0.05989239178597927
+    ],
+    "center": [
+      8.195638656616211e-08,
+      1.3004988431930542e-05,
+      -0.00017224904149770737
+    ],
+    "bottom_center": [
+      8.195638656616211e-08,
+      1.3004988431930542e-05,
+      -0.030118444934487343
+    ],
+    "placement_face": "-z",
+    "placement_center": [
+      8.195638656616211e-08,
+      1.3004988431930542e-05,
+      -0.030118444934487343
+    ],
+    "direction_placement_to_center_unit": [
+      0.0,
+      0.0,
+      1.0
+    ],
+    "volume": 0.00023719040582665873
+  }
+}

Objects/bowl/002/caption.json

@@ -0,0 +1,116 @@
+{
+  "seen": [
+    "bowl in wide rim form",
+    "round bowl in deep center form",
+    "round bowl with smooth surface",
+    "glass bowl in round form",
+    "blue curved sides object for drinking",
+    "round bowl with round shape dimensions",
+    "bowl primarily used for decorative",
+    "small bowl black curved sides for daily use",
+    "wide rim reflective object for simple look",
+    "teal smooth wide rim object",
+    "small bowl circular bowl for daily use",
+    "glass bowl suitable for modern design",
+    "round bowl commonly seen in dining table",
+    "bowl in gradient blue",
+    "decorative with bowl",
+    "round medium size round bowl",
+    "small bowl black deep center object",
+    "wide rim object used in modern design",
+    "ceramic bowl intended for daily use",
+    "black round shape curved sides ceramic bowl",
+    "curved sides variant glass bowl",
+    "ceramic bowl appropriate for daily use",
+    "blue bowl sized as small bowl",
+    "dark blue wide rim bowl used in kitchen use",
+    "simple look round bowl",
+    "glass bowl typically found in kitchen use",
+    "ceramic bowl in round shape",
+    "blue medium size shiny object",
+    "bowl with glass surface",
+    "blue bowl for serving scenarios",
+    "ceramic bowl in medium size",
+    "ceramic bowl for daily use activities",
+    "round bowl primarily used for holding food",
+    "ceramic bowl featuring curved sides shape",
+    "blue object used for decorative",
+    "glass bowl shaped like a round",
+    "dining table use of glass bowl",
+    "ceramic bowl primarily used for serving",
+    "round shape shiny round bowl",
+    "black medium size blue bowl for serving in kitchen use",
+    "teal blue bowl for kitchen use",
+    "glass bowl for eating in daily use",
+    "medium size curved sides object for serving in kitchen use",
+    "bowl designed for eating",
+    "round shape bowl perfect for decorative",
+    "round bowl with dark blue exterior",
+    "blue bowl in normal size",
+    "glass bowl for modern design activities",
+    "glass black ceramic bowl",
+    "circular object used in modern design",
+    "round shape circular object",
+    "glass bowl made of glass",
+    "glass bowl shaped like a deep center",
+    "shiny object for eating",
+    "ceramic bowl commonly seen in dining table",
+    "bowl with curved sides geometry",
+    "blue bowl in dark blue",
+    "round bowl colored blue",
+    "circular object made of smooth",
+    "round bowl with curved sides geometry",
+    "gradient blue ceramic round glass bowl",
+    "black round bowl used for holding food",
+    "smooth round bowl suitable for eating",
+    "round bowl commonly used for decorative",
+    "black bowl typically used for modern design",
+    "glass bowl in teal",
+    "gradient blue smooth round bowl",
+    "ceramic bowl intended for holding food",
+    "glass bowl in curved sides form",
+    "curved sides-shaped glass bowl",
+    "bowl suitable for kitchen use",
+    "bowl typically found in kitchen use",
+    "bowl with small bowl dimensions",
+    "teal finish round bowl",
+    "round bowl intended for kitchen use",
+    "blue blue bowl suitable for decorative in dining table",
+    "glass bowl with shiny body",
+    "ceramic bowl optimized for decorative",
+    "round bowl in round shape",
+    "blue bowl for drinking tasks",
+    "black bowl used for drinking",
+    "shiny round round bowl",
+    "medium size smooth bowl for kitchen use",
+    "teal round bowl typically used for kitchen use",
+    "black medium size round round bowl",
+    "teal curved sides object for eating",
+    "normal size black round bowl",
+    "deep center object made of reflective",
+    "ceramic bowl intended for simple look",
+    "bowl for dining table scenarios",
+    "bowl sized normal size",
+    "ceramic bowl with reflective body",
+    "medium size round object",
+    "round shape smooth curved sides for decorative",
+    "blue bowl for drinking scenarios",
+    "blue ceramic bowl for simple look",
+    "black reflective glass bowl",
+    "teal small bowl curved sides glass bowl",
+    "ceramic object used in daily use",
+    "blue blue bowl designed for holding food"
+  ],
+  "unseen": [
+    "round bowl intended for modern design",
+    "circular shiny object for modern design",
+    "ceramic bowl suitable for kitchen use",
+    "bowl with black exterior",
+    "dark blue curved sides object for eating",
+    "normal size object used for drinking",
+    "round bowl for simple look activities",
+    "blue bowl for serving tasks",
+    "ceramic bowl with shiny body",
+    "ceramic bowl featuring smooth build"
+  ]
+}

Objects/bowl/002/grasp.json

@@ -0,0 +1,17 @@
+{
+  "point": {
+    "id_0": {
+      "raw_id": 0,
+      "grasp_type": null,
+      "confidence": 0,
+      "rationale": null,
+      "grasp_scenario": null,
+      "ranking": []
+    }
+  },
+  "grasp": {
+    "format": "isaac_grasp",
+    "format_version": "1.0",
+    "grasps": {}
+  }
+}

Objects/bowl/002/pcd/base_rescaled_fps14.ply

@@ -0,0 +1,28 @@
+ply
+format ascii 1.0
+comment Created by Open3D
+element vertex 14
+property double x
+property double y
+property double z
+property double nx
+property double ny
+property double nz
+property uchar red
+property uchar green
+property uchar blue
+end_header
+0.0369804 -0.0378032 -0.0265299 0.110393 -0.115885 -0.987109 55 99 114
+-0.0549545 0.0527084 0.0281739 -0.697144 0.597031 0.39692 50 27 22
+0.0527972 0.0549812 0.0277211 0.666841 0.744979 0.0181398 31 19 15
+-0.0529635 -0.0545191 0.0277844 -0.661138 -0.746623 -0.0738212 24 20 18
+-0.000429954 0.0337412 -0.0280181 0.00133626 0.0603668 -0.998175 57 102 117
+-0.0618903 -0.000502264 -0.0187769 -0.898209 -0.014452 -0.439332 159 227 254
+0.0739148 -0.0121655 0.0284411 0.767561 -0.0898192 0.634652 11 11 13
+0.0140449 -0.0731338 0.0288974 0.103332 -0.549803 0.828879 6 5 6
+-0.023469 -0.049343 -0.025157 -0.185362 -0.548579 -0.815292 87 107 119
+0.0581424 0.0188323 -0.0204311 0.546721 0.136893 -0.826049 104 155 175
+-0.00145096 0.0724539 0.0158074 -0.036843 0.978411 -0.203359 94 147 185
+-0.0733324 -0.00674207 0.0294301 -0.362195 -0.0124032 0.93202 76 33 20
+-0.045712 0.046168 -0.018336 -0.607349 0.648973 -0.458215 132 208 241
+0.0522918 -0.05198 0.0149573 0.715418 -0.6758 -0.177403 94 156 198

Objects/bowl/002/pcd/base_rescaled_fps42.ply

@@ -0,0 +1,56 @@
+ply
+format ascii 1.0
+comment Created by Open3D
+element vertex 42
+property double x
+property double y
+property double z
+property double nx
+property double ny
+property double nz
+property uchar red
+property uchar green
+property uchar blue
+end_header
+-0.0250728 -0.0504217 -0.0241099 -0.187114 -0.522932 -0.831583 95 145 165
+0.0373188 0.0657352 0.0284694 0.369991 0.684759 0.627863 20 13 12
+-0.0666367 0.035243 0.0275337 -0.911621 0.410454 0.0217761 50 25 19
+0.0655257 -0.0362639 0.0289434 0.65984 -0.308363 0.685218 4 4 4
+-0.00811643 0.0288236 -0.02825 -0.0174108 0.0582038 -0.998153 57 101 118
+0.0609014 0.0171664 -0.0169307 0.867252 0.193219 -0.458847 174 234 254
+-0.0658529 -0.0339046 0.0293868 -0.339694 -0.151212 0.928301 94 46 25
+0.00844548 -0.074238 0.0285192 0.0824393 -0.839142 0.537629 11 10 12
+0.036101 -0.0392241 -0.0264462 0.123526 -0.147651 -0.981295 54 98 115
+-0.0602442 -0.00226796 -0.0206192 -0.538362 -0.01581 -0.842565 111 162 184
+-0.0209251 0.0690703 0.0128281 -0.260102 0.947729 -0.184815 89 141 182
+0.0727599 0.0116683 0.0294172 0.33215 0.0748379 0.940253 2 4 6
+0.0310903 0.0557064 -0.0181592 0.380719 0.805118 -0.454794 150 220 254
+-0.0491634 0.0448559 -0.0148402 -0.711003 0.572989 -0.407625 122 203 238
+-0.0349732 -0.0648721 0.019041 -0.401939 -0.893226 -0.201474 90 126 160
+0.000130171 -0.0143856 -0.0293734 -0.00170037 -0.0776574 -0.996979 57 102 117
+0.0393341 -0.0600866 0.00747123 0.468108 -0.865025 -0.180573 95 181 222
+0.0645794 -0.0201462 -0.0067784 0.934775 -0.247478 -0.254853 137 218 253
+-0.0569286 -0.0378681 -0.00818035 -0.83196 -0.452652 -0.320857 142 220 254
+0.00925088 -0.0633269 -0.0147459 0.103191 -0.88017 -0.463305 154 225 254
+0.0597838 0.0411907 0.0110498 0.852565 0.494453 -0.169263 80 167 209
+0.0261051 0.0127497 -0.028287 0.0543389 0.0245607 -0.99822 57 102 116
+-0.0720451 0.000861786 0.0141507 -0.977672 0.0337777 -0.207402 87 143 185
+-0.00383193 0.0622022 -0.0180136 -0.0336712 0.877294 -0.47877 130 210 245
+-0.0273345 0.00280537 -0.0199939 0.202951 -0.0136288 0.979094 29 75 80
+0.0108431 0.0705668 0.0100517 0.113637 0.973751 -0.197219 88 172 216
+-0.0461904 0.0593644 0.0291674 -0.291235 0.43324 0.852927 100 46 26
+-0.039027 -0.0244023 -0.0272142 -0.081468 -0.0397358 -0.995884 60 103 118
+0.0464557 -0.00906694 -0.0269285 0.119614 -0.0185554 -0.992647 57 101 115
+-0.0647089 0.0243699 -0.00134318 -0.927011 0.293756 -0.233147 98 189 230
+-0.0086668 -0.0634268 0.00836647 0.103109 0.938552 0.329376 112 166 194
+-0.0470121 0.0207142 -0.0264423 -0.186086 0.0656393 -0.980338 59 103 119
+0.00984796 -0.0365868 -0.0180343 -0.0373457 0.171607 0.984457 31 74 81
+0.0717653 -0.0128699 0.0178887 0.961309 -0.165029 -0.220567 94 120 148
+0.015696 0.0347303 -0.0181849 -0.0611534 -0.151365 0.986584 30 76 82
+0.0523139 0.0414329 -0.0137508 0.760537 0.487988 -0.428312 141 216 249
+-0.0259694 0.0536525 -0.00744213 0.349445 -0.859576 0.37285 136 184 207
+0.0534529 -0.0434739 -0.00796041 0.80734 -0.518417 -0.281861 131 213 248
+-0.0395045 -0.0570312 -0.00467588 -0.481324 -0.842196 -0.242968 108 197 236
+0.0381765 0.0525016 0.00565734 -0.517336 -0.800099 0.303654 106 161 194
+0.0629571 0.00912353 0.0067154 -0.937251 -0.113863 0.329539 115 162 195
+0.0231356 -0.0153942 -0.0200335 -0.16786 0.0997971 0.980746 30 73 79

Objects/bowl/002/table_top_mesh.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6dd36127fa01823e2baf602b4bcbe08f076ed8caae7d9cab5207e3fdb972a85
+size 4177816